Cleaning equipment control method and cleaning equipment

Abstract

The embodiment of the invention provides a cleaning equipment control method and cleaning equipment. The cleaning equipment comprises a machine body, and a main cleaning assembly, an auxiliary cleaning assembly and a first driving assembly are arranged on the machine body; the main cleaning assembly and the auxiliary cleaning assemblies are arranged on the rear portion of the machine body in the advancing direction of the machine body, and the auxiliary cleaning assemblies are distributed on the edge side of the machine body. The cleaning coverage area of the auxiliary cleaning assembly is smaller than the cleaning coverage area of the main cleaning assembly, and the first driving assembly is used for driving the auxiliary cleaning assembly to be adjusted within the swing range between the initial position and the third position. The cleaning equipment control method comprises the steps that a machine body is controlled to execute first rotation in an included angle area between a first edge and a second edge, so that an auxiliary cleaning assembly moves towards the second edge along the first edge; and in the first rotation process, the auxiliary cleaning assembly is controlled to be adjusted within the swing range, so that the distance between the auxiliary cleaning assembly and the first edge is smaller than or equal to the first distance.

Description

[0001] This application is a divisional of the Chinese invention patent application with patent application number 202411078162.7, application date August 7, 2024, and invention name “Cleaning equipment control method and cleaning equipment” Technical Field

[0002] The present application relates to the field of cleaning technology, and in particular to a cleaning equipment control method and a cleaning equipment. Background Art

[0003] 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

[0004] In view of this, an embodiment of the present disclosure provides a cleaning device control method and a cleaning device.

[0005] According to a first aspect of an embodiment of the present disclosure, a cleaning device control method is proposed, wherein the cleaning device comprises a body, wherein a main cleaning component, an auxiliary cleaning component, and a first driving component are arranged on the body; 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, and the auxiliary cleaning component is distributed along the side of the body; the cleaning coverage area of ​​the auxiliary cleaning component is smaller than the cleaning coverage area of ​​the main cleaning component, and the first driving component is used to drive the auxiliary cleaning component to adjust within a swing range between an initial position and a third position, and the distance between the rotation center of the auxiliary cleaning component at the initial 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 and LB, respectively, wherein LB>LA; the method comprises:

[0006] Controlling the body to perform a first rotation in an angle region between the first side and the second side, so that the auxiliary cleaning component moves along the first side toward the second side, the angle region being an inner angle formed by the first side and the second side;

[0007] During the first rotation of the body, the auxiliary cleaning component is controlled to adjust within the swing range so that the distance between the rotation center of the auxiliary cleaning component and the first side is a first distance, so as to clean the angle area.

[0008] In some embodiments, the first driving assembly comprises at least a swing arm of fixed length and swinging around a fixed axis, and the auxiliary cleaning assembly is arranged on the swing arm;

[0009] Controlling the swing angle of the swing arm to drive the auxiliary cleaning assembly to extend and retract relative to the contour of the body, so that the auxiliary cleaning assembly is adjusted within the swing range between the initial position and the third position;

[0010] The outline of the fuselage is circular, or the rear half is an arc-shaped D-shape. Along the forward direction of the fuselage, the third position and the swing axis of the swing arm are located behind the edge position.

[0011] In some embodiments, the method further comprises:

[0012] After the body performs the first rotation and the auxiliary cleaning component swings to the third position, if the distance between the rotation center of the auxiliary cleaning component and the second side is greater than the second distance, the auxiliary cleaning component is controlled to remain in the third position, and the body is controlled to continue to perform the first rotation until the distance between the rotation center of the auxiliary cleaning component and the second side is the second distance, so as to clean the angle area.

[0013] In some embodiments, the method further comprises:

[0014] After cleaning of the angle area is completed, the auxiliary cleaning component is controlled to switch to the edge position, wherein the edge position is the position of the auxiliary cleaning component when cleaning the first edge and / or the second edge, and the distance between the rotation center of the auxiliary cleaning component at the edge position and the rotation center of the fuselage is represented by LC, wherein LB>LC>LA.

[0015] In some embodiments, after the cleaning of the angle area is completed, controlling the auxiliary cleaning component to switch to the edge position includes at least one of the following:

[0016] When the distance between the rotation center of the auxiliary cleaning component and the first edge is greater than a distance threshold, the auxiliary cleaning component is controlled to switch to the edge position;

[0017] The steering angle of the first rotation of the fuselage body is greater than or equal to a steering angle threshold, and the auxiliary cleaning component is controlled to switch to the edge position;

[0018] When the body performs the first rotation and the auxiliary cleaning assembly swings to the third position, the auxiliary cleaning assembly is controlled to switch to the edge position.

[0019] In some embodiments, after the cleaning of the angle area is completed, controlling the auxiliary cleaning component to switch to the edge position includes:

[0020] When the cleaning of the angled area is completed and the auxiliary cleaning component is in the third position, or in a position between the edge position and the third position, and the distance between the rotation center of the auxiliary cleaning component and the second edge is a second distance, the body is controlled to perform a second rotation and rotate a specified angle so that there is a space between the body and the second edge for the auxiliary cleaning component to switch to the edge position, wherein the rotation direction of the first rotation is opposite to the rotation direction of the second rotation;

[0021] The auxiliary cleaning component is controlled to switch to the edge position after the body completes the second rotation, or the auxiliary cleaning component is controlled to switch to the edge position during the second rotation of the body.

[0022] In some embodiments, after the cleaning of the angle area is completed, controlling the auxiliary cleaning component to switch to the edge position includes:

[0023] During the first rotation of the fuselage, when the auxiliary cleaning component swings to the third position, or a position between the edge position and the third position, and the distance between the rotation center of the auxiliary cleaning component and the second edge is reduced to a second distance, the auxiliary cleaning component is controlled to adjust within the swing range so that the distance between the rotation center of the auxiliary cleaning component and the second edge is maintained at the second distance until the auxiliary cleaning component moves to the edge position.

[0024] In some embodiments, when the first distance is greater than the edge threshold, the method further includes:

[0025] When the body performs the first rotation, the auxiliary cleaning component swings to the third position, and / or the distance between the rotation center of the auxiliary cleaning component and the second side is the second distance, the body is controlled to perform a third rotation while keeping the auxiliary cleaning component stationary, until the distance between the rotation center of the auxiliary cleaning component and the first side is a close value to the edge, or until the auxiliary cleaning component contacts the first side, wherein the rotation direction of the first rotation is opposite to the rotation direction of the third rotation;

[0026] The body is continuously controlled to perform the third rotation, and the auxiliary cleaning component is controlled to adjust within the swing range, so that the distance between the rotation center of the auxiliary cleaning component and the first side is the edge contact critical value.

[0027] In some embodiments, after continuing to control the body to perform a third rotation and controlling the auxiliary cleaning component to adjust within the swing range, the method further includes:

[0028] When the auxiliary cleaning component is adjusted to an edge position, controlling the auxiliary cleaning component to stop adjusting, wherein the edge position is a position of the auxiliary cleaning component when edge adjustment is performed on the first edge and / or the second edge, and the distance between the rotation center of the auxiliary cleaning component at the edge position and the rotation center of the body is represented by LC, wherein LB>LC>LA;

[0029] And when the auxiliary cleaning component remains in the edge position, the body is controlled to perform a fourth rotation until the body turns to the edge direction for the second edge, wherein the rotation direction of the first rotation is the same as the rotation direction of the fourth rotation.

[0030] In some embodiments, the method further comprises:

[0031] When the auxiliary cleaning assembly is in an edgewise position, controlling the body to perform edgewise cleaning along the second edge;

[0032] Before controlling the body to perform edge cleaning along the second edge, the method further includes:

[0033] Controlling the auxiliary cleaning component to switch to the initial position;

[0034] The auxiliary cleaning component is controlled to switch from the initial position to the edge position.

[0035] In some embodiments, the method further includes: when the auxiliary cleaning assembly is in an edgewise position, controlling the body to perform edgewise cleaning along the first edge;

[0036] The controlling the fuselage to perform a first rotation in an angle region between the first side and the second side includes: when the fuselage is controlled to reach the angle region, controlling the fuselage to perform the first rotation;

[0037] During the first rotation, the auxiliary cleaning component is controlled to adjust within the swing range starting from the edge position so that the distance between the rotation center of the auxiliary cleaning component and the first edge is the first distance, until the auxiliary cleaning component swings to the third position; wherein, when the swing arm swings in one direction, the positions passed by the auxiliary cleaning component are, in sequence: initial position, edge position, and third position.

