Control method of cleaning equipment and cleaning equipment

Abstract

The disclosed embodiment provides a control method for a cleaning device and a cleaning device. The control method for the cleaning device includes controlling a body to rotate around the rotation center of the body so that an auxiliary cleaning component located at a third position rotates around the rotation center of the body within an angle region to clean the angle region, where the angle region is an inner angle formed by a first side and a second side; controlling the body to move a predetermined distance in a first direction so that the auxiliary cleaning component is at least partially located in a cleaning gap, where the cleaning gap is generated due to a predetermined interval during the cleaning of the angle region, and the first direction refers to a direction away from the first side and / or the second side; and, after moving the predetermined distance or during the moving of the predetermined distance, controlling the body to rotate around the rotation center of the body so that the auxiliary cleaning component located at the third position rotates around the rotation center of the body within the angle region to clean the cleaning gap.

Description

Technical Field

[0001] The present application relates to the field of cleaning technology, and in particular to a control method for cleaning equipment and a cleaning equipment. Background Art

[0002] With the development of science and technology and the improvement of living standards, household cleaning equipment such as sweeping robots, floor washing robots, sweeping and mopping robots, etc. have become more and more popular, reducing the burden of human housework. The working scenes of cleaning equipment usually include indoor environments such as residences. The indoor environment is relatively complex, and there are areas that are difficult to clean, such as corners. Therefore, how to ensure the working efficiency and coverage of robots in complex and changeable working environments and improve user experience is very critical. Summary of the invention

[0003] In view of this, an embodiment of the present disclosure provides a control method for a cleaning device and a cleaning device.

[0004] According to a first aspect of an embodiment of the present disclosure, a control method for a cleaning device is provided, wherein the cleaning device comprises a body, a main cleaning component and an auxiliary cleaning component are arranged on the body, and when the auxiliary cleaning component is in a third position, there is a predetermined interval between the main cleaning component and the auxiliary cleaning component; along the forward direction of the body, the main cleaning component and the auxiliary cleaning component are both arranged at the rear of the body, the auxiliary cleaning components are distributed along the side of the body, and the area of ​​the auxiliary cleaning component is smaller than that of the main cleaning component;

[0005] The main cleaning assembly does not swing relative to the body; the auxiliary cleaning assembly swings relative to the body and switches between the initial position, the edge position and the third position under the drive of the first driving structure; at least part of the edge of the auxiliary cleaning assembly is located outside the edge of the body at the edge position;

[0006] The distance between the rotation center of the auxiliary cleaning component at the initial position and the rotation center of the body, the distance between the rotation center of the auxiliary cleaning component at the edge position and the rotation center of the body, and the distance between the rotation center of the auxiliary cleaning component at the third position and the rotation center of the body are represented by LA, LC and LB respectively, wherein LB>LC>LA;

[0007] The method comprises:

[0008] Controlling the body to rotate around the rotation center of the body, so that the auxiliary cleaning assembly located at the third position rotates around the rotation center of the body within an angle region, and performs cleaning on the angle region, wherein the angle region is an inner angle formed by the first side and the second side;

[0009] Controlling the body to move a predetermined distance along a first direction so that the auxiliary cleaning assembly is at least partially located in a cleaning gap, wherein the cleaning gap is generated due to the predetermined interval during cleaning of the angled area, and the first direction refers to a direction away from the first side and / or the second side;

[0010] And, after moving a predetermined distance or during moving a predetermined distance, the body is controlled to rotate around the rotation center of the body, so that the auxiliary cleaning component located at the third position rotates around the rotation center of the body within the angle area to clean the cleaning gap.

[0011] In some embodiments, the first direction includes: an extension direction of a trajectory midpoint toward the rotation center of the body; wherein the trajectory midpoint is the midpoint of the movement trajectory of the rotation center of the auxiliary cleaning assembly during the rotation of the body around the rotation center.

[0012] In some embodiments, the length of the cleaning gap in the first direction is taken as the first length L1, the length of the auxiliary cleaning assembly in the first direction is taken as the second length L2, and the predetermined distance is greater than or equal to the first length L1 and less than or equal to L2.

[0013] In some embodiments, the predetermined distance includes more than two sub-predetermined distances;

[0014] The controlling the fuselage to move a predetermined distance along a first direction, and controlling the fuselage to rotate around a rotation center of the fuselage during the movement of the predetermined distance, comprises:

[0015] Controlling the body to move a sub-predetermined distance along the first direction, and performing a sub-cleaning action on the cleaning gap after moving the sub-predetermined distance, wherein the sub-cleaning action refers to the body rotating around the rotation center of the body, so that the auxiliary cleaning component located at the third position rotates around the rotation center of the body within the angle region;

[0016] After completing one sub-cleaning action, the body is controlled to move one sub-predetermined distance along the first direction again, and the sub-cleaning action is performed again after moving one sub-predetermined distance, until all sub-predetermined distances within the predetermined distance are completed.

[0017] In some embodiments, the method further comprises:

[0018] After the cleaning gap is cleaned, controlling the body to move the predetermined distance in the opposite direction of the first direction;

[0019] During movement in the opposite direction of the first direction, the auxiliary cleaning component is switched from the third position to the edge position; or, after moving a predetermined distance in the opposite direction of the first direction, when there is space between the body and the second edge for switching the auxiliary cleaning component from the third position to the edge position, the auxiliary cleaning component is switched from the third position to the edge position.

[0020] According to a second aspect of an embodiment of the present disclosure, a control method for a cleaning device is provided, wherein the cleaning device comprises a body, a main cleaning component and an auxiliary cleaning component, the auxiliary cleaning component at least having an edge position and a third position, and the auxiliary cleaning component has a predetermined interval with the main cleaning component when in the third position; along the forward direction of the body, the auxiliary cleaning components are distributed along the edge side of the body;

[0021] The main cleaning assembly does not swing relative to the body; the auxiliary cleaning assembly swings relative to the body and switches between the edge position and the third position under the drive of the first driving structure; at least part of the edge of the auxiliary cleaning assembly is located outside the edge of the body at the edge position;

[0022] The distance between the rotation center of the auxiliary cleaning assembly when it is at the edge position and the rotation center of the body, and the distance between the rotation center of the auxiliary cleaning assembly when it is at the third position and the rotation center of the body are represented by LC and LB, respectively, where LB>LC;

[0023] The method comprises:

[0024] Controlling the body to rotate around the rotation center of the body, so that the auxiliary cleaning assembly located at the third position rotates around the rotation center of the body within an angle region, and performs cleaning on the angle region, wherein the angle region is an inner angle formed by the first side and the second side;

[0025] Control the body to move a predetermined distance in a first direction so that the auxiliary cleaning component is at least partially located in a cleaning gap, wherein the cleaning gap is generated due to the predetermined interval during cleaning the angle area, and the first direction refers to a direction away from the first side and / or the second side; and, after moving the predetermined distance or during moving the predetermined distance, control the body to rotate around the rotation center of the body so that the auxiliary cleaning component located at a third position rotates around the rotation center of the body within the angle area to clean the cleaning gap.

[0026] In some embodiments, the first direction includes: an extension direction of a trajectory midpoint toward the rotation center of the body; wherein the trajectory midpoint is the midpoint of the movement trajectory of the rotation center of the auxiliary cleaning assembly during the rotation of the body around the rotation center.

[0027] In some embodiments, the length of the cleaning gap in the first direction is taken as the first length L1, the length of the auxiliary cleaning assembly in the first direction is taken as the second length L2, and the predetermined distance is greater than or equal to the first length L1 and less than or equal to L2.

[0028] In some embodiments, the predetermined distance includes more than two sub-predetermined distances;

[0029] The controlling the fuselage to move a predetermined distance along a first direction, and controlling the fuselage to rotate around a rotation center of the fuselage during the movement of the predetermined distance, comprises:

[0030] Controlling the body to move a sub-predetermined distance along the first direction, and performing a sub-cleaning action on the cleaning gap after moving the sub-predetermined distance, wherein the sub-cleaning action refers to the body rotating around the rotation center of the body, so that the auxiliary cleaning component located at the third position rotates around the rotation center of the body within the angle region;

[0031] After completing one sub-cleaning action, the body is controlled to move one sub-predetermined distance along the first direction again, and the sub-cleaning action is performed again after moving one sub-predetermined distance, until all sub-predetermined distances within the predetermined distance are completed.

[0032] In some embodiments, the method further comprises:

[0033] After the cleaning gap is cleaned, controlling the body to move the predetermined distance in the opposite direction of the first direction;

[0034] During movement in the opposite direction of the first direction, the auxiliary cleaning component is switched from the third position to the edge position; or, after moving a predetermined distance in the opposite direction of the first direction, when there is space between the body and the second edge for switching the auxiliary cleaning component from the third position to the edge position, the auxiliary cleaning component is switched from the third position to the edge position.

[0035] According to a third aspect of an embodiment of the present disclosure, a cleaning device is provided, characterized in that the cleaning device comprises: a control device;

[0036] The control device is used to execute the control method of the cleaning equipment as described in the first aspect or the second aspect.

[0037] In the control method of the cleaning device provided in the embodiment of the present disclosure, the control method of the cleaning device includes controlling the fuselage to rotate around the rotation center of the fuselage so that the auxiliary cleaning component located at the third position rotates around the rotation center of the fuselage in the angle area to clean the angle area, wherein the angle area is the inner angle formed by the first side and the second side; controlling the fuselage to move a predetermined distance along the first direction so that the auxiliary cleaning component is at least partially located in the cleaning gap, wherein the cleaning gap is generated due to the predetermined interval during the cleaning of the angle area, wherein the first direction refers to the direction away from the first side and / or the second side; and, after moving the predetermined distance or during the moving of the predetermined distance, controlling the fuselage to rotate around the rotation center of the fuselage so that the auxiliary cleaning component located at the third position rotates around the rotation center of the fuselage in the angle area to clean the cleaning gap. By using the auxiliary cleaning component located at the third position to clean the angle area, the auxiliary cleaning component can extend into the angle area, thereby reducing the situation where the angle area cannot be cleaned due to the influence of the fuselage, improving the cleaning effect of the angle area, reducing the cleaning blind area, and improving the user experience. On the other hand, by rotating the machine body, the auxiliary cleaning component entering the cleaning gap is driven to clean the cleaning gap, so that cleaning can be achieved along the extension direction of the cleaning gap, thereby improving the cleaning effect of the cleaning gap. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 is a bottom view schematic diagram showing the arrangement of a cleaning component on a machine body according to an exemplary embodiment;

[0039] Figure 2 is a schematic diagram showing the position of a cleaning component according to an exemplary embodiment;

[0040] Figure 3 is a schematic diagram of cleaning equipment according to an exemplary embodiment;

[0041] Figure 4 is another cleaning schematic diagram of a cleaning device according to an exemplary embodiment;

[0042] Figure 5 is another cleaning schematic diagram of a cleaning device according to an exemplary embodiment;

[0043] Figure 6 is a schematic diagram of another cleaning device according to an exemplary embodiment;

[0044] Figure 7 is a schematic diagram of another cleaning device according to an exemplary embodiment;

[0045] Figure 8 is a schematic diagram of another cleaning device according to an exemplary embodiment;

[0046] Fig. 9 is a schematic diagram of another cleaning device according to an exemplary embodiment;

[0047] Fig.10 is a schematic diagram of another cleaning device according to an exemplary embodiment;

[0048] Fig.11 is a schematic diagram of another cleaning device according to an exemplary embodiment;

[0049] Fig.12 is a schematic diagram of another cleaning device according to an exemplary embodiment;

[0050] Fig.13 is a schematic diagram of another cleaning device according to an exemplary embodiment;

[0051] Fig.14 is a schematic diagram of another cleaning device according to an exemplary embodiment;

[0052] Fig.15 is a schematic diagram of another cleaning device according to an exemplary embodiment;

[0053] Fig.16 is a schematic diagram of another cleaning device according to an exemplary embodiment;

[0054] Fig.17 is a schematic diagram of another cleaning device according to an exemplary embodiment;

[0055] Fig.18 is a schematic diagram of another cleaning device according to an exemplary embodiment;

[0056] Fig.19 is a schematic diagram of another cleaning device according to an exemplary embodiment;

[0057] Fig. 20 is a schematic diagram of a cleaning device structure according to an exemplary embodiment;

[0058] Fig.21 is a schematic diagram of another cleaning device structure according to an exemplary embodiment;

[0059] Fig. 22 is a schematic diagram of the structure of another cleaning device according to an exemplary embodiment;

[0060] Fig.23 It is a schematic diagram of the structure of another cleaning device according to an exemplary embodiment. DETAILED DESCRIPTION

[0061] In order to make the technical solutions and beneficial effects of the present invention more clearly understandable, the following is a detailed description by listing specific embodiments. The drawings are not necessarily drawn to scale, and local features may be enlarged or reduced to more clearly show the details of the local features; unless otherwise defined, the technical and scientific terms used herein have the same meanings as those in the technical field to which this application belongs.

[0062] The embodiments of the present disclosure are not exhaustive, but are only illustrative of some embodiments, and are not intended to be a specific limitation on the scope of protection of the present disclosure. In the absence of contradiction, each step in a certain embodiment can be implemented as an independent embodiment, and the steps can be arbitrarily combined. For example, a solution after removing some steps in a certain embodiment can also be implemented as an independent embodiment, and the order of the steps in a certain embodiment can be arbitrarily exchanged. In addition, the optional implementation methods in a certain embodiment can be arbitrarily combined; in addition, the embodiments can be arbitrarily combined, for example, some or all of the steps of different embodiments can be arbitrarily combined, and a certain embodiment can be arbitrarily combined with the optional implementation methods of other embodiments.

[0063] In each embodiment of the present disclosure, unless otherwise specified or there is a logical conflict, the terms and / or descriptions between the embodiments are consistent and can be referenced to each other, and the technical features in different embodiments can be combined to form a new embodiment based on their internal logical relationships.

[0064] The terms used in the embodiments of the present disclosure are only for the purpose of describing specific embodiments and are not intended to limit the present disclosure.

[0065] In the embodiments of the present disclosure, unless otherwise specified, elements expressed in the singular form, such as "a", "an", "the", "above", "said", "aforementioned", "this", etc., may mean "one and only one", or "one or more", "at least one", etc. For example, when using articles such as "a", "an", "the" in English in translation, the noun after the article may be understood as a singular expression or a plural expression.

[0066] In the embodiments of the present disclosure, “plurality” refers to two or more.

[0067] In some embodiments, the terms “at least one”, “one or more”, “a plurality of”, “multiple”, etc. can be used interchangeably.

[0068] In some embodiments, "at least one of A and B", "A and / or B", "A in one case, B in another case", "A in one case, B in another case", etc., may include the following technical solutions according to the situation: in some embodiments, A (A is executed independently of B); in some embodiments, B (B is executed independently of A); in some embodiments, execution is selected from A and B (A and B are selectively executed); in some embodiments, A and B (A and B are both executed). When there are more branches such as A, B, C, etc., the above is also similar.

[0069] In some embodiments, the recording method of "A or B" may include the following technical solutions according to the situation: in some embodiments, A (A is executed independently of B); in some embodiments, B (B is executed independently of A); in some embodiments, execution is selected from A and B (A and B are selectively executed). When there are more branches such as A, B, C, etc., the above is also similar.

[0070] The prefixes such as "first" and "second" in the embodiments of the present disclosure are only used to distinguish different description objects, and do not constitute restrictions on the position, order, priority, value or content of the description objects. The statement of the description object refers to the description in the context of the claims or embodiments, and should not constitute redundant restrictions due to the use of prefixes. For example, if the description object is a "field", the ordinal number before the "field" in the "first field" and the "second field" does not limit the position or order between the "fields", and the "first" and "second" do not limit whether the "fields" they modify are in the same message, nor do they limit the order of the "first field" and the "second field". For another example, if the description object is a "level", the ordinal number before the "level" in the "first level" and the "second level" does not limit the priority between the "levels". For another example, the numerical value of the description object is not limited by the ordinal number, and can be one or more. Taking the "first device" as an example, the numerical value of the "device" can be one or more. In addition, the objects modified by different prefixes may be the same or different. For example, if the description object is "device", then the "first device" and the "second device" may be the same device or different devices, and their types may be the same or different. For another example, if the description object is "information", then the "first information" and the "second information" may be the same information or different information, and their contents may be the same or different.

[0071] In some embodiments, “including A”, “comprising A”, “used to indicate A”, and “carrying A” can be interpreted as directly carrying A or indirectly indicating A.

[0072] In some embodiments, terms such as “…”, “determine…”, “in the case of…”, “at the time of…”, “when…”, “if…”, “if…”, etc. can be used interchangeably.

[0073] In some embodiments, terms such as "greater than", "greater than or equal to", "not less than", "more than", "more than or equal to", "not less than", "higher than", "higher than or equal to", "not lower than", and "above" can be replaced with each other, and terms such as "less than", "less than or equal to", "not greater than", "less than", "less than or equal to", "no more than", "lower than", "lower than or equal to", "not higher than", and "below" can be replaced with each other.

[0074] In some embodiments, devices, etc. can be interpreted as physical or virtual, and their names are not limited to the names recorded in the embodiments. Terms such as "device", "equipment", "device", "circuit", "network element", "node", "function", "unit", "section", "system", "network", "chip", "chip system", "entity", and "subject" can be used interchangeably.

[0075] In addition, each element, each row, or each column in the table of the embodiments of the present disclosure may be implemented as an independent embodiment, and the combination of any elements, any rows, and any columns may also be implemented as an independent embodiment.

[0076] The present invention provides a cleaning device. Figure 1 shown.

[0077] Figure 1 This is a bottom view (top view) of the cleaning device. The cleaning device can move autonomously in the working area and complete the cleaning task autonomously without external human information input and control. The working area may include indoor areas and outdoor areas. Indoor areas may include family rooms, offices, shopping malls, factory workshops, etc. Outdoor areas may include lawns, gardens, roads, etc. Cleaning tasks may include sweeping (such as washing, mopping, sweeping, etc.), mowing the lawn, snow removal, etc.

[0078] The above-mentioned cleaning equipment includes but is not limited to: sweeping robots, floor scrubbers, sweeping and mopping robots, lawn mowers, snow sweeping robots, etc. The cleaning equipment can clean by sweeping first and mopping later or by sweeping and mopping separately. Among them, the sweeping and mopping before the mopping method can sweep the floor and mop the floor at the same time, which can improve the cleaning efficiency. The sweeping and mopping separately method can sweep the floor first and then mop the floor after sweeping the floor, which can improve the cleaning effect.

[0079] For details, see Figure 1 As shown, the cleaning device at least comprises a body 100, a controller (not shown), one or more cleaning components, a walking system (700) and a sensing system (not shown).

[0080] The above-mentioned cleaning components may specifically include one or more of the following: a side brush 400, a main brush 201 (or a roller brush), a large rag plate (main cleaning component) 300, a small rag plate (auxiliary cleaning component) 500, and the like.

[0081] The shape of the fuselage may be circular, square or other shapes. For example, a part of the fuselage may be circular, and another part may be square.

[0082] The controller may include a microcontroller unit (MCU). Of course, the controller may also include other devices that can have control functions.

[0083] The shape of the cleaning component can be circular, square or other shapes (such as semicircular, arc, triangular and other special shapes). The circular shape facilitates the cleaning component to perform rotational cleaning. The special shape facilitates the cleaning component to clean corner areas.

[0084] In a possible implementation, the side brush can gather foreign matter and move it toward the center of the bottom of the cleaning device. The roller brush can sweep up foreign matter at the bottom of the cleaning device and allow the foreign matter to enter the dust collection box through the suction port. The rag plate is used for wiping or mopping the floor.

[0085] In a possible implementation, a rag is arranged on the rag plate. A water tank is arranged on the cleaning device. Water in the water tank flows to the rag through the hole to wet the rag. The wetted rag is used for mopping the floor.

[0086] In a possible implementation, the main brush is disposed in a main brush cavity at the bottom of the body of the cleaning device. The main brush cavity is connected to a dust suction channel of the cleaning device. Smaller garbage such as dust and hair swept up by the main brush and / or the side brush will be sucked into the cleaning device through the main brush cavity.

[0087] refer to Figure 1 The walking system is arranged on the fuselage, and is used to drive the walking function of the fuselage. The walking system generally includes a driver and a walking part, and the driver drives the walking part to move. There can generally be two walking parts, and the two walking parts are symmetrically arranged on the fuselage. The walking parts can be but are not limited to driving wheels, track wheels or steering wheels with adjustable steering. For example: the steering wheel is a Mecanum wheel. In addition, the walking system can be swingably arranged on the fuselage so that the cleaning equipment has an obstacle-crossing function during walking. The walking functions here include but are not limited to: straight-line walking, self-rotation, and rotation around a predetermined position.

[0088] The sensor system can obtain three-dimensional information of obstacles, and the cleaning device can detect and identify obstacles based on the three-dimensional information of obstacles obtained by the sensor system. Furthermore, the controller can control the cleaning device accordingly based on the detected and identified obstacles, such as doors.

[0089] The perception system includes a two-dimensional laser radar or a three-dimensional laser radar located above the fuselage, as well as a buffer, a line laser sensor, a visual sensor, and edge sensors located on the side walls of the fuselage, an ultrasonic sensor and a downward-looking sensor located at the bottom of the fuselage, an inertial measurement unit and an odometer located in the cleaning recognition system, and other sensor devices.

[0090] The recognition system can recognize the environment and obstacles based on the perception data of the perception system. The recognition system can also be implemented by at least one of the following: the perception system, the control system, and a system other than the cleaning equipment (such as a cloud server).

[0091] Among them, the buffer can perform obstacle detection by colliding with the obstacle. The edge sensor can detect the distance of the obstacle so that the cleaning device can perform edge cleaning for the obstacle based on the information detected by the edge sensor. Two-dimensional laser radar or three-dimensional laser radar, line laser sensor can collect distance information of obstacles; visual sensors can also be used to identify images of the environment in which the cleaning device is located; the control system can determine the distance of the obstacle, the outline of the obstacle and the type of obstacle based on the information collected by the two-dimensional laser radar or three-dimensional laser radar, line laser sensor, and visual sensor, and then realize map building, and control the cleaning device to perform obstacle avoidance / obstacle crossing / edge, etc. The downward sensor is used for cliff detection. The inertial measurement unit can be a device for measuring the three-axis attitude angle (or angular rate) and acceleration of the object to obtain the motion attitude information of the cleaning device in real time. The odometer can be used to determine the position of the cleaning device in the map, that is, to locate the cleaning device. The ultrasonic sensor is used to identify the carpet signal, and the control system controls the cleaning components of the wet cleaning module of the cleaning device to perform a lifting action according to this signal, or controls the cleaning device to return to the base station to disassemble the cleaning parts of the wet cleaning module. Of course, the above-mentioned perception system is only an example and does not constitute a limitation of the embodiments of this specification.

[0092] It is understandable that the above-mentioned cleaning equipment is only for illustration and does not constitute a limitation of the embodiments of this specification.

[0093] In a structural example, the cleaning device 10 includes a main cleaning module 300 and an auxiliary cleaning module 500 arranged on the fuselage 100, wherein the main cleaning module 300 includes at least one main cleaning component 310 (for example, a cleaning disc, a flat mop, and a crawler 317) or two main cleaning components 310 (for example, two cleaning discs), and the main cleaning component 310 will not swing relative to the fuselage 100, and there is no need to set a swinging structure in the fuselage 100 to drive the main cleaning component 310 to swing, so that the driving structure of the main cleaning component 310 only needs to set a first lifting structure for driving the lifting movement of the main cleaning component 310 and a second driving structure for mopping movement. For example: the mopping movement can be the rotation of the main cleaning disc, the reciprocating vibration or twisting of the flat mop, and the movement of the crawler.

[0094] like Figure 20 to Figure 23 As shown, the auxiliary cleaning module 500 includes at least one auxiliary cleaning component 510, and the auxiliary cleaning component 510 can swing relative to the body 100 to be in the initial position A (such as Fig. 20 The arrow A in the middle) and the edge position C (as shown in Fig.23 The auxiliary cleaning assembly 510 is switched between the initial position A and the initial position B (as shown by the arrow C in the middle), and when in the edge position C, at least a portion of the auxiliary cleaning assembly 510 extends out of the edge of the body 100 to perform edge cleaning on the edges of obstacles or walls. When the auxiliary cleaning assembly 510 is in the initial position A, the auxiliary cleaning assembly 510 may be located within the maximum projection of the edge of the body 100, or at least a portion of the auxiliary cleaning assembly 510 may be located outside the edge of the body 100.