[0038] In some embodiments, the method further comprises:

[0039] When the auxiliary cleaning assembly is in the edge position, control the body to perform edge cleaning along the first edge;

[0040] The control for the body to perform a first rotation in the angular region between the first edge and the second edge includes:

[0041] During the process of controlling the body to perform cleaning along the first edge, when the distance from the second edge reaches a preset distance, first control the auxiliary cleaning assembly to swing to the initial position and perform the following actions:

[0042] After the speed of the body drops to zero, control the body to perform the first rotation, and control the auxiliary cleaning assembly to adjust within the swing range so that the distance between the rotation center of the auxiliary cleaning assembly and the first edge is a first distance until the auxiliary cleaning assembly swings to the third position;

[0043] Alternatively, after the speed of the body drops to zero, first control the body to perform the first rotation while keeping the auxiliary cleaning assembly at the initial position; and during the process of performing the first rotation, after the auxiliary cleaning assembly reaches a preset position, start to control the auxiliary cleaning assembly to adjust within the swing range so that the distance between the rotation center of the auxiliary cleaning assembly and the first edge is a first distance until the auxiliary cleaning assembly swings to the third position; the preset position is the position where the line connecting the rotation center of the auxiliary cleaning assembly and the rotation center of the body is perpendicular to the first edge.

[0044] In some embodiments, the distance between the rotation center of the body and the first edge is R1 + D1, the first distance is r + d1, -Δd ≤ d1 < D1 + α, R1 is the distance between the rotation center and the edge point of the body close to the first edge in the direction perpendicular to the first edge, r is the radius of the auxiliary cleaning assembly, Δd is the deformation amount of the edge of the auxiliary cleaning assembly, α is an error redundancy parameter, Δd and α are values greater than or equal to zero, and D1 and d1 are edge parameters.

[0045] In some embodiments, the distance between the rotation center of the body and the second edge is R2 + D2, the second distance is r + d2, -Δd ≤ d2 < D2 + α, R2 is the distance between the rotation center and the edge point of the body close to the second edge in the direction perpendicular to the second edge, r is the radius of the auxiliary cleaning assembly, Δd is the deformation amount of the flexible part of the auxiliary cleaning assembly, α is an error redundancy parameter, Δd and α are values greater than or equal to zero, and D2 and d2 are edge parameters.

[0046] In some embodiments, the edge - sticking critical value is r + d3, -Δd ≤ d3 ≤ α, r is the radius of the auxiliary cleaning assembly, Δd is the deformation amount of the flexible part of the auxiliary cleaning assembly, α is an error redundancy parameter, Δd and α are values greater than or equal to zero, and d3 is an edge parameter.

[0047] According to a second aspect of an embodiment of the present disclosure, a cleaning device is provided, the cleaning device comprising a body, a main cleaning component, an auxiliary cleaning component, a first driving component and a controller are arranged on the body; 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, and the auxiliary cleaning component is distributed along the side of the body; the cleaning coverage area of ​​the auxiliary cleaning component is smaller than the cleaning coverage area of ​​the main cleaning component, the first driving component is used to drive the auxiliary cleaning component to adjust within a swing range between an initial position and a third position, the distance between the rotation center of the auxiliary cleaning component at the initial 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 and LB respectively, wherein LB>LA;

[0048] The controller is used to execute the cleaning equipment control method as described in the first aspect.

[0049] In the cleaning device control method provided in the embodiment of the present disclosure, the cleaning device includes a body, on which a main cleaning component, an auxiliary cleaning component, and a first driving component are arranged; 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, and the auxiliary cleaning component is distributed along the side of the body; the cleaning coverage area of ​​the auxiliary cleaning component is smaller than the cleaning coverage area of ​​the main cleaning component, and the first driving component is used to drive the auxiliary cleaning component to adjust within a swinging range between an initial position and a third position, and the distance between the rotation center of the auxiliary cleaning component at the initial 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 and LB, respectively, 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 and LB, respectively, 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 and LB, respectively, 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 and LB, respectively, and the distance between the main cleaning component and the auxiliary cleaning component is represented by LB. LB>LA; the method includes: controlling the fuselage to perform a first rotation in the angle area between the first side and the second side, so that the auxiliary cleaning component moves along the first side toward the second side, and the angle area is the inner angle formed by the first side and the second side; during the first rotation of the fuselage, controlling the auxiliary cleaning component to adjust within the swing range so that the distance between the rotation center of the auxiliary cleaning component and the first side is the first distance, so as to perform cleaning on the angle area. On the one hand, the fuselage drives the main cleaning host and the auxiliary cleaning component to move from the first side to the second side to achieve cleaning of the angle area; the auxiliary cleaning component on the side of the fuselage cleans the area that the main cleaning component cannot clean, thereby reducing the missed scanning area of ​​the angle area and improving the cleaning coverage rate of the angle area. On the other hand, the distance between the auxiliary cleaning component and the first side is kept less than or equal to the first distance, while reducing the probability of abnormal phenomena such as squeezing and scratching between the auxiliary cleaning component and obstacles, further reducing the missed scanning area of ​​the angle area, improving the cleaning coverage rate of the angle area, and improving the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] Figure 1 is a bottom view schematic diagram showing the arrangement of a cleaning component on a fuselage according to an exemplary embodiment;

[0051] Figure 2 is a schematic diagram showing the position of an auxiliary cleaning component according to an exemplary embodiment;

[0052] Figure 3 is a schematic diagram of cleaning equipment according to an exemplary embodiment;

[0053] Figure 4 is another cleaning schematic diagram of a cleaning device according to an exemplary embodiment;

[0054] Figure 5 is another cleaning schematic diagram of a cleaning device according to an exemplary embodiment;

[0055] Figure 6 is a schematic diagram of another cleaning device according to an exemplary embodiment;

[0056] Figure 7 is a schematic diagram of another cleaning device according to an exemplary embodiment;

[0057] Figure 8 is a schematic diagram of another cleaning device according to an exemplary embodiment;

[0058] Fig. 9 is a schematic diagram of another cleaning device according to an exemplary embodiment;

[0059] Fig.10 is a schematic diagram of another cleaning device according to an exemplary embodiment;

[0060] Fig.11 is a schematic diagram of another cleaning device according to an exemplary embodiment;

[0061] Fig.12 is a schematic diagram of another cleaning device according to an exemplary embodiment;

[0062] Fig.13 is a schematic diagram of another cleaning device according to an exemplary embodiment;

[0063] Fig.14 is a schematic diagram of another cleaning device according to an exemplary embodiment;

[0064] Fig.15 is a schematic diagram of a cleaning device structure according to an exemplary embodiment;

[0065] Fig.16 is a schematic diagram of another cleaning device structure according to an exemplary embodiment;

[0066] Fig.17 is a schematic diagram of the structure of another cleaning device according to an exemplary embodiment;

[0067] Fig.18 It is a schematic diagram of the structure of another cleaning device according to an exemplary embodiment. DETAILED DESCRIPTION

[0068] 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.

[0069] The embodiments of the present disclosure are not exhaustive, but are merely 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.

[0070] 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.

[0071] 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.

[0072] 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.

[0073] In the embodiments of the present disclosure, “plurality” refers to two or more.

[0074] In some embodiments, the terms "at least one", "one or more", "a plurality of", "multiple", etc. can be used interchangeably.

[0075] 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 (both A and B are executed). When there are more branches such as A, B, C, etc., the above is also similar.

[0076] 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.

[0077] 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.

[0078] 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.

[0079] In some embodiments, terms such as “…”, “determine…”, “in the case of…”, “at the time of…”, “when…”, “if…”, “if…”, etc. can be used interchangeably.

[0080] 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.

[0081] 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.

[0082] 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.

[0083] The present invention provides a cleaning device. Figure 1 shown.

[0084] Figure 1 The bottom view (upward view) of the above-mentioned 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 (e.g., washing, mopping, sweeping, etc.), mowing lawns, snow removal, etc.

[0085] 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.

[0086] For details, see Figure 1 As shown, the cleaning device at least includes a body 100, a controller (not shown), one or more cleaning components, a walking system 700 (driving wheels) and a sensing system (not shown).

[0087] The cleaning component 110 may specifically include one or more of the following: a side brush 400, a main brush 201 (or roller brush), a large mop plate 300 (main cleaning module), a small mop plate 500 (auxiliary cleaning module), and the like.

[0088] 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.

[0089] The controller may include a microcontroller unit (MCU). Of course, the controller may also include other devices that can have control functions.

[0090] 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.

[0091] 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 103. The mop plate is used for wiping or mopping the floor.

[0092] In a possible implementation, a mop is provided on the mop tray (large mop tray and / or small mop tray). A water tank is provided on the cleaning device. Water in the water tank flows to the mop through the hole to wet the mop. The wetted mop is used for mopping the floor.

[0093] 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.

[0094] 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 the walking process. The walking functions here include but are not limited to: straight line walking, self-rotation, and rotation around a predetermined position.

[0095] 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.

[0096] 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.

[0097] 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).

[0098] 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 component of the wet cleaning module of the cleaning device to lift 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 for example and does not constitute a limitation of the embodiments of this specification.

[0099] 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.

[0100] 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.

[0101] like Figures 15 to 18 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.15 The arrow A in the middle) and the edge position C (as shown in Fig.18 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 at least a portion of the auxiliary cleaning assembly 510 extends out of the edge of the body 100 when in the edge position C, so as to perform edge cleaning on the edge 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.