[0095] The area of ​​the auxiliary cleaning component 510 is smaller than that of the main cleaning component 310. For example, the area of ​​the auxiliary cleaning component 510 is smaller than three quarters of the area of ​​the main cleaning component 310, or smaller than one half of the area of ​​the main cleaning component 310; or smaller than one third, one quarter, one fifth, etc. of the area of ​​the main cleaning component 310. The size relationship between the two areas can be selected according to needs, so as to drive the swing, lifting and mopping movement of the auxiliary cleaning component 510, and the required swing space is small, which is suitable for all models currently on the market, such as mopping with a round cleaning disc, mopping with a flat plate, mopping with a crawler belt, etc.

[0096] By retracting and swinging the auxiliary cleaning component 510 inwards and outwards, it is possible to switch between the edge position C and the initial position A, and perform edge cleaning at the edge position C; at the same time, there is no need for the main cleaning component 310 to swing as a whole, so that the structure of the entire cleaning module is simple and compact, and the space occupied is small, which facilitates the miniaturization of the robot.

[0097] Please refer to Figure 1 As shown, in addition to the aforementioned main cleaning module 300 and auxiliary cleaning module 500, the cleaning robot also includes a dry cleaning mode, in which the robot moves along the forward direction of the body 100 (such as along the Figure 1), the dry cleaning module 200 is located in front of the main cleaning module 300; the dry cleaning module 200 is used to clean the floor; the main cleaning module 300 is used to wet-mop the cleaned floor, that is, the wet cleaning module, thereby forming a mode of sweeping first and then mopping to clean the floor.

[0098] In some embodiments, the cleaning robot also includes a side brush 400. The side brush 400 is arranged in front of the dry cleaning module 200 along the forward direction of the body 100, and the side brush 400 can rotate to gather the garbage on the ground to the inside of the cleaning robot. In this way, the dry cleaning module 200 can collect the garbage gathered to the inside of the cleaning robot into the dust box in the body 100 by suction or other means.

[0099] Exemplarily, the side brush 400 may be located in front of the dry cleaning module 200 and close to the edge of the body 100. For example, the side brush 400 may be located at the edge of the left front, right front, etc. of the dry cleaning module 200, so that when the side brush 400 rotates, at least part of the side brush 400 is located outside the outline of the body 100. In this way, the side brush 400 can gather the garbage outside the outline of the body 100 to the inside of the cleaning robot, thereby increasing the cleaning range. The side brush 400 may be a rubber strip or a brush, etc., as long as it can clean the ground, and there is no limitation here.

[0100] The fuselage 100 is generally formed in a circular, D-shaped, rectangular, or other shape, and the outline of the fuselage 100 refers to the circular outline, D-shaped outline, or rectangular outline of the fuselage 100. For example, Figure 1 In the figure, the outline of the fuselage 100 is a circular structure; illustratively, the range of the outline of the fuselage 100 can be determined according to the projection of the fuselage 100 on the horizontal plane.

[0101] like Fig. 20 As shown, for the fuselage 100, the fuselage 100 generally includes at least a chassis 101 and an upper shell connected to the chassis 101 (an upper cover 102 may be provided on the upper shell), and an inner cavity of the fuselage 100 is enclosed between the chassis 101 and the upper shell to form a receiving cavity.

[0102] In some embodiments, the dry cleaning module 200 includes at least a roller brush 201, a dust box and a main fan. The roller brush 201 can be rotated in a roller brush cavity at the bottom of the chassis 101, so that the cleaning robot can clean the garbage on the ground in the direction of travel. The roller brush 201 can be one or two roller brushes 201. The dust box and the main fan are respectively arranged in the inner cavity of the fuselage 100, and the main fan is configured to provide negative pressure wind force to the dust box. The fuselage 100 is provided with a dust suction port 103 connected to the dust box. For example, the dust suction port 103 is arranged at the bottom of the fuselage 100, and the dust suction port 103 is connected to the roller brush cavity. In this way, the roller brush 201 is used to gather the garbage on the ground to the dust suction port 103, and the negative pressure suction can collect the garbage and dust particles into the dust box through the dust suction port 103 to achieve the purpose of cleaning the ground. The main fan includes but is not limited to a negative pressure fan, and can also be replaced by other negative pressure generating devices, such as a vacuum pump.

[0103] The robot also includes a walking system for driving the body 100 to move by itself and realize the walking function of self-movement on the surface to be cleaned. The walking system includes at least a driver and a driving wheel 700, and the driver drives the driving wheel 700 to move. There can generally be two driving wheels 700, and the two driving wheels 700 are symmetrically arranged on the bottom of the body 100. In addition, the walking system can be swingably arranged on the body 100 so that the cleaning device 10 has an obstacle crossing function during walking. Among them, the surface to be cleaned can be, but is not limited to, the surface or scene of objects such as the ground, a desktop, glass, and a wall. For the convenience of description, the surface to be cleaned below is described by taking the ground as an example.

[0104] The perception system includes an LDS located above the fuselage 100, a buffer and a visual sensor located at the front of the fuselage 100, an edge sensor located on the side wall of the front of the fuselage 100, and an ultrasonic sensor, a downward sensor and other sensing devices located at the bottom of the fuselage 100. Among them, the LDS, the buffer, and the edge sensor can all measure the distance to obtain the distance between the edge of the fuselage 100 and the obstacle, and the control system controls the cleaning device 10 to perform corresponding actions according to this distance. For example, the cleaning device 10 is controlled to avoid obstacles and move along the edge. The ultrasonic sensor is used to identify the carpet signal, and the control system controls the main cleaning component 310 of the cleaning device 10 to lift and the auxiliary cleaning component 510 to lift according to this signal, or controls the cleaning device 10 to return to the base station, charge the robot, collect dust, clean the cleaning parts, disassemble and install the cleaning parts, etc. The visual sensor is used to identify the image of the environment in which the cleaning device 10 is located to obtain information about obstacles, and the control system controls the cleaning device 10 to perform actions according to this information, such as avoiding obstacles, crossing obstacles, and cleaning along the edge.

[0105] In this embodiment, along the forward direction of the body 100, the body 100 has a front part and a rear part, and a connecting part or a middle part connecting the front part and the rear part of the body 100, with the dust box or the roller brush 201 or the driving wheel 700 as a boundary. The dust box or the roller brush 201 or the driving wheel 700 is arranged at the connecting part or the middle part.

[0106] For example, taking the roller brush 201 as an example, the part of the body 100 located in front of the roller brush 201 is called the front part of the body 100, and the part located behind the roller brush 201 is called the rear part of the body 100. Generally, the roller brush 201 is distributed in the area between the two driving wheels 700.

[0107] In one embodiment, the main cleaning module 300 and the auxiliary cleaning module 500 are both disposed at the rear of the body 100, and the side brush 400 is disposed at the front of the body 100, and in the forward direction of the body 100, the side brush 400 and the auxiliary cleaning module 500 are both distributed on the same side of the body 100. For example, they are both distributed on the right side of the body 100 to form a right edge; or, they are both located on the left side of the body 100 to form a left edge.

[0108] The main cleaning assembly 310 and the auxiliary cleaning assembly 510 are located behind the roller brush 201 along the forward direction of the body 100 , so as to facilitate the cleaning operation of the cleaning robot of first dry sweeping and then wet mopping, and also facilitate the layout of the internal space of the body 100 .

[0109] The cleaning device 10 also includes a second driving structure, which is arranged on the body 100 and is used to drive the main cleaning component 310 to move to mop the floor; and also includes a first lifting structure, which is used to drive the cleaning component to perform lifting movement so that the main cleaning component 310 is in a mopping position or a lifted position.

[0110] The cleaning device 10 at least includes a water replenishing structure for replenishing water to the main cleaning component 310, so that the rag is in a wet or damp state to mop the floor, forming a wet cleaning method to improve the cleaning effect. The water replenishing structure at least includes a water tank, which transports water in the water tank to the transport mechanism on the main cleaning component 310.

[0111] Optimally, the auxiliary cleaning assembly 510 can also be replenished with water, so that the auxiliary cleaning assembly 510 can be wet and perform wet cleaning of the floor. Alternatively, the auxiliary cleaning assembly 510 can be dry and clean the floor without replenishing water, and the cleaning effect is weaker than wet mopping.

[0112] In some scenarios, the main cleaning component 310 needs to be lifted, for example, when the body 100 is on a carpet, in order to avoid wetting the carpet, the main cleaning component 310 needs to be in a lifted position; or in scenarios such as needing to cross obstacles or return to the base station, the main cleaning component 310 needs to be in a lifted position to prevent the main cleaning component 310 from being stuck by obstacles and detached from the body 100. Therefore, the cleaning device 10 further includes a first lifting structure, which is disposed in the body 100 and is used to drive the main cleaning component 310 to be lifted to switch between the mopping position and the lifting position.

[0113] There are many ways for the main cleaning assembly 310. For example, in some embodiments, the main cleaning assembly 310 includes a mounting seat 312 and a main cleaning member disposed at the bottom of the mounting seat 312.

[0114] For example, in an exemplary embodiment, the mounting seat 312 can be a main cleaning disc. At this time, in an exemplary embodiment, the main cleaning member is a main rag installed on the bottom of the cleaning disc, and the second driving mechanism drives the main cleaning disc to rotate to drive the main rag to rotate to clean the floor. Under the action of the driving force, the main cleaning disc can drive the main cleaning member to rotate relative to the fuselage 100 so that the main cleaning member performs a cleaning operation; or, the main cleaning disc can also be fixed relative to the fuselage 100, so that when the cleaning robot moves along the direction of travel, the main cleaning member moves relative to the ground to clean the ground; wherein, the main cleaning disc can be one, two or more, for example, there are two main cleaning discs, and the main cleaning members are respectively provided on the two main cleaning discs, and the two main cleaning discs drive the main cleaning member to rotate to clean the floor.

[0115] In another exemplary embodiment, the mounting base 312 may be a flat mop, and the main cleaning member is a main rag mounted on the flat mop. Specifically, a vibration plate may be provided in the flat mop, and the vibration plate may reciprocate or swing in at least one direction under the drive of the second driving mechanism to drive the main rag to reciprocate and vibrate or twist, thereby causing friction between the main cleaning member and the ground to improve the cleaning effect. The moving direction of the vibration plate may be in a horizontal plane.

[0116] In another exemplary embodiment, the mounting base 312 is a track cover, the main cleaning member is a track rotatably mounted on the track cover and located below the track cover, and the second driving mechanism drives the track to move to clean the ground waiting to be cleaned.

[0117] In the embodiment of the present application, the auxiliary cleaning module 500 is mainly used to cooperate with the main cleaning module 300 to perform auxiliary cleaning on the missed cleaning area that is difficult to clean in the main cleaning component 310. For example, cleaning along the edge, or on the basis of achieving edge cleaning, further cleaning the angle area (described in detail below) to improve its cleaning efficiency and reduce the missed cleaning area.

[0118] In order to clean the missed area of ​​the main cleaning component 310, the auxiliary cleaning module 500 includes at least one auxiliary cleaning component 510, and the auxiliary cleaning component 510 has at least an initial position A and an edge position C relative to the body 100; at the edge position C, at least part of the auxiliary cleaning component 510 extends out of the edge of the body 100 to clean along the edge; when the auxiliary cleaning component 510 is at the initial position A, in one embodiment, at the initial position A, the auxiliary cleaning module 500 will be completely retracted within the projection range of the maximum edge of the body 100, and the auxiliary cleaning module 500 will not be missed outside the body 100 from the top view of the body 100; or the auxiliary cleaning module 500 will be partially retracted within the projection range of the maximum edge of the body 100 and partially extended out of the edge of the body 100. The initial position A and the edge position C can be a fixed point position or an interval position. Especially at the edge position C, when the first driving structure 520 that drives the auxiliary cleaning component 510 to swing includes an elastic member, when the auxiliary cleaning component 510 is subjected to the force of an obstacle at the edge position C, under the buffering action of the elastic member, the auxiliary cleaning module 500 will passively retract to buffer the collision with the obstacle. Therefore, the edge position C can be a dynamically changing position rather than a fixed point position.

[0119] In addition, if the auxiliary cleaning component 510 is in the initial position A, part of the auxiliary cleaning component 510 extends out of the fuselage 100. In the edge position C, the part of the auxiliary cleaning component 510 extending out of the fuselage 100 is larger than the part of the auxiliary cleaning component 510 extending out of the fuselage 100 in the initial position A, so as to achieve edge cleaning.

[0120] It should be noted that the initial position A and the edge position C are not limited to the auxiliary cleaning assembly 510 , but may also be any component of the auxiliary cleaning module 500 that swings synchronously with the auxiliary cleaning assembly 510 .

[0121] like Fig. 22 As shown, the auxiliary cleaning module 500 further includes a first driving structure 520 for driving the auxiliary cleaning assembly 510 to swing so as to switch between an initial position A and an edge position C.

[0122] For example, the first driving structure 520 includes a first motor 521, a swing arm 524 and at least one first elastic member 522. Under the cooperation of the first motor 521 and the first elastic member 522, the swing arm 524 is driven to swing to drive the auxiliary cleaning component 510 to swing to switch between the edge position C and the initial position A. Preferably, the first motor 521 can be a stepper motor to control the swing angle of the swing arm by controlling the number of steps of the stepper motor, thereby realizing the stepless swing or multi-gear swing of the auxiliary cleaning component 510. By setting the first elastic member 522, the auxiliary cleaning component 510 can be passively retracted when it is squeezed by an obstacle to buffer the sudden squeezing force of the obstacle. Of course, at the end of the buffer zone of the elastic member, if the auxiliary cleaning component 510 is still continuously squeezed, the first motor 521 can actively control the retraction of the auxiliary cleaning component 510 based on the signal that the auxiliary cleaning component 510 is continuously squeezed.

[0123] Since the swing arm 524 and the auxiliary cleaning assembly 510 swing synchronously, the aforementioned initial position A and edge position C can also be said that the swing arm 524 has an initial position A and an edge position C.

[0124] In some embodiments, along the moving direction of the cleaning robot, the auxiliary cleaning module 500 is arranged behind the dry cleaning module 200 and is arranged near the edge of the main body 100. In this way, when the cleaning robot is running, the auxiliary cleaning module 500 can clean the areas such as the edges that are not easy to clean by the main cleaning module 300, and because the auxiliary cleaning module 500 is arranged near the edge of the main body 100, the auxiliary cleaning module 500 will not occupy more space inside the main body 100 when it is swung outward or retracted.

[0125] In some embodiments, the auxiliary cleaning component 510 is, for example, a plate-shaped or disk-shaped structure. For example, in each of the drawings, the auxiliary cleaning component 510 is a circular disk. The auxiliary cleaning component 510 can also be a triangle, a Leroy triangle, a square, or other irregular shapes.

[0126] The auxiliary cleaning module 500 also includes a second lifting mechanism, which is at least used to drive the auxiliary cleaning component 510 to lift and lower, so that the auxiliary cleaning component 510 is in a lifted position to leave the ground; or in a mopping position for cleaning.

[0127] Among them, as an optional implementation, in some embodiments, the first driving mechanism can also drive the auxiliary cleaning component 510 to rotate, so as to increase the friction between the auxiliary cleaning component 510 and the ground, and improve the cleaning effect along the edge. That is, a motor of the first driving structure 520 can drive the swing arm 524 to drive the auxiliary cleaning component 510 to swing, so as to switch between the initial position A and the edge position C; it can also drive the auxiliary cleaning component 510 to rotate to mop the floor, thereby making the driving structure compact, and there is no need to set up a separate driving structure to drive the auxiliary cleaning component 510 to rotate.

[0128] Alternatively, the auxiliary cleaning module 500 can be arranged as a whole on the main cleaning component 310, and the main cleaning module 300 itself is provided with a first lifting structure for driving the main cleaning component 310 to perform lifting movement. When the first lifting structure drives the main cleaning component 310 to lift and lower, it also drives the auxiliary cleaning module 500 to lift and lower synchronously, so that the main cleaning component 310 and the auxiliary cleaning component 510 are synchronously in the mopping position and the lifting position. For the auxiliary cleaning component 510, only the first driving structure 520 needs to drive the auxiliary cleaning component 510 to swing to switch between the edge position C and the initial position A. Furthermore, the auxiliary cleaning component 510 can also be driven to rotate. Relatively speaking, there is no need to set up a second lifting mechanism separately, the structure is simplified, and the space occupied is small.

[0129] The swing of the auxiliary cleaning component 510 relative to the body 100 can be a linear swing or an arc-shaped swing. Preferably, an arc-shaped swing is used. When achieving the same swing distance, the arc-shaped swing requires a smaller swinging space than the linear swing, so that the space required for the auxiliary cleaning module 500 to be arranged in the body 100 is smaller.

[0130] like Fig.21 As shown, a first avoidance opening 104 is provided on the side wall of the body 100 at a position corresponding to the auxiliary cleaning module 500 at the initial position A, and a first avoidance area connected to the first avoidance opening 104 is provided in the body 100, so that the auxiliary cleaning module 500 can swing between the swing-out position and the initial position A. When the auxiliary cleaning module 500 is at the initial position A, the auxiliary cleaning module 500 is stored in the first avoidance area, and the auxiliary cleaning module 500 is located above the mounting seat 312. In this way, at least part of the structure of the auxiliary cleaning module 500 is located in the first avoidance area, and the auxiliary cleaning module 500 can swing outward toward the edge position C through the first avoidance opening 104, or retract toward the initial position A. When in the non-edge cleaning mode, the auxiliary cleaning module 500 is retracted into the body 100, so that the overall structure of the cleaning device 10 is more compact, and the overall appearance of the cleaning device 10 is maintained, and the overall size of the cleaning device 10 is reduced.

[0131] Based on any of the above embodiments, this embodiment mainly introduces how to avoid missing areas when the main cleaning assembly 310 and the auxiliary cleaning assembly 510 are in the width direction of the fuselage 100. Specifically, in some embodiments, at least in the edge position C, when the auxiliary cleaning module 500 cooperates with the main cleaning module 300, there is no missing area between the cleaning areas of the auxiliary cleaning assembly 510 and the main cleaning assembly 310 in the width direction of the fuselage 100; wherein the width direction of the fuselage 100 is perpendicular to the forward direction of the fuselage 100.

[0132] like Fig.23 As shown, at the edge position C, the main cleaning assembly 310 has at least a first part 5111, and the auxiliary cleaning assembly 510 has at least a second part 3111. In the forward direction of the fuselage 100, the cleaning areas of the first part 5111 and the second part 3111 have an overlapping area to avoid missing the cleaning area. Specifically, in some embodiments, in the forward direction of the fuselage 100, the first part 5111 is located in front of the second part 3111, so that the first part 5111 is cleaned first and the second part 3111 is cleaned later, and the cleaning areas of the two have the overlapping area H. Alternatively, in other embodiments, in the forward direction of the fuselage 100, the first part 5111 is located behind the second part 3111, so that the second part 3111 is cleaned first and the first part 5111 is cleaned later, and the cleaning areas of the two also have an overlapping area H. When the main cleaning assembly 310 is a different structure, the first part 5111 and the second part 3111 can have different positions accordingly.

[0133] Referring to a similar implementation scheme of the edge position C, at the initial position A, the third position B, and any position between the initial position A and the edge position B, the main cleaning component 310 and the auxiliary cleaning component 510 may also have the aforementioned first part 5111 and the second part 3111 to form an overlapping area H for front and back cleaning to avoid missed cleaning.

[0134] In actual working scenarios, there often appears an angle area between two sides of an obstacle (the first side and the second side can be two sides of one obstacle, or one side of two obstacles, for example, the first side is the side of the first obstacle, and the second side is the side of the second obstacle) that the cleaning equipment cannot pass through. If the second side may become an obstacle to the cleaning equipment in the direction of travel when the first side is cleaned along the edge, the angle between the first side and the second side may be an inner angle. If the second side will not become an obstacle to the cleaning equipment in the direction of travel when the first side is cleaned along the edge, the angle between the first side and the second side may be an outer angle. Taking the inner angle formed by two wall edges as an example, the inner corner space is relatively narrow, the movement of the machine body in the inner corner is not flexible enough, and it is difficult to clean the inner corner in place.

[0135] Taking the main cleaning component as a circular rag as an example, the area of ​​the main cleaning component is large, and the radius of the circular rag is also large. When cleaning the inner corners, even if the cleaning component is controlled to be close to the two sides of the obstacle, there are still many areas that are missed from cleaning. In the embodiment of this specification, by setting a smaller auxiliary cleaning group to perform along the edge, the area that is missed from cleaning in the inner corner area can be further reduced relative to the main cleaning component along the edge with a larger area. In the embodiment of this specification, the area of ​​the cleaning component can be the area covered by the cleaning component on the surface to be cleaned when the fuselage and the cleaning component are kept stationary.

[0136] Theoretically, the smaller the area of ​​the auxiliary cleaning component, the smaller the missed cleaning area in the inner corner area. However, because the main cleaning component cannot swing, in order to reduce the probability of the main cleaning component colliding with obstacles and avoid increasing the width of the area through which the cleaning equipment can pass, the main cleaning component is usually set not to extend out of the fuselage or the part extending out of the fuselage is smaller. Therefore, in order to avoid missed cleaning between the auxiliary cleaning component and the main cleaning component when along the edge, and to reduce the area of ​​missed cleaning between the auxiliary cleaning component and the edge of the obstacle when along the edge, the cleaning coverage area of ​​the auxiliary cleaning component needs to be maintained within a reasonable range and cannot be less than a certain threshold. The area of ​​the auxiliary cleaning component can be determined based on measured data while at least taking into account the solution of the above-mentioned problems, and is not limited here.

[0137] In some embodiments, Figure 2 As shown, the auxiliary cleaning component can be configured with an edge position (C) and an initial position (A), and the auxiliary cleaning component can be switched between the edge position and the initial position.

[0138] The environment during non-edge cleaning is more complicated, and the cleaning components are prone to collision and jamming. In order to prevent the cleaning components from extending too far from the fuselage during non-edge cleaning, causing collisions, the auxiliary cleaning components can be completely located within the edge of the fuselage when the auxiliary cleaning components are in the initial position. Even if at least part of the auxiliary cleaning components is located outside the edge of the fuselage, the part of the auxiliary cleaning components extending out of the edge of the fuselage is relatively small.

[0139] However, when the fuselage performs edge cleaning on an obstacle, in order to avoid collision, there is usually a certain gap between the fuselage and the edge of the obstacle, which leads to the side cleaning leakage when the auxiliary cleaning component performs edge cleaning in the initial position; or, for the structure in which the rear side of the fuselage is circular and the cleaning component is arranged on the rear side of the fuselage, when the fuselage performs edge cleaning on an obstacle, even if the distance between the fuselage and the edge of the obstacle is very small, the auxiliary cleaning component is likely to have a leakage cleaning area when it performs edge cleaning in the initial position. Accordingly, when the auxiliary cleaning component is in the edge position, at least part of the auxiliary cleaning component can be arranged to extend out of the edge of the fuselage, and the part of the auxiliary cleaning component extending out of the fuselage when in the edge position is larger than the part extending out of the fuselage when in the initial position, so that the edge of the auxiliary cleaning component extends farther when cleaning along the edge, thereby making the edge of the auxiliary cleaning component contact with the edge of the obstacle, or having a smaller distance, reducing the side cleaning leakage area. Preferably, the maximum range of the projection of the auxiliary cleaning component at least partially extending out of the edge of the fuselage when in the edge position can be arranged to at least further reduce the leakage cleaning area when cleaning along a long straight edge.

[0140] like Figure 2 As shown, the auxiliary cleaning component can be controlled to perform edge cleaning at the edge position through structural design, and the auxiliary cleaning component can also be controlled to perform edge cleaning at the third position (B), and in the direction of travel along the edge, the cleaning areas of the main cleaning component and the auxiliary cleaning component can also be made gapless, and the auxiliary cleaning component contacts the first edge of the obstacle when it is in the third position, reducing the missed cleaning area along the edge. However, in view of the fact that in daily cleaning, the cleaning of the edge of the obstacle still accounts for a large proportion of the cleaning path length compared to the overall cleaning of the working area, and the environmental factors around the obstacle are usually more complex. The auxiliary cleaning component extends more from the fuselage in the third position than in the edge position. In the third position, the auxiliary cleaning component is fully extended from the fuselage and the swing arm part also extends from the fuselage, so that although edge cleaning can be performed in the third position, the probability of collision between the auxiliary cleaning component and the obstacle, the probability of entanglement between the swing arm and the harness-shaped obstacle, and the probability of small obstacles being stuck between the auxiliary cleaning component and the fuselage are increased compared to when the auxiliary cleaning component is in the edge position.