[0102] 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.

[0103] 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.

[0104] 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, wherein 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.

[0105] 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.

[0106] 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.

[0107] 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.

[0108] like Fig.15 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 the chassis 101 and the upper shell form an inner cavity of the fuselage 100 to form a receiving cavity.

[0109] 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.

[0110] 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.

[0111] 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.

[0112] 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.

[0113] 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.

[0114] 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.

[0115] 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 .

[0116] 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.

[0117] 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.

[0118] 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.

[0119] 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.

[0120] 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.

[0121] 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.

[0122] 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.

[0123] 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.

[0124] 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 areas that are difficult to clean in the main cleaning component 310. For example, cleaning along the edge, or on the basis of cleaning along the edge, further cleaning the angle area (described in detail below) to improve its cleaning efficiency and reduce the missed areas.

[0125] 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 component 520 that drives the auxiliary cleaning component 510 to swing adopts 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.

[0126] 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.

[0127] 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 .

[0128] like Fig.17 As shown, the auxiliary cleaning module 500 further includes a first driving assembly 520 for driving the auxiliary cleaning assembly 510 to swing so as to switch between an initial position A and an edge position C.

[0129] For example, the first drive assembly 520 includes a first motor 521, a swing arm 524 and at least one first elastic member 522. Under the cooperation of the first drive motor 521 and the first elastic member 522, the swing arm 524 is driven to swing to drive the auxiliary cleaning assembly 510 to swing to switch between the edge position C and the initial position A. The first motor 521 can be a stepper motor, so as 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 assembly 510. By setting the first elastic member 522, the auxiliary cleaning assembly 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 assembly 510 is still continuously squeezed, the first motor 521 can actively control the retraction of the auxiliary cleaning assembly 510 based on the signal that the auxiliary cleaning assembly 510 is continuously squeezed.

[0130] 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.

[0131] 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.

[0132] 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.

[0133] The auxiliary cleaning module 500 also includes a second lifting mechanism, which is used to at least 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 to perform edge cleaning.

[0134] 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 component 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, so as 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.

[0135] Furthermore, the second lifting mechanism is combined with the rotational movement of the swing arm 524, and the second lifting mechanism is driven to perform lifting movement through the swinging rotation, and the swing arm 524 is driven to perform lifting movement in the opposite direction, thereby driving the entire auxiliary cleaning module 500 to perform lifting movement, so that the auxiliary cleaning component 510 is between the lifting position and the mopping position, so that only one motor is needed to drive the swinging, rotation, and lifting functions of the auxiliary cleaning component 510, thereby further making the driving structure more compact and occupying less space, and the entire auxiliary cleaning module 500 can be used as a single module and occupy a small space.

[0136] 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.

[0137] like Fig.16 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.

[0138] 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.

[0139] As an optional method, Fig.18 As shown, between the initial position A and the third position B (as shown Fig.16 At least one position (such as the edge position C) between the main cleaning assembly 310 and the auxiliary cleaning assembly 510 (as shown by arrow B), 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.

[0140] Since the auxiliary cleaning component 510 can swing relative to the body 100, there are many ways to set the auxiliary cleaning component 510 on the robot, mainly in two technical routes, specifically:

[0141] The first technical route is: the auxiliary cleaning assembly 510 is arranged on the machine body 100, and the auxiliary cleaning assembly 510 needs to swing and lift at the same time. Furthermore, in order to achieve a good edge cleaning effect, the auxiliary cleaning assembly 510 needs to rotate, so that the aforementioned first driving assembly 520 drives the auxiliary cleaning assembly 510 to swing to switch between the initial position A and the edge position C, at least to rotate and mop the floor at the edge position C, and lift and lower to switch between the lifting position and the mopping position.

[0142] The second technical route is: the auxiliary cleaning module 500 is 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. Then, 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 component 520 needs to drive the auxiliary cleaning component 510 to swing to switch between the edge position C and the initial position A. Furthermore, it can rotate at the edge position C. Compared with the first technical route, the first driving component 520 in the second technical route does not need to realize the lifting function, so that the structure of the first driving component 520 is simplified and the space occupied is small.

[0143] In order to make the above-mentioned purposes, features and advantages of the embodiments of the present application more obvious and understandable, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work belong to the scope of protection of this application.

[0144] 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 moving direction of the cleaning equipment when cleaning along the first side, 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 moving direction of the cleaning equipment when cleaning along the first side, 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 fuselage in the inner corner is not flexible enough, and it is difficult to clean the inner corner.

[0145] 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.

[0146] 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.

[0147] 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 adjusted between the edge position and the initial position.

[0148] 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.

[0149] 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 leakage cleaning area along the edge. 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.

[0150] like Figure 2As 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 gapless, and the auxiliary cleaning component contacts the first side of the obstacle when it is in the third position, reducing the leakage of cleaning areas 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 completely 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.

[0151] It can be seen that if the auxiliary cleaning component extends less from the fuselage during edge tracking, the probability of the auxiliary cleaning disc getting stuck or colliding will increase during edge tracking. 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, the swing arm may extend out of the fuselage, making it easy for the swing arm to get entangled with wire-like obstacles in the environment, making the auxiliary cleaning component easy to be 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.

[0152] like Figure 2 As 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.

[0153] 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.

[0154] In some embodiments of the present specification, a third position that extends farther from the body relative to 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 A, the edge position C, and the third position B and the rotation center of the body are represented by LA, LB, and LC, respectively, where LB>LC>LA.

[0155] 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 long distance in the angled area, the probability of 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 leakage between the auxiliary cleaning disc and the main cleaning component due to the long swing arm, the leakage 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.

[0156] 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.

[0157] In some embodiments, if the outline of the fuselage is circular or the rear half is an arc-shaped D-type, the third position and the swing axis of the swing arm can be configured to be located behind the edge position along the forward direction of the fuselage, so that the auxiliary cleaning component is closer to the middle of the fuselage when it is located at the edge position, and the edge can be cleaned when the auxiliary cleaning component extends less from the fuselage outline. When the auxiliary cleaning component needs to extend more from the fuselage outline, it is only necessary to control the swing arm to continue to swing toward the rear of the fuselage, thereby driving the auxiliary cleaning component to swing further backward. Because the outline of the fuselage is circular or the rear half is an arc-shaped D-type, the auxiliary cleaning component extends farther relative to the outline of the fuselage after swinging backward, so as to achieve effective coverage of the angle area by using the auxiliary cleaning component that extends farther relative to the outline of the fuselage. And the auxiliary cleaning component is closer to the rear of the fuselage, when the fuselage is controlled to retreat to the angle area, the auxiliary cleaning component can also be closer to the angle, thereby improving the coverage rate of the angle area.

[0158] In some embodiments, when the fuselage is along the long straight edge, the distance between the point of the auxiliary cleaning component closest to the long straight edge and the long straight edge is the first distance along the edge, and the distance between the point of the fuselage closest to the long straight edge and the long straight edge is the second distance along the edge. Accordingly, when the fuselage is controlled to perform along the long straight edge when the auxiliary cleaning component is located at the third position, the first distance along the edge is less than the second distance along the edge and is greater than or equal to the critical value of the edge. The critical value of the edge can be a preset value to control the auxiliary cleaning component to clean as close to the edge as possible and avoid excessive squeezing and contact between the auxiliary cleaning component and the obstacle.

[0159] For example, the auxiliary cleaning component is circular, the radius of the auxiliary cleaning component is r, the distance between the point of the auxiliary cleaning component closest to the long straight edge and the long straight edge is the first edge distance L1, the distance between the point of the fuselage closest to the long straight edge and the long straight edge is the second edge distance L2, the edge critical value is Lmin, L1 is less than L2, and L1 is greater than or equal to Lmin, wherein Lmin can be equal to 1 mm, so that the distance between the point of the auxiliary cleaning component closest to the long straight edge and the long straight edge is smaller, and the auxiliary cleaning component is prevented from being squeezed and contacted with obstacles.

[0160] It can be seen that by utilizing the solution of this embodiment, at least when performing angle cleaning, when the fuselage turns from the first side to the second side, and when the fuselage turns to the edge direction of the second side, the auxiliary cleaning component is in the third position and the distance between it and the second side is small. When performing backward angle cleaning, the area of ​​the angle area adjacent to the second side is effectively covered, thereby reducing missed cleaning.

[0161] In a possible implementation, the auxiliary cleaning component is located at the initial position A or the edge position C, and when the cleaning device is moving to clean, it can form a complete cleaning surface with the main cleaning disk. That is, when the cleaning device is moving to clean, there is no cleaning gap between the auxiliary cleaning component and the main cleaning disk along the travel path. Alternatively, when the auxiliary cleaning component is located at the third position B, when the cleaning device is moving to clean, it can also form a complete cleaning surface with the main cleaning disk, that is, when the cleaning device is moving to clean, there is no cleaning gap between the auxiliary cleaning component and the main cleaning disk along the travel path; accordingly, when the auxiliary cleaning component is in the third position to perform backward angle cleaning, it can avoid leakage cleaning between the auxiliary cleaning component and the main cleaning disk.