[0141] It can be seen that if the auxiliary cleaning component extends out of the fuselage more when following the edge, the probability of the auxiliary cleaning component being stuck or colliding will increase during the process. When the area of ​​the auxiliary cleaning component is small, if the center of the auxiliary cleaning component is far from the center of the fuselage, it may cause the swing arm to extend out of the fuselage, causing the swing arm to easily get entangled with wire-like obstacles in the environment, causing the auxiliary cleaning component to be easily damaged, and increasing the probability of small obstacles getting stuck between the auxiliary cleaning component and the fuselage, making it difficult to retract the auxiliary cleaning component.

[0142] like Figure 2As shown, the position and swinging direction of the auxiliary cleaning component can be configured so that when the auxiliary cleaning component is located at the edge position, it is close to the position of the fuselage that is closest to the edge of the obstacle, so that when the part of the auxiliary cleaning component protruding from the edge of the fuselage is small, it can contact the edge of the obstacle, or have a small distance from the edge of the obstacle, while reducing the cleaning area missed along the edge, reducing the probability of the auxiliary cleaning component colliding and being trapped, and avoiding the swing arm from extending out of the fuselage or reducing the part of the swing arm that extends out of the fuselage.

[0143] However, when the auxiliary cleaning component extends less out of the fuselage, it is difficult for the auxiliary cleaning component to maintain contact with the first side and the second side, or maintain a small distance therebetween, when the fuselage is cleaning an inner corner area, resulting in the auxiliary cleaning component leaving an area uncleaned.

[0144] In some embodiments of the present specification, a third position that extends farther from the body than the edge position can be further added for the auxiliary cleaning component, so that the auxiliary cleaning component at the third position can be used to clean the inner corner area, so that the auxiliary cleaning component extends farther from the body when cleaning the inner corner, and tries to keep in contact with the first side and the second side, or keep a small distance, so as to reduce the missed cleaning area. The distances between the rotation center of the auxiliary cleaning component at the initial position, the edge position and the third position and the rotation center of the body are represented by LA, LB and LC respectively, where LB>LC>LA.

[0145] The angled area is smaller than the open area and the edge of the obstacle, and the environment is usually relatively simple. By controlling the auxiliary cleaning component to extend a relatively longer distance in the angled area, the probability of abnormal situations such as collision or jamming with undetected obstacles, and the swing arm being entangled by harness obstacles or jamming with small obstacles is relatively small. This can reduce the missed cleaning area in the angled area while ensuring that the probability of abnormal situations is low. Even if there is missed cleaning between the auxiliary cleaning component and the main cleaning component due to the long swing arm, the missed cleaning coverage area in the inner corner area can be reduced by controlling the simple movement of the fuselage in the inner corner area, thereby improving the simplicity of control and cleaning efficiency.

[0146] like Figure 1 and Figure 2 As shown, the main cleaning component and the auxiliary cleaning component are exemplary mop components of different sizes, and the mop components can perform wet mopping on the cleaning surface. Among them, the main cleaning component has a main mop component with a larger area, and the auxiliary cleaning component has an auxiliary mop component with a smaller area. The auxiliary cleaning component can be driven by the internal driving component to switch between the initial position (as shown by arrow A), the edge position (as shown by arrow B), and the third position (as shown by arrow C). Usually, the edge position is used to clean the edge of the obstacle, and the third position is used to clean the angle area.

[0147] Affected by the structural design, when the auxiliary cleaning component is extended far from the fuselage, there is usually a gap between the auxiliary cleaning component and the main cleaning component. In order to prevent the gap from causing a cleaning gap when cleaning along the edge, additional repeated cleaning or twisting cleaning is required, which affects the cleaning efficiency. In some embodiments, the swing position of the swing arm can be designed, and the structure of the swing arm can be coordinated with the main cleaning component so that when the auxiliary cleaning component is at the initial position, the edge position, or other positions, and moves along a straight line or a curve with a large radius, the cleaning areas of the auxiliary cleaning component and the main cleaning component overlap with each other and there is no cleaning gap. However, due to the structural design, there may still be a cleaning gap when the rotation radius of the fuselage is small. When cleaning the angle area by turning the fuselage, in order to prevent more missed cleaning areas from being generated during the turning process, the turning radius of the fuselage in the angle area is usually smaller. For example, it is preferred to use the fuselage close to the first side and the second side to perform in-situ turning to perform angle cleaning, which results in the following problems: Figure 3 The shaded area shows the cleaning gap. Therefore, how to clean the cleaning gap caused by the interval between the auxiliary cleaning component and the main cleaning component, reduce the cleaning blind area, and improve the user experience is an urgent problem to be solved.

[0148] Based on the above scenario examples, in some embodiments of the present specification, the cleaning device includes a fuselage, on which a main cleaning component and an auxiliary cleaning component are arranged, and when the auxiliary cleaning component is in the third position, it has a predetermined interval with the main cleaning component; along the forward direction of the fuselage, the main cleaning component and the auxiliary cleaning component are both arranged at the rear of the fuselage, and the auxiliary cleaning component is distributed on the edge side of the fuselage, and the area of ​​the auxiliary cleaning component is smaller than that of the main cleaning component; the main cleaning component does not swing relative to the fuselage; the auxiliary cleaning component swings relative to the fuselage, and switches between an initial position, an edge position and a third position under the drive of a first driving structure; at least part of the edge of the auxiliary cleaning component is located outside the edge of the fuselage at the edge position; the distance between the rotation center of the auxiliary cleaning component at the initial position and the rotation center of the fuselage, the distance between the rotation center of the auxiliary cleaning component at the edge position and the rotation center of the fuselage, and the distance between the rotation center of the auxiliary cleaning component at the third position and the rotation center of the fuselage are represented by LA, LC and LB respectively, where LB>LC>LA.

[0149] In a possible implementation, the cleaning device may further include: a side brush. The side brush is arranged at the front of the body, and the side brush and the auxiliary cleaning components are distributed along the side of the body.

[0150] The present disclosure provides a method for controlling a cleaning device, the method comprising:

[0151] Step 101: controlling the body to rotate around the rotation center of the body, so that the auxiliary cleaning component located at the third position rotates around the rotation center of the body within an angle region, and performs cleaning on the angle region, where the angle region is an inner angle formed by the first side and the second side;

[0152] Step 102: Control the body to move a predetermined distance in a first direction so that the auxiliary cleaning component is at least partially located in a cleaning gap, wherein the cleaning gap is generated due to the predetermined interval during cleaning the angle area, and the first direction refers to a direction away from the first side and / or the second side; and, after moving the predetermined distance or during moving the predetermined distance, control the body to rotate around the rotation center of the body so that the auxiliary cleaning component located at the third position rotates around the rotation center of the body within the angle area to clean the cleaning gap.

[0153] In a possible implementation, the control method of the cleaning device in the embodiment of the present disclosure may be executed by a controller in the cleaning device.

[0154] The cleaning device can be a cleaning robot in any of the above embodiments, and the specific structure is not described in detail. It should be noted that the specific structure of the cleaning device corresponding to the control method described in the embodiments of this specification can be implemented with reference to the structure of the above embodiments, but is not limited to the structure given in the above embodiments.

[0155] The auxiliary cleaning component may include a rag tray. The auxiliary cleaning component may be driven by a driving component of the cleaning device and switched between multiple positions. When the auxiliary cleaning component is in the third position, the auxiliary cleaning component is at least partially located outside the coverage of the cleaning device body. When the auxiliary cleaning component is in the third position, the cleaning component auxiliary cleaning component may be completely located outside the cleaning device body, or only partially located outside the body, and the part of the auxiliary cleaning component extending out of the body and the distance of the extension are not limited.

[0156] Exemplarily, the driving component may include a swing arm, one end of which is rotatably connected to the body, and the other end of which is connected to the auxiliary cleaning assembly. The auxiliary cleaning assembly can be switched to different positions by rotating the swing arm.

[0157] Here, the first side and the second side are only used to distinguish different sides, and do not limit the specific positions of the sides. The positional relationship between the first side and the second side in this embodiment (including the drawings) is a specific example given for the convenience of description.

[0158] In a possible implementation, the auxiliary cleaning component can rotate to clean the floor. The auxiliary cleaning component may not rotate, but move to clean the floor driven by the body. The auxiliary cleaning component may also rotate while being driven by the body to improve the cleaning effect.

[0159] In a possible implementation, when the auxiliary cleaning component is in the third position, the auxiliary cleaning component is completely located outside the cleaning device body. The length of LB can be a fixed value; or the length of LB can be determined based on the angle between the first side and the second side, such as the angle is negatively correlated with the length of LB. Alternatively, the swing arm position corresponding to the third position can be locked in a fixed position so that the relative position of the auxiliary cleaning component relative to the body in the third position is fixed; or the swing arm position corresponding to the third position can also be adjustable under the action of a spring.

[0160] In a possible implementation, the area of ​​the auxiliary cleaning component outside the cleaning device body when in the third position is greater than the area of ​​the auxiliary cleaning component outside the cleaning device body when in the edge position. The area of ​​the auxiliary cleaning component outside the cleaning device body when in the edge position is greater than the area of ​​the auxiliary cleaning component outside the cleaning device body when in the initial position.

[0161] In one possible implementation, when the auxiliary cleaning component is in the initial position, the entire auxiliary cleaning component is located within the coverage of the cleaning device body; when the auxiliary cleaning component is in the edge position, a portion of the auxiliary cleaning component is located within the coverage of the cleaning device body; when the auxiliary cleaning component is in the third position, the entire auxiliary cleaning component is located outside the coverage of the cleaning device body.

[0162] In some embodiments, when the swing arm swings in one direction, the positions that the auxiliary cleaning component passes through are: initial position, edge position, and third position. Alternatively, in other embodiments, when the swing arm swings in one direction, the positions that the auxiliary cleaning component passes through are: initial position, third position, and edge position.

[0163] Referring to the above scenario examples, when the auxiliary cleaning component is in the initial position, cleaning in a non-edge mode can be performed, such as performing a bow-shaped cleaning in an open area. When the auxiliary cleaning component is in the edge position, edge cleaning is performed on the first edge and / or the second edge of the obstacle, so that the auxiliary cleaning component in the edge position is in edge contact with the first edge and / or the second edge of the obstacle, or has a small gap. Since more of the auxiliary cleaning component is outside the body in the edge position than in the initial position, the auxiliary cleaning component can be closer to the first edge and / or the second edge, reducing the area that is missed while cleaning the edge and improving the cleaning effect.

[0164] Limited by the body of the cleaning device, the cleaning device cannot completely enter the angle area, that is, the cleaning device cannot completely enter the area formed by the intersection of the first side of the obstacle and the second side of the obstacle. The main cleaning component cannot enter the angle area due to its large area, or cannot maintain a close distance or contact with the first side and / or the second side in the angle area. The auxiliary cleaning component in the initial position or along the edge position also cannot maintain a close distance or contact with the first side and / or the second side in the angle area because the part that is swung out of the coverage range of the fuselage is small or all is located within the coverage range of the fuselage. Therefore, the third position can be further configured, and the auxiliary cleaning component is in the third position relative to the part that is extended out of the fuselage in the along the edge position. More, so that when the auxiliary cleaning component is in the third position, it is closer to the first side and / or the second side in the inner corner area, so that the third position is used to clean the inner corner area and reduce the missed cleaning area. The smaller the angle between the first side and the second side, the longer the auxiliary cleaning component of the cleaning component needs to extend, so that it can go deeper into the angle area, thereby improving the cleaning effect of the angle area.

[0165] In the embodiments of the present specification, by setting up auxiliary cleaning equipment and configuring the initial position, edge position and angle position for the auxiliary cleaning component, respectively, it is possible to take into account the environmental characteristics of open areas, edge cleaning and angle areas, and reduce the probability of the auxiliary cleaning component colliding with or getting stuck with obstacles on the basis of reducing missed cleaning in various environments, as well as reducing the probability of the swing arm of the auxiliary cleaning component being entangled or stuck with foreign objects, thereby ensuring the swing performance and life of the auxiliary cleaning component.

[0166] The cleaning device can move to the angle area from any position to drive the auxiliary cleaning component into the angle area. For example, the cleaning device can drive the auxiliary cleaning component into the angle area during the edge cleaning process of the first edge or the second edge. The cleaning device can also drive the auxiliary cleaning component into the angle area during the bow cleaning process. Alternatively, the cleaning device can first perform edge cleaning on the first edge, and after the edge cleaning of the first edge is completed, the auxiliary cleaning component can be driven into the angle area.

[0167] The cleaning device can switch the auxiliary cleaning component to the third position when going to the angle area, so that the auxiliary cleaning component enters the angle area at the third position. The cleaning device can also switch the auxiliary cleaning component to the third position after reaching the angle area, so that the auxiliary cleaning component enters the angle area at the third position.

[0168] For example, when the cleaning device is cleaning the inner angle formed by the first side and the second side, the body can be controlled to turn so that the auxiliary cleaning component located at the third position moves within the angle area to clean the angle area. The body turning can be achieved based on the speed difference between the two driving wheels of the cleaning device, and the rotation center of the cleaning device can be the center point between the two driving wheels. The cleaning device can also use other methods to achieve the body turning.

[0169] like Figure 4 and Figure 5 As shown in FIG. 1 , during the cleaning process of the cleaning device cleaning the angle area, the body rotates based on the rotation center, driving the auxiliary cleaning component located at the third position to clean the angle area. Figure 4 As shown, the auxiliary cleaning component can move from near the second side to the first side; Figure 5 As shown, the auxiliary cleaning component can also move from near the first side to the second side; the body can also reciprocate to drive the auxiliary cleaning component to reciprocate between the first side and the second side. Here, the specific position of the auxiliary cleaning component located at the third position before the body rotates within the angle region is not limited.

[0170] Exemplarily, before the body rotates, the auxiliary cleaning component located at the third position can be located near the second edge, and the body can rotate one or more times (such as one or more reciprocating rotations). After the body completes the rotation, the auxiliary cleaning component located at the third position can be located near the second edge, near the first edge, or at other positions between the first edge and the second edge.

[0171] During the cleaning process of the cleaning device cleaning the angled area, the auxiliary cleaning component rotates from the first side to the second side, and / or from the second side to the first side along with the rotation of the body. The rotation angle of the body can be predetermined. Alternatively, the distance threshold between the auxiliary cleaning component and the first side or the second side can be predetermined. During the rotation of the body, if the distance between the auxiliary cleaning component and the first side or the second side reaches the distance threshold, the current rotation toward the first side or the second side is stopped.

[0172] In the angle area, the auxiliary cleaning component adopts the third position, and the auxiliary cleaning component can extend into the angle area, reducing the situation where the angle area cannot be cleaned due to the influence of the fuselage, improving the cleaning effect of the angle area, reducing cleaning blind spots, and improving user experience.

[0173] As shown in the above embodiments, the auxiliary cleaning component can be set in different swinging positions so that when the auxiliary cleaning component swings to one or more preset positions, the cleaning areas of the auxiliary cleaning component and the main cleaning component overlap with each other and there is no cleaning gap for scenarios such as moving along a straight line or moving along a curve with a larger radius. However, due to structural design limitations, when performing arc path movement with a smaller radius or rotating in place, if the distance between the rotation center of the auxiliary cleaning component and the rotation center of the fuselage is large, that is, when the auxiliary cleaning component swings far from the fuselage, there will still be a cleaning gap between the auxiliary cleaning component and the main cleaning component.

[0174] like Figure 4 and Figure 5 As shown, since the auxiliary cleaning component is in the third position, there is a predetermined interval between the auxiliary cleaning component and the main cleaning component, that is, there is an area between the rotation center and the auxiliary cleaning component connecting line that the auxiliary cleaning component and the main cleaning component cannot cover. During the rotation of the fuselage, the auxiliary cleaning component and the main cleaning component cannot overlap due to the predetermined interval, so a cleaning gap as shown in the shaded part will be generated between the cleaning areas of the auxiliary cleaning component and the main cleaning component. That is, during the cleaning process of the angle area, a cleaning blind area is generated due to the predetermined interval between the auxiliary cleaning component and the main cleaning component.

[0175] Here, the cleaning device can use an auxiliary cleaning component to clean the cleaning gap. For example, the cleaning device can determine the location of the cleaning gap based on the predetermined interval between the auxiliary cleaning component and the main cleaning component, and the motion trajectory of the cleaning device using the auxiliary cleaning component to clean the angle area, and use the auxiliary cleaning component to clean the cleaning gap. Since the cleaning gap is generated by the auxiliary cleaning component in the process of cleaning the angle area, the cleaning gap is usually also located in the angle area. The main cleaning component may not be able to enter the angle area to clean the cleaning gap due to its large area. Using the auxiliary cleaning component to clean the cleaning gap can facilitate the cleaning component to enter the angle area and improve the cleaning effect of the cleaning gap.

[0176] Specifically, the fuselage can move a predetermined distance in the first direction so that the auxiliary cleaning component is at least partially located in the cleaning gap. Before the auxiliary cleaning component enters the cleaning gap, the inner position of the auxiliary cleaning component in the angle area may include a side close to the first side, may also include a side close to the second side, and may also include any position between the first side and the second side. The position of the auxiliary cleaning component after entering the cleaning gap can be determined based on the inner position of the auxiliary cleaning component in the angle area before entering the cleaning gap, the first direction and / or the predetermined distance.

[0177] In a possible implementation, the first direction includes a direction in which the auxiliary cleaning component faces the cleaning gap.

[0178] like Figure 6As shown, the fuselage rotates around the rotation center of the fuselage, and the auxiliary cleaning component located at the third position rotates around the rotation center of the fuselage in the angle area. After cleaning the angle area, it can move a predetermined distance in the first direction so that the auxiliary cleaning component enters the cleaning gap. The distance that the cleaning device needs to move to move the center of the auxiliary cleaning component into the cleaning gap, i.e., the predetermined distance, can be determined based on the first direction of movement of the cleaning device and the distance between the center of the cleaning component and the center of the predetermined interval.

[0179] In a possible implementation, the first direction includes the straight-line moving direction of the cleaning device. Figure 7 As shown, the fuselage rotates around the rotation center of the fuselage, and the auxiliary cleaning assembly located at the third position rotates around the rotation center of the fuselage within the angle area. After cleaning the angle area, the fuselage can move straight along the forward direction of the fuselage, so that the auxiliary cleaning assembly is at least partially located in the cleaning gap. Figure 7 Take the case where the auxiliary cleaning component is located at the second side when the machine body stops rotating as an example. Figure 7 The situation is similar, the fuselage can move forward in a straight line along the forward direction of the fuselage, and examples will not be given one by one here.

[0180] In a possible implementation, the first direction includes the extension direction of the rotation center of the auxiliary cleaning assembly toward the rotation center of the fuselage. Figure 8 As shown, the fuselage rotates around the rotation center of the fuselage, and the auxiliary cleaning assembly located at the third position rotates around the rotation center of the fuselage within the angle area. After cleaning the angle area, the fuselage can move along the extension direction of the rotation center of the auxiliary cleaning assembly toward the rotation center of the fuselage. Figure 8 Take the case where the auxiliary cleaning component is located at the second side when the machine body stops rotating as an example. Figure 8 The situation is similar to that of the embodiment, the fuselage can move along the extension direction of the rotation center of the auxiliary cleaning component toward the rotation center of the fuselage, and examples are not given one by one here.

[0181] In a possible implementation, the predetermined distance may be determined based on at least one of the following: the first direction; the distance between the rotation center of the auxiliary cleaning assembly and the boundary of the cleaning gap; the distance between the rotation center of the auxiliary cleaning assembly and the center of the predetermined interval. For example, the body is controlled to move along the first direction by a distance equal to the predetermined interval so that the auxiliary cleaning assembly is at least partially located in the cleaning gap.

[0182] Since the cleaning gap is formed by the predetermined interval between the auxiliary cleaning assembly and the main cleaning assembly during the rotation of the body, the coverage surface formed by the predetermined interval during the rotation of the body is in an arc shape, that is, the cleaning gap is in an arc line. Therefore, when the auxiliary cleaning assembly is at least partially located in the cleaning gap, the body can be rotated to make the coverage surface of the auxiliary cleaning assembly in an arc line to cover the cleaning gap, thereby achieving cleaning of the cleaning gap.

[0183] The body can rotate during the process of moving a predetermined distance in the first direction so that the auxiliary cleaning component can clean the cleaning gap, which can reduce the cleaning blind area and improve the cleaning effect of the angle area. Fig.11 As shown, when the fuselage completes cleaning the angle area, the auxiliary cleaning component is located on the side close to the second side, and the cleaning equipment can move a predetermined distance in the first direction and turn during the movement, so that the auxiliary cleaning component moves toward the first side at the same time while entering the cleaning gap, thereby cleaning the cleaning gap.

[0184] In some embodiments, after the auxiliary cleaning component enters the cleaning gap, the body can rotate based on the rotation center of the body to drive the auxiliary cleaning component to move along the extension direction of the cleaning gap, so that the auxiliary cleaning component moves along an arc to clean the cleaning gap, reduce the cleaning blind area, and improve the cleaning effect of the angle area. When cleaning the gap, the body is controlled to rotate in an in-situ manner, thereby driving the auxiliary cleaning component to perform gap cleaning, which can improve the coverage accuracy of the gap cleaning and thus improve the cleaning effect of the angle area.

[0185] For example, Fig. 9 As shown in the figure, when the body completes cleaning of the angled area, the auxiliary cleaning component is located on the side close to the second side, and the cleaning device can move a predetermined distance in the first direction so that the auxiliary cleaning component enters the cleaning gap. After the auxiliary cleaning component enters the cleaning gap, the body can rotate in a direction that allows the auxiliary cleaning component to move from the side close to the second side to the first side, thereby cleaning the cleaning gap. After the auxiliary cleaning component reaches the first side, as shown in the figure, the auxiliary cleaning component moves to the first side. Fig.10 The body can also rotate in the reverse direction, that is, the direction of rotation of the body causes the auxiliary cleaning component to move from the side close to the first side to the second side, thereby achieving reciprocating cleaning of the cleaning gap and improving the cleaning effect of the cleaning gap.

[0186] In some embodiments, the predetermined distance includes more than two sub-predetermined distances;

[0187] The controlling the fuselage to move a predetermined distance along a first direction, and controlling the fuselage to rotate around a rotation center of the fuselage during the movement of the predetermined distance, comprises:

[0188] Controlling the body to move a sub-predetermined distance along the first direction, and performing a sub-cleaning action on the cleaning gap after moving the sub-predetermined distance, wherein the sub-cleaning action refers to the body rotating around the rotation center of the body, so that the auxiliary cleaning component located at the third position rotates around the rotation center of the body within the angle region;

[0189] After completing one sub-cleaning action, the body is controlled to move one sub-predetermined distance along the first direction again, and the sub-cleaning action is performed again after moving one sub-predetermined distance, until all sub-predetermined distances within the predetermined distance are completed.

[0190] Here, the sum of the two or more sub-predetermined distances is equal to the predetermined distance.

[0191] Specifically, Fig.15 As shown (the shaded part is the trajectory of the movement of the auxiliary cleaning component), the body rotates around the rotation center of the body, and the auxiliary cleaning component located at the third position rotates around the rotation center of the body in the angle area. After cleaning the angle area, the body can move a predetermined distance in the first direction so that the auxiliary cleaning component at least partially enters the cleaning gap. After the auxiliary cleaning component at least partially enters the cleaning gap, the body can perform a first sub-cleaning action to clean part or all of the cleaning gap by rotation. Here, the sub-cleaning action may include: the body drives the auxiliary cleaning component located at the third position to move from the first side to the second side by rotating, the body drives the auxiliary cleaning component located at the third position to move from the second side to the first side by rotating, and the body drives the auxiliary cleaning component located at the third position to move back and forth between the first side and the second side by rotating.

[0192] After completing the first sub-cleaning action, the body can move a predetermined distance in the first direction, and at least part of the auxiliary cleaning assembly can enter the cleaning gap. After at least part of the auxiliary cleaning assembly enters the cleaning gap, the body can perform a second sub-cleaning action to clean part or all of the cleaning gap by rotating.

[0193] Here, the predetermined distance includes more than two sub-predetermined distances, that is, the cleaning gap can be cleaned by more than two sub-cleaning actions. The cleaning gap is covered with different parts and the same parts by each sub-cleaning action. Through multiple sub-cleaning actions, the cleaning gap is fully covered and cleaned, and the same covered part is repeatedly cleaned to improve the cleaning effect of the cleaning gap.

[0194] During the cleaning process of the cleaning device cleaning the cleaning gap, the auxiliary cleaning component rotates from the first side to the second side and / or from the second side to the first side as the body rotates. The rotation angle of the body can be predetermined. Alternatively, the distance threshold between the auxiliary cleaning component and the first side or the second side can be predetermined. During the rotation of the body, if the distance between the auxiliary cleaning component and the first side or the second side reaches the distance threshold, the current rotation toward the first side or the second side is stopped. Here, the distance threshold can be 0. That is, the auxiliary cleaning component can be in contact with the first side or the second side.