[0162] Based on the above scenario examples, in some embodiments of the present specification, the cleaning device may include a fuselage, and the cleaning device includes a fuselage, on which a main cleaning component, an auxiliary cleaning component, and a side brush are arranged; 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, the side brush is arranged at the front of the fuselage, and the side brush and the auxiliary cleaning component are both distributed along the side of the fuselage; the cleaning coverage area of ​​the auxiliary cleaning component is smaller than the cleaning coverage area 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 the first driving component; the auxiliary cleaning component does not exceed the projection range of the maximum edge of the fuselage at the initial position, at least part of the edge is located outside the edge of the fuselage at the edge position, and the part extending outside the fuselage at the edge position is larger than the part extending from the fuselage at the initial 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, wherein LB>LC>LA.

[0163] In some embodiments, Figure 2 This is a top view of the cleaning equipment. 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 is a main mop component with a larger area, and the auxiliary cleaning component is 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.

[0164] In some embodiments, Figure 2 As shown, the cleaning device usually uses an auxiliary cleaning component in an edge position to clean the edge of an obstacle, such as the first edge. How to switch from cleaning the first edge to cleaning the angle area formed by the first edge and the second edge, and reduce the discontinuity of cleaning the first edge during the conversion process, improve the edge cleaning coverage, and enhance the user experience are issues that need to be solved urgently.

[0165] As shown in some embodiments, when the auxiliary cleaning component adopts three fixed positions, the auxiliary cleaning component in the third position is used to clean the angle area, and there are still areas in the angle area that cannot be cleaned, such as Figure 3 Shadow area, etc. Therefore, how to improve the cleaning coverage of the angle area and enhance the user experience is an urgent problem to be solved.

[0166] Based on the above scenario examples, in some embodiments of the present specification, the cleaning device includes a fuselage, on which are arranged a main cleaning component, an auxiliary cleaning component, and a first driving 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 along the side of the fuselage; the cleaning coverage area of ​​the auxiliary cleaning component is smaller than the cleaning coverage area of ​​the main cleaning component, and the first driving component is used to drive the auxiliary cleaning component to adjust within a swinging range between an initial position and a third position, and the distance between the rotation center of the auxiliary cleaning component at the initial 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 and LB, respectively, where LB>LA.

[0167] 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.

[0168] Accordingly, an embodiment of the present disclosure provides a cleaning equipment control method, the method comprising:

[0169] Step 101: controlling the body to perform a first rotation in an angle region between a first side and a second side, so that the auxiliary cleaning component moves along the first side toward the second side, the angle region being an inner angle formed by the first side and the second side;

[0170] Step 102: During the first rotation of the body, the auxiliary cleaning component is controlled to adjust within the swing range so that the distance between the rotation center of the auxiliary cleaning component and the first side is a first distance, so as to clean the angle area.

[0171] In a possible implementation, the cleaning device control method in the embodiment of the present disclosure may be executed by a controller in the cleaning device.

[0172] The cleaning device can be any of the cleaning devices in 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.

[0173] In one possible implementation, the cleaning coverage area of ​​the auxiliary cleaning component is smaller than the cleaning coverage area of ​​the main cleaning component.

[0174] In a possible implementation, the main cleaning component does not swing relative to the body; and the auxiliary cleaning component swings relative to the body.

[0175] like Figure 4 As shown, the cleaning device may include a body 100, a main cleaning module 300 and an auxiliary cleaning module 500. The auxiliary cleaning assembly can be adjusted in position within a swing range between an initial position (as shown by arrow A) and a third position (as shown by arrow B). The central axis of the cleaning device may be an axis parallel to the forward direction of the cleaning device.

[0176] In a possible implementation, the auxiliary cleaning assembly can be infinitely adjustable and can stay at the initial position, the third position, and any position within the swing range between the initial position and the third position. For example, the first end of the swing arm can be connected to a driving component such as a motor and a gear in the fuselage. The driving component can rotate by driving the first end to enable the swing arm to drive the auxiliary cleaning assembly to swing within the swing range. The swing arm can drive the auxiliary cleaning assembly to swing to any position within the swing range, that is, the position of the auxiliary cleaning assembly can be infinitely variable.

[0177] In a possible implementation, the area of ​​the auxiliary cleaning component within the projection coverage of the cleaning device body is the largest when in the initial position, and the area of ​​the auxiliary cleaning component within the projection coverage of the cleaning device body is the smallest when in the third position.

[0178] In a possible implementation, when the auxiliary cleaning assembly is in the third position, the auxiliary cleaning assembly is completely located outside the cleaning device body. The distance between the rotation center of the auxiliary cleaning assembly and the rotation center of the cleaning device in the third position can be represented by LB.

[0179] In a possible implementation, the swing range of the auxiliary cleaning component switching from the initial position to the third position also includes the edge position. The distance between the rotation center of the auxiliary cleaning component and the rotation center of the fuselage when it is in the edge position is represented by LC, where LB>LC. The edge position can be a preset position for cleaning the edge of an obstacle, and the edge position can be a fixed position or a preset position interval. Of course, the auxiliary cleaning component in the edge position may not be limited to cleaning the edge of an obstacle. For example, the auxiliary cleaning component in the edge position can also be used to clean a specific area, such as a missed cleaning area between the main cleaning component and the auxiliary cleaning component.

[0180] In one possible implementation, LB>LC>LA.

[0181] 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.

[0182] In one possible implementation, when the auxiliary cleaning component is in the initial position, the entire auxiliary cleaning component is located within the projection 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 projection 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 projection coverage of the cleaning device body.

[0183] Here, the auxiliary cleaning component may include an auxiliary cleaning disk of the cleaning device. The main cleaning component may include a main cleaning disk of the cleaning device. The coverage area of ​​the main cleaning component is greater than the coverage area of ​​the auxiliary cleaning component. The form of the main cleaning component is not limited here. For example, the main cleaning component may be as follows: Figure 1 The main cleaning assembly may also include one or more mop trays.

[0184] The auxiliary cleaning component can be driven by the first driving component of the cleaning device to switch positions within the swing range.

[0185] In some embodiments, the first driving assembly includes a swing arm, a first end of which can be rotatably connected to the fuselage so as to rotate relative to the fuselage around a rotation axis, and a second end of the swing arm is connected to the auxiliary cleaning assembly; the first driving assembly drives the swing arm to rotate so as to adjust the distance between the rotation center of the auxiliary cleaning assembly and the rotation center of the fuselage.

[0186] In a possible implementation, the auxiliary cleaning component can rotate to clean the floor. The auxiliary cleaning component can also not rotate, but move to clean the floor driven by the body. The auxiliary cleaning component can also rotate while being driven by the body to clean the floor, so as to improve the cleaning effect.

[0187] In a possible implementation, when the auxiliary cleaning component is in the initial position or the edge position, usually for scenarios such as moving along a straight line or moving along a curve with a large radius, the cleaning areas of the auxiliary cleaning component and the main cleaning component overlap with each other without a cleaning gap.

[0188] In a possible implementation, the cleaning device determines whether the fuselage is located in the angle area based on the distance between the fuselage and the first side, and the distance between the fuselage and the second side. Here, the distance between the fuselage and the first side may include at least one of the following: the distance between the edge of the fuselage closest to the first side and the first side, and the distance between a predetermined point on the fuselage (such as the rotation center of the fuselage) and the first side. The distance between the fuselage and the second side may include at least one of the following: the distance between the edge of the fuselage closest to the second side and the second side, and the distance between a predetermined point on the fuselage (such as the rotation center of the fuselage) and the second side.

[0189] In a possible implementation, the cleaning device may also determine whether the fuselage is located in the angle area based on the impact plate being in press contact with the first side and / or the impact plate being in press contact with the second side. For example, during the edge cleaning of the first side of the fuselage, if the impact plate is in press contact with the second side, it is determined that the fuselage is located in the angle area.

[0190] In a possible implementation, the rotation of the body may be achieved based on the rotation speed difference between two driving wheels of the cleaning device. In this case, the rotation center of the cleaning device may be the center point between the two driving wheels.

[0191] In a possible implementation, the cleaning device can move to the angle area from any position, for example, the cleaning device can enter the angle area during the cleaning process of the first edge or during the bow cleaning process.

[0192] The cleaning device can control the body to perform linear motion, curved motion, rotation in place, etc. to move the auxiliary cleaning component in the angle area, thereby cleaning the angle area. 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 body, improving the cleaning effect of the angle area, reducing the cleaning blind area, and improving the user experience.