[0195] By using the auxiliary cleaning component located at the third position to clean the angle area, the auxiliary cleaning component can extend into the angle area, reducing the situation where the angle area cannot be cleaned due to the influence of the fuselage, improving the cleaning effect of the angle area, reducing the cleaning blind area, and improving the user experience. On the other hand, by rotating the fuselage, the auxiliary cleaning component that enters the cleaning gap can be driven to clean the cleaning gap, so that cleaning can be achieved along the extension direction of the cleaning gap, improving the cleaning effect of the cleaning gap.

[0196] In some embodiments, the first direction includes: an extension direction of a trajectory midpoint toward the rotation center of the body; wherein the trajectory midpoint is the midpoint of the movement trajectory of the rotation center of the auxiliary cleaning assembly during the rotation of the body around the rotation center.

[0197] The body can rotate based on the rotation center, driving the rotation center of the auxiliary cleaning component to move from the first side to the second side, or from the second side to the first side, or reciprocate between the first side and the second side around the rotation center to form a moving track, such as Fig.12 As shown. The middle point (b) of the moving track of the rotation center of the auxiliary cleaning component can be taken as the middle point of the track. The extension direction from the middle point of the track to the rotation center (a) is the first direction.

[0198] In a possible implementation, the body drives the auxiliary cleaning assembly located at the third position to clean the angle area by rotating. When the auxiliary cleaning assembly is finished cleaning, the body can drive the auxiliary cleaning assembly located at the third position to the middle point of the track by rotating. Then the body drives the auxiliary cleaning assembly to move a predetermined distance along the first direction, so that the auxiliary cleaning assembly is at least partially located in the cleaning gap.

[0199] In some embodiments, the length of the cleaning gap in the first direction is taken as the first length L1, the length of the auxiliary cleaning assembly in the first direction is taken as the second length L2, and the predetermined distance is greater than or equal to the first length L1 and less than or equal to L2.

[0200] In one possible implementation, L2 is greater than L1.

[0201] For example, Fig.13As shown, the length of the cleaning gap in the first direction is L1, and the length of the auxiliary cleaning assembly is L2. When the auxiliary cleaning assembly moves L1 in the first direction, the frontmost edge of the auxiliary cleaning assembly in the first direction can reach the front edge of the cleaning gap in the first direction, and the auxiliary cleaning assembly in the first direction can cover the length of the cleaning gap in the first direction. As the body rotates, the auxiliary cleaning assembly moves between the first side and the second side, so that the cleaning gap can be cleaned.

[0202] like Fig.14 As shown, when the auxiliary cleaning component moves L2 in the first direction, the rear edge of the auxiliary cleaning component in the first direction can reach the rear edge of the cleaning gap in the first direction, and the auxiliary cleaning component can cover the length of the cleaning gap in the first direction. As the body rotates, the auxiliary cleaning component moves between the first side and the second side, and the cleaning gap can be cleaned. When the auxiliary cleaning component moves between L1 and L2 along the first direction, the auxiliary cleaning component can cover the length of the cleaning gap in the first direction. As the body rotates, the auxiliary cleaning component moves between the first side and the second side, and the cleaning gap can be cleaned. Therefore, setting the predetermined moving distance to be greater than or equal to the first length L1 and less than or equal to L2 can ensure that the auxiliary cleaning component is cleaned after moving or during moving, and can effectively cover the cleaning gap.

[0203] In some embodiments, the method further comprises:

[0204] Step 201: After the cleaning of the cleaning gap is completed, controlling the body to move the predetermined distance in the opposite direction of the first direction;

[0205] Step 202: During movement in the opposite direction of the first direction, the auxiliary cleaning component is switched from the third position to the edge position; or, after moving a predetermined distance in the opposite direction of the first direction, when there is space between the body and the second side for switching the auxiliary cleaning component from the third position to the edge position, the auxiliary cleaning component is switched from the third position to the edge position.

[0206] By moving the predetermined distance in the opposite direction of the first direction, the cleaning device can accurately return to the starting position for cleaning the angle area. By returning to the starting position, the cleaning device can use the starting position as a reference point to determine the uncleaned area (such as the area that was not cleaned before the angle area was cleaned), and then clean the uncleaned area. By returning to the starting position, the cleaning device can use the starting position as a reference point to determine the uncleaned area (such as the area that was not cleaned before the angle area was cleaned), and then clean the uncleaned area, thereby reducing the complexity of positioning the uncleaned area due to position changes and avoiding missed cleaning.

[0207] For example, after the cleaning device completes the edge cleaning of the first side, it then performs cleaning of the angle area. Then, after the cleaning device completes the cleaning gap, it can perform edge cleaning of the second side. During the cleaning process of the cleaning gap, the body moves in the first direction, so the body is away from the angle area. After the cleaning device completes the cleaning gap, if the cleaning device still needs to perform edge cleaning of the first side or the second side, the body can be controlled to return to the angle area so that the edge cleaning can be started from the angle area, so as to avoid missing cleaning during the cleaning process of the first side or the second side. Therefore, after completing the cleaning gap, the body can be controlled to move the predetermined distance in the opposite direction of the first direction, so that the body returns to the angle area.

[0208] For example, Fig.16 As described above (the shaded portion in the figure is a schematic diagram of the trajectory of the auxiliary cleaning component when the cleaning device performs cleaning based on any of the above-mentioned embodiments, and the shaded portions in subsequent figures are similar to this and will not be described in detail), the cleaning device can move in the opposite direction of the first direction after completing the cleaning interval. During the process of the body moving in the opposite direction of the first direction, the auxiliary cleaning component can swing from the third position to the edge position to prepare for subsequent edge cleaning, thereby improving the cleaning efficiency.

[0209] For example, Fig.17 As described, after completing the cleaning gap, the cleaning device can move in the opposite direction of the first direction, such as returning to the position before the cleaning device performs cleaning of the angle area. If there is space between the fuselage and the second side for swinging the cleaning device from the third position to the edge position, the auxiliary cleaning component can be controlled to swing from the third position to the edge position. If there is no space between the fuselage and the second side for swinging the cleaning device from the third position to the edge position, the fuselage can be controlled to rotate, and the space between the fuselage and the second side can be adjusted so that the space between the fuselage and the second side can be used to swing the cleaning device from the third position to the edge position, and then the auxiliary cleaning component can be controlled to swing from the third position to the edge position.

[0210] After the cleaning device swings from the third position to the edge position, the body can be rotated to turn to the edge direction of the second edge, and then the second edge is edged.

[0211] In a possible implementation, after the cleaning of the cleaning gap is completed, the auxiliary cleaning component is controlled to switch from the third position to the initial position; then the body is controlled to move a predetermined distance in the opposite direction of the first direction; after the body completes the movement, the auxiliary cleaning component is controlled to switch from the initial position to the edge position. Alternatively, after the cleaning of the cleaning gap is completed, the auxiliary cleaning component is controlled to switch from the third position to the edge position, and then the body is controlled to move a predetermined distance in the opposite direction of the first direction. At the starting position, if there is insufficient space between the body and the second side, it is necessary to continue to control the rotation of the body to realize the auxiliary cleaning component switching from the third position to the edge position, which increases the control complexity. By pre-controlling the auxiliary cleaning component to switch to the edge position or the initial position, the control complexity can be further reduced.

[0212] Of course, after completing the cleaning of the cleaning gap, the auxiliary cleaning component can be controlled to switch to the edge position or the initial position during the process of controlling the body to move a predetermined distance in the opposite direction of the first direction, thereby reducing the control complexity and eliminating the need to wait for the auxiliary cleaning component to switch to the initial position before moving. In this way, the waiting time before movement can be shortened and the movement efficiency can be improved.

[0213] like Fig.18 As shown, after completing cleaning the cleaning gap, the cleaning device can switch the auxiliary cleaning component from the third position to the initial position, and then control the body to move a predetermined distance in the opposite direction of the first direction. After the body completes the movement, the auxiliary cleaning component is controlled to switch from the initial position to the edge position.

[0214] In some embodiments, the method comprises at least one of the following:

[0215] Controlling the body to move along a second direction, and controlling the auxiliary cleaning assembly to perform edge cleaning on the second edge at the edge position, wherein the second direction is a direction away from the first edge;

[0216] The body is controlled to move along a third direction, and the auxiliary cleaning component is controlled to perform edge cleaning on the second edge at the edge position, wherein the third direction is a direction toward the first edge.

[0217] In a possible implementation, the cleaning device may first move in the third direction and then move in the second direction.

[0218] like Fig.19 As shown, after the cleaning device turns to the second side in the angle area, there is still a gap between the body and the first side. At this time, the cleaning device can move toward the first side ( Fig.15In the third direction, the cleaning device can use the first cleaning device to supplement the area that was not cleaned during the cleaning of the angle area, and in the process of moving toward the first side, the main cleaning component can also clean the interval area between the fuselage and the first side, thereby reducing the missed area of ​​the entire angle area and improving the cleaning effect of the angle area. The cleaning device can determine the distance to move in the third direction based on the sensing system, etc., to reduce the collision between the fuselage and the first side.

[0219] like Fig.19 As shown, after the cleaning device turns to the edge direction of the second edge in the angle area, or completes the movement to the third direction, it can move to the second direction and use the auxiliary cleaning component to clean the second edge.

[0220] Alternatively, taking the structure described in the above embodiment as an example, the auxiliary cleaning component can be configured with only an edge position and fixed at the edge position to remain motionless. The cleaning robot can perform cleaning of all areas where the auxiliary cleaning component needs to work at the edge position, such as edge cleaning of the edge of an obstacle and non-edge mode cleaning of an open area. When the auxiliary cleaning component is fixed at the edge position, at least part of it is always located outside the edge of the fuselage, so that when the edge of the obstacle is cleaned along the edge, the auxiliary cleaning component can be as close to the edge of the obstacle as possible to reduce the missed scanning area along the edge. Of course, the auxiliary cleaning component can also have a certain passive motion range due to the action of the elastic member to avoid damage or falling due to excessive squeezing with the obstacle.

[0221] With reference to the above-mentioned embodiments, in the embodiments of the present specification, the swing arm corresponding to the edge position is set shorter, so as to simplify the complexity of the structure while taking into account the edge leakage cleaning and the interference caused by the retraction of the auxiliary cleaning component. However, when the swing arm corresponding to the edge position is set shorter, the area where the auxiliary cleaning component protrudes from the edge of the fuselage is smaller, resulting in less angle area between the two sides of the obstacle covered by the auxiliary cleaning component, and there are still more floor leakage cleaning areas. In some embodiments of the present specification, on the basis of only setting the edge position, the auxiliary cleaning component can be set in a swingable form, and a third position can be further added for the auxiliary cleaning component, so as to use the auxiliary cleaning component located at the third position to clean the angle area; wherein, the distance between the rotation center of the auxiliary cleaning component at the edge position and the third position and the rotation center of the fuselage is represented by LB and LC respectively, where LB>LC.

[0222] Similarly, in the embodiments of the present specification, by setting a relatively short swing arm at the edge position, the probability of the auxiliary cleaning component being stuck or colliding during the edge process can be reduced, and the leakage area along the edge can be reduced; at the same time, the cleaning coverage of the auxiliary cleaning component can also be designed to be smaller, and the structure is relatively simple. The area of ​​the angle area is relatively small relative to the area of ​​the working area, the cleaning path for the angle area is relatively small, and the environmental complexity of the angle area is relatively low. A longer swing arm is further configured for the angle area, so that the probability of the auxiliary cleaning component being stuck or colliding is smaller. A longer swing arm is further configured for the angle area to increase the length of the auxiliary cleaning component extending out of the fuselage to achieve leak repair cleaning of the angle area; even if there is leakage cleaning between the auxiliary cleaning component and the main cleaning component due to the longer swing arm, the leakage area of ​​the angle area can be reduced by controlling the simple movement of the fuselage in the angle area; and on the basis of further reducing the leakage cleaning, the probability of the auxiliary cleaning component being stuck and colliding can be reduced, thereby improving the stability of the operation of the cleaning equipment.