[0193] It should be noted that, in each embodiment of the present specification, the fuselage turning may be that when the traveling speed of the fuselage is zero, the fuselage turns around the rotation center of the fuselage, or may be that when the traveling speed of the fuselage is not zero, the fuselage turns in situ around the rotation center of the fuselage. In the first rotation, the second rotation, the third rotation, and the fourth rotation, when the traveling speed of the fuselage is zero, the fuselage rotates in situ around the rotation center of the fuselage.

[0194] like Figure 5 As shown, during the process of the cleaning device cleaning the angle area, the body performs a first rotation in the angle area between the first side and the second side to drive the main cleaning component and the auxiliary cleaning component to clean the angle area.

[0195] In a possible implementation, the first rotation is used to enable the body to drive the main cleaning assembly and the auxiliary cleaning assembly to move from the edge of the first side to the edge of the second side.

[0196] like Figure 5 As shown, when the fuselage performs the first rotation, on the one hand, the rotation axis of the swing arm and the distance between the second side gradually decreases with the rotation of the fuselage, and accordingly, the distance between the first end of the swing arm and the second side becomes smaller and gradually approaches the second side; on the other hand, the rotation axis of the swing arm also gradually changes with the rotation of the fuselage, and accordingly, the distance between the first end of the swing arm and the first side changes with the rotation of the fuselage.

[0197] In this embodiment, the first driving assembly can drive the auxiliary cleaning assembly to adjust its position within the swing range, so that the rotation center of the auxiliary cleaning assembly maintains a first distance from the first side during the rotation of the body.

[0198] It can be understood that the rotation center of the auxiliary cleaning component is maintained at a first distance from the first side, and it is easy to calculate the distance between any point on the auxiliary cleaning component and the first side. For example, if the rotation center of the auxiliary cleaning component is at a first distance from the first side, it is easy to calculate the distance between the point on the edge of the auxiliary cleaning component closest to the first side and the first side. Therefore, making the distance between the rotation center of the auxiliary cleaning component and the first side the first distance is equivalent to maintaining the distance between any point on the auxiliary cleaning component and the first side. Based on the above description, unless otherwise specified, the distance between the rotation center of the auxiliary cleaning component and the first side in the embodiment of this specification can be replaced with the distance between the auxiliary cleaning component and the first side; or the distance between the rotation center of the auxiliary cleaning component and the second side can be replaced with the distance between the auxiliary cleaning component and the second side.

[0199] In actual applications, due to uncontrollable environmental factors or measurement accuracy (such as body shaking, the flatness of the first side), the distance between the rotation center of the auxiliary cleaning component and the first side may not be maintained at an absolutely fixed value, but may fluctuate within a certain range. Therefore, the first distance can be a fixed value or a distance value with a predetermined tolerance value.

[0200] In a possible implementation, the first distance is the radius of the auxiliary cleaning assembly, that is, when the body performs the first rotation, the auxiliary cleaning assembly can maintain contact with the first edge, thereby improving the edge cleaning effect of the first edge in the angle area.

[0201] Specifically, the driving component in the first driving assembly can drive the swing arm to swing by driving the first end of the swing arm to rotate, so as to drive the auxiliary cleaning assembly at the second end of the swing arm to swing within the swing range, thereby adjusting the distance between the auxiliary cleaning assembly and the first side, so that the auxiliary cleaning assembly maintains a first distance from the first side during the rotation of the fuselage.

[0202] like Figure 5 As shown, when the body makes the first rotation, if the auxiliary cleaning assembly remains fixed at a certain position relative to the body (i.e., the first driving assembly does not adjust the position of the auxiliary cleaning assembly), then as the body rotates, the relative position of the auxiliary cleaning assembly and the first side will also change. For example, the auxiliary cleaning assembly will move away from the first side, resulting in a larger gap between the auxiliary cleaning assembly and the first side, thereby creating a missed cleaning area between the auxiliary cleaning assembly and the first side, reducing the cleaning effect; or, the auxiliary cleaning disc will interfere with the first side, thereby pushing the body away from the first side or causing the auxiliary cleaning disc to generate greater pressure, collision, etc., thereby damaging the cleaning equipment or causing the cleaning equipment to deviate from the cleaning route.

[0203] Therefore, when the fuselage makes the first rotation, the first drive component can adjust the position of the auxiliary cleaning component relative to the fuselage, such as adjusting the distance that the auxiliary cleaning component is swung out of the fuselage, so that the distance between the auxiliary cleaning component and the first side is maintained at the first distance, so that the edge point of the auxiliary cleaning component closest to the first side is very close to the first side or maintains contact with the first side, but no excessive squeezing contact occurs, thereby reducing the probability of abnormal phenomena such as scratches and excessive squeezing between the auxiliary cleaning component and obstacles, while achieving cleaning of the angle area during the first turning process, at least reducing the uncleaned area between the auxiliary cleaning component and the first side.

[0204] like Figure 5 As shown, when the body rotates in a first rotation direction (counterclockwise), the first driving component can drive the swing arm to swing in a second rotation direction (clockwise) opposite to the first rotation direction and adjust the swing angular velocity, thereby offsetting the tendency of the auxiliary cleaning component to leave the first side caused by the rotation of the body and maintaining the distance between the auxiliary cleaning component and the first side at the first distance.

[0205] The body performs a first rotation in the angle area. On the one hand, the body drives the main cleaning component and the auxiliary cleaning component to move from the first side to the second side to achieve cleaning of the angle area; the auxiliary cleaning component on the side of the body cleans the area that the main cleaning component cannot clean, thereby reducing the missed scanning area of ​​the angle area and improving the cleaning coverage rate of the angle area. On the other hand, the distance between the auxiliary cleaning component and the first side is maintained at a first distance, so that the auxiliary cleaning component cleans the first edge of the angle area, further reducing the missed scanning area of ​​the angle area, improving the cleaning coverage rate of the angle area, and improving the user experience.

[0206] When the rotation speed of the fuselage is too fast, it is difficult to accurately control the distance between the point on the auxiliary cleaning component closest to the first side and the first side to be zero. It is easy to have excessive extrusion contact between the auxiliary cleaning component and the first side. Especially when the cleaning device is not configured with elastic extrusion buffering for the auxiliary cleaning component, it is likely to cause scraping between the auxiliary cleaning component and the first side, or non-controllable deviation of the fuselage and other abnormal phenomena. Therefore, when the rotation speed of the fuselage increases, the distance between the point on the auxiliary cleaning component closest to the first side and the first side can be controlled to have a certain spacing, that is, to control a certain distance surplus between the auxiliary cleaning component and the first side, while maximizing the cleaning coverage rate, reducing the probability of abnormal phenomena such as scraping between the auxiliary cleaning component and the first side, or non-controllable deviation of the fuselage. When the rotation speed of the fuselage is slow, it is easy to accurately control the spacing between the auxiliary cleaning component and the first side, and then the point on the auxiliary cleaning component closest to the first side can be controlled to contact the first side.

[0207] For example, when the auxiliary cleaning component is circular and the radius of the auxiliary cleaning component is r, when the distance between the rotation center of the auxiliary cleaning component and the first side is the first distance, the first distance can be r + d1, and the value of d1 can be determined according to the measured data. In the case of poor control accuracy (such as the scenario of fast fuselage rotation speed), d1 can be set to a value greater than zero. In the case of good control accuracy (such as the scenario of slow fuselage rotation speed), d1 can be set to zero; when the edge of the auxiliary cleaning component is made of flexible material, the first distance can be less than r, that is, d1 can be a value less than zero. Of course, in order to prevent excessive extrusion between the auxiliary cleaning component and the first side, the value of d1 needs to be controlled within a reasonable range, which can be specifically determined according to the measured data.

[0208] In some embodiments, the distance between the rotation center of the fuselage and the first side is R1 + D1, the first distance is r + d1, R1 is the distance between the rotation center and the edge point of the fuselage close to the first side in the direction perpendicular to the first side, r is the radius of the auxiliary cleaning component, Δd is the deformation amount of the edge of the auxiliary cleaning component, α is the error redundancy parameter, Δd and α are values greater than or equal to zero, D1 and d1 are edge parameters, and -Δd ≤ d1 < D1 + α. This embodiment is equivalent to restricting that when cleaning at an angle, the closest distance d1 between the edge of the auxiliary cleaning component and the first side is less than or equal to the closest distance D1 between the fuselage and the first side, or sticking to the edge (d1 is zero) on the basis of considering the deformation of the edge of the auxiliary cleaning component, which can avoid abnormal situations such as excessive extrusion of the auxiliary cleaning component while further reducing the missed cleaning at the angle. Of course, affected by the control accuracy and measurement accuracy, although it is desired to achieve d1 < D1 in terms of parameter setting, there may be a situation where d1 > D1 during the actual operation of the machine. Therefore, the error redundancy parameter α can be used to characterize the deviation between the measured data and the theory.