[0223] Referring to the above scenario examples, if the auxiliary cleaning component can only switch between the edge position and the third position, that is, the auxiliary cleaning component only has the edge position and the third position. Then, the cleaning device can only perform the switching control of the auxiliary cleaning component between the edge position and the third position. In the absence of contradiction, the cleaning device can use the control method of the cleaning device in the above embodiment for cleaning. The specific implementation method is as described in any of the above embodiments and will not be repeated here. It should be noted that, unlike the cleaning device in which the auxiliary cleaning component has the initial position, the edge position and the third position, the cleaning device in which the auxiliary cleaning component has the edge position and the third position may not perform the switching control of the auxiliary cleaning component between the edge position and the initial position, and the switching control of the auxiliary cleaning component between the third position and the initial position. The cleaning device may also not perform the movement and cleaning control of the auxiliary cleaning component when it is in the initial position. Cleaning device in which the auxiliary cleaning component has the edge position and the third position.

[0224] For example, in some embodiments, the method includes: controlling the body to rotate around the rotation center of the body so that the auxiliary cleaning component located at the third position rotates around the rotation center of the body within the angle area to clean the angle area, wherein the angle area is an inner angle formed by the first edge and the second edge; controlling the body to move a predetermined distance in a first direction so that the auxiliary cleaning component is at least partially located in a cleaning gap, wherein the cleaning gap is generated due to the predetermined interval during cleaning the angle area, and the first direction refers to a direction away from the first edge and / or the second edge; and, after moving the predetermined distance or during moving the predetermined distance, controlling the body to rotate around the rotation center of the body so that the auxiliary cleaning component located at the third position rotates around the rotation center of the body within the angle area to clean the cleaning gap.

[0225] In some embodiments, the first direction may include: an extension direction of a midpoint of the trajectory toward the rotation center of the body; wherein the midpoint of the trajectory is the midpoint of the movement trajectory of the rotation center of the auxiliary cleaning assembly during the rotation of the body around the rotation center.

[0226] In some embodiments, the length of the cleaning gap in the first direction can be used as the first length L1, the length of the auxiliary cleaning assembly in the first direction can be used as the second length L2, and the predetermined distance is greater than or equal to the first length L1 and less than or equal to L2.

[0227] In some embodiments, the predetermined distance includes more than two sub-predetermined distances; controlling the body to move a predetermined distance along a first direction, and controlling the body to rotate around the rotation center of the body during the movement of the predetermined distance, includes: controlling the body to move a sub-predetermined distance along the first direction, and performing a sub-cleaning action on the cleaning gap after moving a sub-predetermined distance, wherein the sub-cleaning action refers to the body rotating around the rotation center of the body so that the auxiliary cleaning component located at the third position rotates around the rotation center of the body within the angle area; after completing the sub-cleaning action once, controlling the body to move another sub-predetermined distance along the first direction, and performing the sub-cleaning action once after moving a sub-predetermined distance, until all sub-predetermined distances within the predetermined distance are executed.

[0228] In some embodiments, the method further includes: after cleaning the cleaning gap is completed, controlling the body to move the predetermined distance in the opposite direction of the first direction; during the movement in the opposite direction of the first direction, switching the auxiliary cleaning component from the third position to the edge position; or, after moving the predetermined distance in the opposite direction of the first direction, switching the auxiliary cleaning component from the third position to the edge position when there is space between the body and the second edge to switch the auxiliary cleaning component from the third position to the edge position.

[0229] The present application also provides a cleaning system, including a base station and a cleaning device provided in any of the above embodiments, such as a cleaning robot. The base station is used at least to fill the water tank in the body, charge the robot, collect dust from the dust box, and clean the main cleaning parts of the main cleaning assembly.

[0230] Among them, the structure and working principle of the cleaning robot have been explained in detail in the above embodiments and will not be repeated here.

[0231] The present application also provides a cleaning device, such as a cleaning robot, etc. The cleaning device includes a control device.

[0232] In a possible implementation, the cleaning device further includes a walking system for enabling the cleaning device to walk, such as wheels, tracks, driving components, and the like.

[0233] The control device is used to execute the control method of the cleaning device as described above.

[0234] The present application also provides a computer-readable storage medium, in which computer-executable instructions are stored. When a processor executes the computer-executable instructions, the control method of the cleaning device as described above is implemented.

[0235] The computer-readable storage medium provided in this embodiment can execute the control method of the cleaning device in the above-mentioned embodiment, and its implementation principle and technical effect are similar, so this embodiment will not be repeated here.

[0236] The computer-readable storage medium mentioned above may be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk. The readable storage medium may be any available medium that can be accessed by a general or special-purpose computer.

[0237] An exemplary readable storage medium is coupled to a processor so that the processor can read information from the readable storage medium and write information to the readable storage medium. Of course, the readable storage medium can also be a component of the processor. The processor and the readable storage medium can be located in an application specific integrated circuit (Application Specific Integrated Circuits, referred to as: ASIC). Of course, the processor and the readable storage medium can also exist as discrete components in an electronic device or a main control device.

[0238] Those skilled in the art can understand that all or part of the steps of implementing the above-mentioned method embodiments can be completed by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, the steps of the above-mentioned method embodiments are executed; and the aforementioned storage medium includes: ROM, RAM, disk or optical disk and other media that can store program codes.

[0239] The various embodiments or implementation methods in this specification are described in a progressive manner. Each embodiment focuses on the differences from other embodiments, and the same or similar parts between the various embodiments can be referenced to each other.

[0240] In the description of this specification, reference to "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiments or examples are included in at least one embodiment or example of the present application. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0241] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A method for controlling a cleaning device, characterized in that: The cleaning device comprises a body, a main cleaning assembly and an auxiliary cleaning assembly are arranged on the body, and when the auxiliary cleaning assembly is in a third position, there is a predetermined interval between the main cleaning assembly and the auxiliary cleaning assembly; along the forward direction of the body, the main cleaning assembly and the auxiliary cleaning assembly are both arranged at the rear of the body, the auxiliary cleaning assembly is distributed along the side of the body, and the area of ​​the auxiliary cleaning assembly is smaller than that of the main cleaning assembly; The main cleaning assembly does not swing relative to the body; the auxiliary cleaning assembly swings relative to the body and switches between the initial position, the edge position and the third position under the drive of the first driving structure; at least part of the edge of the auxiliary cleaning assembly is located outside the edge of the body at the edge position; The distance between the rotation center of the auxiliary cleaning component at the initial position and the rotation center of the body, the distance between the rotation center of the auxiliary cleaning component at the edge position and the rotation center of the body, and the distance between the rotation center of the auxiliary cleaning component at the third position and the rotation center of the body are represented by LA, LC and LB respectively, wherein LB>LC>LA; The method comprises: Controlling the body to rotate around the rotation center of the body, so that the auxiliary cleaning assembly located at the third position rotates around the rotation center of the body within an angle region, and performs cleaning on the angle region, wherein the angle region is an inner angle formed by the first side and the second side; Controlling the body to move a predetermined distance along a first direction so that the auxiliary cleaning assembly is at least partially located in a cleaning gap, wherein the cleaning gap is generated due to the predetermined interval during cleaning of the angled area, and the first direction refers to a direction away from the first side and / or the second side; And, after moving a predetermined distance or during moving a predetermined distance, the body is controlled to rotate around the rotation center of the body, so that the auxiliary cleaning component located at the third position rotates around the rotation center of the body within the angle area to clean the cleaning gap.

2. The method according to claim 1, characterized in that The first direction includes: an extension direction of the middle point of the trajectory toward the rotation center of the body; wherein the middle point of the trajectory is the middle point of the movement trajectory of the rotation center of the auxiliary cleaning component during the rotation of the body around the rotation center.

3. The method according to claim 2, characterized in that The length of the cleaning gap in the first direction is taken as the first length L1, the length of the auxiliary cleaning assembly in the first direction is taken as the second length L2, and the predetermined distance is greater than or equal to the first length L1 and less than or equal to L2.

4. The method according to any one of claims 1 to 3, characterized in that: The predetermined distance includes more than two sub-predetermined distances; The controlling the fuselage to move a predetermined distance along a first direction, and controlling the fuselage to rotate around a rotation center of the fuselage during the movement of the predetermined distance, comprises: Controlling the body to move a sub-predetermined distance along the first direction, and performing a sub-cleaning action on the cleaning gap after moving the sub-predetermined distance, wherein the sub-cleaning action refers to the body rotating around the rotation center of the body, so that the auxiliary cleaning component located at the third position rotates around the rotation center of the body within the angle region; After completing one sub-cleaning action, the body is controlled to move one sub-predetermined distance along the first direction again, and the sub-cleaning action is performed again after moving one sub-predetermined distance, until all sub-predetermined distances within the predetermined distance are completed.

5. The method according to any one of claims 1 to 3, characterized in that: The method further comprises: After the cleaning gap is cleaned, controlling the body to move the predetermined distance in the opposite direction of the first direction; During movement in the opposite direction of the first direction, the auxiliary cleaning component is switched from the third position to the edge position; or, after moving a predetermined distance in the opposite direction of the first direction, when there is space between the body and the second edge for switching the auxiliary cleaning component from the third position to the edge position, the auxiliary cleaning component is switched from the third position to the edge position.

6. A method for controlling a cleaning device, characterized in that: The cleaning device comprises a body, a main cleaning assembly and an auxiliary cleaning assembly, wherein the auxiliary cleaning assembly has at least an edge position and a third position, and when the auxiliary cleaning assembly is in the third position, there is a predetermined interval between the auxiliary cleaning assembly and the main cleaning assembly; along the forward direction of the body, the auxiliary cleaning assembly is distributed along the edge side of the body; The main cleaning assembly does not swing relative to the body; the auxiliary cleaning assembly swings relative to the body and switches between the edge position and the third position under the drive of the first driving structure; at least part of the edge of the auxiliary cleaning assembly is located outside the edge of the body at the edge position; The distance between the rotation center of the auxiliary cleaning assembly when it is at the edge position and the rotation center of the body, and the distance between the rotation center of the auxiliary cleaning assembly when it is at the third position and the rotation center of the body are represented by LC and LB, respectively, where LB>LC; The method comprises: Controlling the body to rotate around the rotation center of the body, so that the auxiliary cleaning assembly located at the third position rotates around the rotation center of the body within an angle region, and performs cleaning on the angle region, wherein the angle region is an inner angle formed by the first side and the second side; Control the body to move a predetermined distance in a first direction so that the auxiliary cleaning component is at least partially located in a cleaning gap, wherein the cleaning gap is generated due to the predetermined interval during cleaning the angle area, and the first direction refers to a direction away from the first side and / or the second side; and, after moving the predetermined distance or during moving the predetermined distance, control the body to rotate around the rotation center of the body so that the auxiliary cleaning component located at a third position rotates around the rotation center of the body within the angle area to clean the cleaning gap.

7. The method according to claim 6, characterized in that The first direction includes: an extension direction of the middle point of the trajectory toward the rotation center of the body; wherein the middle point of the trajectory is the middle point of the movement trajectory of the rotation center of the auxiliary cleaning component during the rotation of the body around the rotation center.

8. The method according to claim 7, characterized in that The length of the cleaning gap in the first direction is taken as the first length L1, the length of the auxiliary cleaning assembly in the first direction is taken as the second length L2, and the predetermined distance is greater than or equal to the first length L1 and less than or equal to L2.

9. The method according to any one of claims 6 to 8, characterized in that: The predetermined distance includes more than two sub-predetermined distances; The controlling the fuselage to move a predetermined distance along a first direction, and controlling the fuselage to rotate around a rotation center of the fuselage during the movement of the predetermined distance, comprises: Controlling the body to move a sub-predetermined distance along the first direction, and performing a sub-cleaning action on the cleaning gap after moving the sub-predetermined distance, wherein the sub-cleaning action refers to the body rotating around the rotation center of the body, so that the auxiliary cleaning component located at the third position rotates around the rotation center of the body within the angle region; After completing one sub-cleaning action, the body is controlled to move one sub-predetermined distance along the first direction again, and the sub-cleaning action is performed again after moving one sub-predetermined distance, until all sub-predetermined distances within the predetermined distance are completed.

10. The method according to any one of claims 6 to 8, characterized in that: The method further comprises: After the cleaning gap is cleaned, controlling the body to move the predetermined distance in the opposite direction of the first direction; During movement in the opposite direction of the first direction, the auxiliary cleaning component is switched from the third position to the edge position; or, after moving a predetermined distance in the opposite direction of the first direction, when there is space between the body and the second edge for switching the auxiliary cleaning component from the third position to the edge position, the auxiliary cleaning component is switched from the third position to the edge position.

11. A cleaning device, characterized in that: The cleaning device comprises: a control device; The control device is used to execute the control method of the cleaning equipment according to any one of claims 1 to 10.

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