[0209] In some embodiments, the method further comprises,

[0210] Step 201: When the auxiliary cleaning component is in an edge position, controlling the body to perform edge cleaning along the first edge;

[0211] Step 202: When the body is controlled to perform cleaning along the first side and reaches the angle region, the body is controlled to perform a first rotation;

[0212] Step 203: During the first rotation, the auxiliary cleaning component is controlled to adjust within the swing range starting from the edge position so that the distance between the rotation center of the auxiliary cleaning component and the first edge is the first distance, until the auxiliary cleaning component swings to the third position; wherein, when the swing arm swings in one direction, the positions passed by the auxiliary cleaning component are, in sequence: initial position, edge position, and third position.

[0213] Steps 201 to 203 may be implemented separately or in combination with step 101 and / or step 102 .

[0214] like Figure 6 As shown, when the cleaning device reaches the angle area, the auxiliary cleaning component is in the edge position. At the start of the first rotation of the body, the auxiliary cleaning component is in the edge position. When the body performs the first rotation, the auxiliary cleaning component is in the edge position, and as the body rotates, the auxiliary cleaning component moves within the swing range, so that the auxiliary cleaning component maintains a first distance from the first edge during the rotation of the body. Figure 6 As shown, as the body performs the first rotation, the auxiliary cleaning assembly can be driven by the first driving assembly to adjust from the edge position to the position closest to the rotation center of the body (such as the initial position), and then gradually swing out of the body from the position closest to the rotation center of the body. Figure 6 It only includes a portion of the action diagram of the machine body from cleaning the first edge to performing the first rotation. Figure 6 and Figure 5 It can be combined to indicate the action of the machine body from edge cleaning of the first edge to the first rotation. That is, the auxiliary cleaning component can be driven by the first driving component to retract from the edge position into the inside of the machine body, and then gradually swing out of the machine body until the auxiliary cleaning component reaches the third position farthest from the rotation center.

[0215] During the process of the cleaning device moving from the edge cleaning of the first edge to the first rotation of the cleaning device in the angle area to clean the angle area, the auxiliary cleaning component always maintains the first distance from the first edge from the edge position, thereby achieving continuous cleaning of the first edge in both the edge cleaning of the first edge and the cleaning of the angle area. On the one hand, the continuity of the edge cleaning of the first edge is improved, and the edge cleaning coverage of the first edge is improved; on the other hand, the cleaning of the angle area is achieved through the movement of the auxiliary cleaning component in the angle area, while the cleaning blind area of ​​the angle area (such as Figure 3 The cleaning coverage of the angled area can be improved, thereby enhancing the user experience.

[0216] In some embodiments, the method further comprises,

[0217] Step 301: When the auxiliary cleaning component is in an edgewise position, controlling the body to perform edgewise cleaning along the first edge;

[0218] Step 302: in a process of controlling the body to perform cleaning along the first side, when the body is at a preset distance from the second side, first controlling the auxiliary cleaning assembly to swing to the initial position;

[0219] Then execute step 303, or steps 304-305.

[0220] Step 303: After the speed of the body drops to zero, the body is controlled to perform the first rotation, and the auxiliary cleaning component is controlled to adjust within the swing range so that the distance between the rotation center of the auxiliary cleaning component and the first side is the first distance, until the auxiliary cleaning component swings to the third position;

[0221] Step 304: After the speed of the body drops to zero, control the body to perform the first rotation while keeping the auxiliary cleaning assembly at the initial position;

[0222] Step 305: During the first rotation, after the auxiliary cleaning component reaches the preset position, start controlling the auxiliary cleaning component to adjust within the swing range so that the distance between the rotation center of the auxiliary cleaning component and the first side is the first distance, until the auxiliary cleaning component swings to the third position; the preset position is the position where the line connecting the rotation center of the auxiliary cleaning component and the rotation center of the fuselage is perpendicular to the first side.

[0223] Steps 301 to 305 may be implemented separately or in combination with step 101 and / or step 102 .

[0224] It can be understood that the distance between the fuselage and the second side may include the distance between the edge of the fuselage and the second side, and may also include the distance between the center point of the fuselage and the second side or the distance between the rotation center point of the fuselage and the second side. Based on the distance between any point on the fuselage and the second side, it is easy to infer the distance between other points on the fuselage and the second side. Therefore, the preset distance can be set based on actual needs. If the preset distance is the distance between the rotation center point of the fuselage and the second side, then the distance limit between the point of the fuselage closest to the second side and the second side can be inferred, and vice versa. In practical applications, the predetermined distance to be used can be determined based on the sensor used to measure the second side. For example, if a laser radar is used to measure the distance to the second side, the predetermined distance can be used to limit the distance between the second side and the laser radar. If the control of the fuselage is based on the distance between the front impact plate of the fuselage and the second side, the predetermined distance can be used to limit the distance between the second side and the impact plate.

[0225] In a possible implementation, the preset distance may be greater than or equal to the distance between the fuselage and the second side when the fuselage is located at the included angle position.

[0226] If the auxiliary cleaning component passes through the initial position, the third position, and the edge position in sequence when the swing arm swings in one direction, then in the first rotation, when the auxiliary cleaning component switches from the edge position to the third position, the minimum distance between the rotation center of the auxiliary cleaning component and the rotation center of the fuselage is LC, so that in the first rotation, the auxiliary cleaning component will interfere with the first edge. Therefore, the auxiliary cleaning component is first swung to the initial position, and then with the first rotation, the auxiliary cleaning component is gradually swung out from the initial position to the third position, which can reduce the risk of interference between the auxiliary cleaning component and the first edge.

[0227] Regardless of whether the position that the auxiliary cleaning component passes through is the initial position, the third position, the edge position, or the initial position, the edge position, and the third position in sequence when the swing arm swings in one direction. Because the fuselage is close to the first edge, during the first rotation process, if the auxiliary cleaning component rotates to the position where the fuselage is closest to the first edge, the auxiliary cleaning component is easy to be scratched with the first edge. Using the scheme of steps S304-S305, the auxiliary cleaning component is first switched to the initial position, and then the steering is performed until the auxiliary cleaning component leaves the position where the fuselage is closest to the first edge, and then the auxiliary cleaning component is controlled to swing out from the initial position, which can further avoid the auxiliary cleaning component from being scratched with the first edge; and the auxiliary cleaning component is closer to the position where the fuselage is closest to the first edge at the edge position, so even if the auxiliary cleaning component is first switched to the initial position, and then the steering is performed until the auxiliary cleaning component leaves the position where the fuselage is closest to the first edge, and then the auxiliary cleaning component is controlled to swing out from the initial position, it will not cause much missed cleaning.

[0228] like Figure 7As shown, the cleaning device performs edge cleaning on the first edge when the auxiliary cleaning component is in the edge position, and when the fuselage is a predetermined distance away from the second edge, the auxiliary cleaning component can be adjusted from the edge position to the initial position. The fuselage can stop moving when it is a predetermined distance away from the second edge, and adjust the auxiliary cleaning component from the edge position to the initial position, that is, the fuselage stops moving and adjusts the auxiliary cleaning component from the edge position to the initial position after reaching the angle position. The fuselage can also keep moving when it is a predetermined distance away from the second edge, and adjust the auxiliary cleaning component from the edge position to the initial position until the fuselage reaches the angle position and stops moving. The fuselage can start to decelerate when it is a predetermined distance away from the second edge, and adjust the auxiliary cleaning component from the edge position to the initial position until the fuselage reaches the angle position and stops moving. After the fuselage speed is 0, the auxiliary cleaning component is in the initial position, and at this time, the fuselage can perform a first rotation.

[0229] like Figure 7 As shown, when the fuselage is at a predetermined distance from the second side, the auxiliary cleaning assembly is adjusted from the edge position to the initial position, and the fuselage is moved to the angle area; after the fuselage moves to the angle area, the fuselage performs a first rotation while the auxiliary cleaning assembly remains in the initial position until the auxiliary cleaning assembly reaches the preset position; the fuselage continues the first rotation, and adjusts the distance between the auxiliary cleaning assembly and the first side within the swing range, so that the auxiliary cleaning assembly maintains a first distance from the first side.

[0230] Before the body makes the first rotation, the cleaning device adjusts the auxiliary cleaning component from the edge position to the initial position and then makes the first rotation, which can reduce the interference between the auxiliary cleaning component and the first edge, thereby reducing abnormal situations such as loss of the auxiliary cleaning component or body deviation.

[0231] In some embodiments, the method further comprises:

[0232] Step 401: After the body performs the first rotation and the auxiliary cleaning component swings to the third position, if the distance between the rotation center of the auxiliary cleaning component and the second side is greater than the second distance, the auxiliary cleaning component is controlled to remain in the third position, and the body is controlled to continue to perform the first rotation until the distance between the rotation center of the auxiliary cleaning component and the second side is the second distance, so as to clean the angle area.

[0233] Step 401 may be implemented alone, or may be implemented in combination with at least one of step 101 , step 102 , steps 201 to 203 , and steps 301 to 304 .

[0234] like Figures 5 to 7As shown, before the body performs the first rotation, the side of the body where the auxiliary cleaning assembly is located faces the first side, and as the body performs the first rotation, the auxiliary cleaning assembly is adjusted within the swing range so that the auxiliary cleaning assembly maintains a first distance from the first side until the auxiliary cleaning assembly swings to the third position. Figure 8 As shown, after the auxiliary cleaning component swings to the third position, because the auxiliary cleaning component has moved to the farthest position driven by the driving component, as the fuselage continues to perform the first rotation, the auxiliary cleaning component cannot maintain the first distance from the first side. However, at this time, there is still a large space between the auxiliary cleaning component and the second side. If the auxiliary cleaning component is retracted at this time, the angle area adjacent to the second side will not be effectively cleaned, and there will be a lot of missed cleaning. Therefore, when the auxiliary cleaning component is not in contact with the second side, the auxiliary cleaning component can be controlled to remain motionless in the third position, so that the auxiliary cleaning component cleans the angle area as the fuselage rotates until the auxiliary cleaning component contacts the second side, thereby reducing missed cleaning. Whether the auxiliary cleaning component contacts the second side can be determined based on the extrusion signal of the auxiliary cleaning component contacting the second side; or, in the case where the auxiliary cleaning component can rotate, whether the auxiliary cleaning component contacts the second side can also be determined based on the change of the parameter value of the auxiliary cleaning component that characterizes the rotation of the auxiliary cleaning component.

[0235] Alternatively, the distance between the auxiliary cleaning component and the second side can also be controlled. If the distance between the rotation center of the auxiliary cleaning component and the second side is greater than the second distance when the auxiliary cleaning component rotates to the third position, the fuselage continues to be controlled to perform the first rotation until the distance between the auxiliary cleaning component and the second side is the second distance. For example, if the auxiliary cleaning component is circular and the radius of the auxiliary cleaning component is r, when the distance between the rotation center of the auxiliary cleaning component and the second side is the second distance, the second distance can be r+d2, and d2 can be set to zero. If the edge of the auxiliary cleaning component is made of a flexible material, the second distance can be less than r, that is, d2 can be a value less than zero. Of course, in order to prevent excessive extrusion between the auxiliary cleaning component and the second side, the value of d2 needs to be controlled within a reasonable range, which can be determined based on actual measured data. Alternatively, the value of d2 can be a value greater than zero. In this way, the auxiliary cleaning component can be controlled to retract when there is a certain distance surplus from the second side, so as to avoid excessive extrusion and scratching between the auxiliary cleaning component and the second part. Figure 8 As shown, the smaller the second distance is, the closer the point of the auxiliary cleaning component closest to the second side is to the second side. When the auxiliary cleaning component moves from the first side to the second side, the larger the area of ​​the angle region covered is, and the better the cleaning effect on the angle region is.

[0236] Correspondingly, in some embodiments, the distance between the rotation center of the fuselage and the second side is R2 + D2, the second distance is r + d2, -Δd ≤ d2 < D2 + α, where R2 is the distance between the rotation center and the edge point of the fuselage close to the second side in the direction perpendicular to the second side, r is the radius of the auxiliary cleaning component, Δd is the deformation of the flexible part of the auxiliary cleaning component, α is an error redundancy parameter, Δd and α are values greater than or equal to zero, and D2 and d2 are edge parameters. In this embodiment, when restricting the included angle cleaning, the closest distance d2 between the edge of the auxiliary cleaning component and the second side is less than the closest distance D2 between the fuselage and the second side, or on the basis of considering the deformation of the edge of the auxiliary cleaning component, it can be close to the edge, which can further reduce the missed cleaning of the included angle while avoiding abnormal situations such as excessive extrusion of the auxiliary cleaning component. And the error redundancy parameter α is used to characterize the deviation between the measured data and the theory.

[0237] Exemplarily, as Figure 8 shown, during the first rotation process of the fuselage, after the auxiliary cleaning component switches to the third position, as the fuselage rotates, the auxiliary cleaning component in the third position will move from the position at the first distance from the first side to the second side, and stop the first rotation when the distance between the auxiliary cleaning component and the second side is equal to the second distance. During the process of the auxiliary cleaning component turning from the first side to the second side, the cleaning of the included angle area by the auxiliary cleaning component can be realized, improving the coverage rate of the included angle area.

[0238] In some embodiments, the method further includes:

[0239] Step 501: After the cleaning of the included angle area is completed, control the auxiliary cleaning component to switch to the edge-following position, where the edge-following position is the position where the auxiliary cleaning component is located when performing edge-following for the first side and / or the second side. The distance between the self-rotation center of the auxiliary cleaning component in the edge-following position and the rotation center of the fuselage is represented by LC, where LB > LC > LA.

[0240] Step 501 can be implemented independently or in combination with at least one of Step 101, Step 102, Step 201 to Step 203, Step 301 to Step 304, and Step 401.

[0241] For example, the cleaning device can reach the included angle area formed by the first side and the second side during the edge-following process of the first side. After the cleaning of the included angle area is completed, the path planned by the cleaning device is usually to clean the uncleaned side. Therefore, after the cleaning of the included angle area is completed, the auxiliary cleaning component can be switched to the edge-following position. When the auxiliary cleaning component is in the edge-following position, at least part of the auxiliary cleaning component extends out of the edge of the fuselage, so that the edge of the auxiliary cleaning component contacts or has a small spacing from the first side and / or the second side during edge-following cleaning, reducing the edge-following missed cleaning area.

[0242] In a possible implementation, when the cleaning of the angle area is completed, the auxiliary cleaning component is in the third position, and the cleaning device can control the auxiliary cleaning component to switch from the third position to the edge position.

[0243] In a possible implementation, when the cleaning of the angle area is completed, the auxiliary cleaning component is in any position within the swing range, and the cleaning device can control the auxiliary cleaning component to switch from this position to the edge position.

[0244] After cleaning the angle area, the auxiliary cleaning component is switched to the edge position. On the one hand, this can reduce the collision between the auxiliary cleaning group and the second side caused by the first rotation of the fuselage when the auxiliary cleaning component is in the third position, thereby reducing damage to the auxiliary cleaning component. On the other hand, the auxiliary cleaning component is switched from the third position to the edge position to prepare for subsequent cleaning, thereby improving cleaning efficiency.

[0245] The cleaning of the angle area is completed if the distance between the auxiliary cleaning component and the first side is greater than a threshold value. Alternatively, the cleaning of the angle area is considered to be completed when a signal that the auxiliary cleaning component is in contact with the second side is detected, and the auxiliary cleaning component is controlled to switch to the edge position to perform edge cleaning for the second side. Alternatively, when the steering angle of the first rotation of the fuselage reaches the steering angle threshold, the cleaning of the angle is considered to be completed, and the auxiliary cleaning component is controlled to switch to the edge position. Alternatively, when the fuselage performs the first rotation and the auxiliary cleaning component swings to the third position, the cleaning of the angle area is considered to be completed, and the auxiliary cleaning component is controlled to switch to the edge position.

[0246] The cleaning device controller can determine the position and / or posture of the cleaning device based on the perception data of the perception system. For example, the controller can determine the rotation angle of the fuselage, the distance from the first side and / or the second side, etc. based on the perception data of the perception system. The relative position of the auxiliary cleaning component to the fuselage is fixed, and the controller can determine the relative position relationship of the auxiliary cleaning component to the first side and / or the second side based on the position and / or posture of the fuselage and the position information of the auxiliary cleaning component relative to the fuselage. Alternatively, the perception system can directly perceive the position relationship between the auxiliary cleaning component and the first side.

[0247] Exemplarily, as shown in FIG. 9 , when the fuselage performs the first rotation, the auxiliary cleaning component is adjusted within the swing range so that the rotation center of the auxiliary cleaning component maintains a first distance from the first edge. When the auxiliary cleaning component is adjusted to the third position, the distance of the auxiliary cleaning component extending from the fuselage reaches a maximum value. At this time, the fuselage continues to perform the first rotation, and the auxiliary cleaning component cannot maintain the first distance from the first edge. When the distance between the auxiliary cleaning component and the first edge is greater than the first distance, it can be determined that the cleaning of the angle area is completed, and the auxiliary cleaning component is switched to the edge position to prepare for subsequent cleaning.

[0248] In a possible implementation, the fuselage can be controlled to turn from the edge direction along the first side when the first rotation is started to the edge direction along the second side, so as to switch from the first side to the second side, and when switching the edge direction, the position of the auxiliary cleaning component is adjusted to improve the cleaning effect of the angle area while avoiding abnormal phenomena such as squeezing and collision between the auxiliary cleaning component and obstacles as much as possible. Correspondingly, it can be determined whether to switch to the edge direction of the second side based on whether the steering angle of the fuselage when performing the first rotation reaches the steering angle threshold, so as to determine whether the cleaning of the angle is completed, and when the steering angle threshold is reached, the auxiliary cleaning component is controlled to switch to the edge position. For example, the steering angle threshold can be equal to the angle between the second side and the first side. For example, for the inner right angle area, the steering angle threshold can be 90 degrees.

[0249] In addition, in order to reduce the probability of abnormal phenomena such as squeezing or collision between the auxiliary cleaning component and the second side, a distance surplus can be set between the point of the auxiliary cleaning component closest to the second side and the second side. The steering angle threshold for the fuselage to perform the first rotation can be determined based on the preset distance surplus, the position information of the auxiliary cleaning component relative to the fuselage, etc.

[0250] Alternatively, the controller can determine the relative position of the fuselage based on the angle between the central axis of the fuselage parallel to the forward direction and the second side, and determine whether the fuselage has rotated to the edge direction along the second side. For example, when the angle between the central axis of the fuselage parallel to the forward direction and the second side is less than or equal to the angle threshold, it is determined that the cleaning of the angle area is completed, and the auxiliary cleaning component is switched to the edge position. If the angle threshold can be 0 degrees, that is, when the central axis of the fuselage is parallel to the second side, the angle cleaning is considered to be completed. In order to reduce the probability of abnormal phenomena such as squeezing and collision between the auxiliary cleaning component and the second side, it can be set that there is a distance surplus between the point of the auxiliary cleaning component closest to the second side and the second side, and the angle threshold can be determined based on the preset distance surplus, the position information of the auxiliary cleaning component relative to the fuselage, etc.

[0251] In some possible embodiments, the manner of switching the auxiliary cleaning component to the edge position may be determined according to the position of the machine body and / or the position of the auxiliary cleaning component when the angle cleaning is completed.

[0252] For example, if the auxiliary cleaning component is located at the third position, or any position between the third position and the edge position when the angle cleaning is completed, and there is space between the fuselage and the first side and / or the second side for switching the auxiliary cleaning component to the edge position, then the auxiliary cleaning component can be directly switched to the edge position. If the auxiliary cleaning component is located at the third position, or any position between the third position and the edge position when the angle cleaning is completed, and there is no space between the fuselage and the first side and / or the second side for switching the auxiliary cleaning component to the edge position, then the fuselage can be controlled to move (such as rotate) so that there is space between the fuselage and the first side and / or the second side for switching the auxiliary cleaning component to the edge position, and then the auxiliary cleaning component is switched to the edge position.

[0253] In some embodiments, the method further comprises:

[0254] During the first rotation of the fuselage, when the auxiliary cleaning component swings to the third position, or any position between the third position and the edge position, and the distance between the rotation center of the auxiliary cleaning component and the second edge is reduced to a second distance, the auxiliary cleaning component is controlled to adjust within the swing range so that the distance between the rotation center of the auxiliary cleaning component and the second edge is maintained at the second distance until the auxiliary cleaning component moves to the edge position.

[0255] like Figures 5 to 7 As shown, during the first rotation of the fuselage, the auxiliary cleaning component gradually swings outward from the initial position, and if there is enough space, the auxiliary cleaning component can swing to the third position. If the auxiliary cleaning component swings to the third position to perform angle cleaning, the point of the auxiliary cleaning component closest to the second side is still far away from the second side, then the fuselage can continue to be controlled to perform the first rotation when the auxiliary cleaning component is in the third position, until the distance between the designated point of the auxiliary cleaning component and the second side is equal to the second distance, and the fuselage rotates again, and the auxiliary cleaning component and the second side will send abnormal conditions such as squeeze contact and collision, then the auxiliary cleaning component can be controlled to swing back and switch to the edge position.

[0256] In some embodiments, the auxiliary cleaning assembly can be controlled to swing back and switch to the edge position while the main body is controlled to continue to perform the first rotation. Fig.11 As shown, in the process of switching the auxiliary cleaning component to the edge position, the auxiliary cleaning component can be controlled to adjust within the swing range so that the distance between the rotation center of the auxiliary cleaning component and the second edge is maintained at a second distance until the auxiliary cleaning component moves to the edge position.

[0257] Of course, when the space in the angle area is limited, the auxiliary cleaning component can also be swung to any position between the third position and the edge position, that is, it is close to or in contact with the second edge. Therefore, when the auxiliary cleaning component is swung to any position between the third position and the edge position, and the distance between the rotation center of the auxiliary cleaning component and the second edge is reduced to the second distance, the auxiliary cleaning component is controlled to swing back and switch to the edge position, and in the process of switching to the edge position, the auxiliary cleaning component is controlled to adjust within the swing range so that the distance between the rotation center of the auxiliary cleaning component and the second edge is maintained at the second distance until the auxiliary cleaning component moves to the edge position.

[0258] Based on the scheme of this embodiment, during the first rotation process, after the auxiliary cleaning component is swung outward to the third position, or any position between the third position and the edge position, and the distance between the rotation center of the auxiliary cleaning component and the second edge reaches the second distance, it is considered that the cleaning of the angle area is completed, and the auxiliary cleaning component can be immediately controlled to adjust within the swing range so that the distance between the designated point of the auxiliary cleaning component and the second edge remains at the second distance until the auxiliary cleaning component switches to the edge position. It can be ensured that during the entire swing back process, the auxiliary cleaning component and the second edge will not be excessively squeezed, collided, or other abnormal cleaning occurs.

[0259] After the auxiliary cleaning component is switched to the edge position, if the forward direction of the machine body is consistent with the edge direction of the second edge, the machine body can be directly controlled to perform edge cleaning. If there is a deviation between the forward direction of the machine body and the edge direction of the second edge, the forward direction of the machine body can be adjusted to the edge direction of the second edge and then edge cleaning can be performed.

[0260] In some embodiments, the method further comprises:

[0261] Step 601: When the cleaning of the angled area is completed and the auxiliary cleaning component is at the third position, or at a position between the edge position and the third position, and the distance between the rotation center of the auxiliary cleaning component and the second edge is a second distance, the body is controlled to perform a second rotation and rotate by a specified angle, so that there is a space between the body and the second edge for the auxiliary cleaning component to switch to the edge position, wherein the rotation direction of the first rotation is opposite to the rotation direction of the second rotation;

[0262] Step 602: Controlling the auxiliary cleaning assembly to switch to the edge position after the body completes the second rotation, or controlling the auxiliary cleaning assembly to switch to the edge position during the second rotation of the body.

[0263] Step 601 and step 602 may be implemented separately, or may be implemented together with at least one of step 101 , step 102 , steps 201 to 203 , steps 301 to 304 , step 401 , and step 501 .

[0264] like Figure 8 As shown, when the body performs the first rotation, the auxiliary cleaning assembly swings to the third position, and as the body rotates further, the auxiliary cleaning assembly reaches a position at a second distance from the second side, thereby completing the cleaning of the angle area and stopping the first rotation. Fig. 9 As shown, when the cleaning device stops the first rotation, the side of the body where the auxiliary cleaning component is located is closer to the second side. Fig.10 As shown, when the cleaning device stops the first rotation, the side of the fuselage where the auxiliary cleaning component is located is relatively close to the second side. At this time, the movement trajectory of the auxiliary cleaning component from the third position to the side position may interfere with the second side, so that the auxiliary cleaning component and the second side will have an unnecessary collision. Therefore, the cleaning device can control the fuselage to perform the second rotation after stopping the first rotation, so that there is space between the fuselage and the second side to switch the auxiliary cleaning component from the third position to the side position. When the fuselage completes the second rotation, so that there is space between the fuselage and the second side to switch the auxiliary cleaning component from the third position to the side position, the cleaning device can control the auxiliary cleaning component to switch from the third position to the side position. After the auxiliary cleaning component of the cleaning device is located at the side position, the cleaning device can move along the second side to perform side cleaning on the second side.

[0265] In this way, by performing a second rotation of the fuselage, there is space between the fuselage and the second side to switch the auxiliary cleaning component from the third position to the edge position, thereby meeting the position switching requirements of the auxiliary cleaning component and reducing the risk of collision between the auxiliary cleaning component and the second side.

[0266] Alternatively, the auxiliary cleaning assembly may be switched from the third position to the edge position during the second rotation of the body, for example. Fig.10 As shown, the body performs the second rotation in the clockwise direction, the space for the auxiliary cleaning component to switch positions increases, and the auxiliary cleaning component can gradually swing in the counterclockwise direction during the rotation of the body, and adjust from the third position to the edge position. The body can stop the second rotation after the auxiliary cleaning component switches to the edge position. The action of switching from the third position to the edge position during the second rotation of the body can further improve the consistency of the actions of the body and the auxiliary cleaning component, and improve the switching efficiency.

[0267] If the forward direction of the machine body is the edge direction for the second edge before the switching, the machine body can be controlled to rotate in the opposite direction of the second rotation by the same angle as the second rotation after the auxiliary cleaning component is switched to the edge position, so that the forward direction of the machine body is switched to the edge direction, and then edge cleaning is performed. If the forward direction of the machine body is not the edge direction for the second edge before the switching, the machine body can be controlled to turn until the forward direction of the machine body is the edge direction for the second edge, and then edge cleaning is started.

[0268] In some embodiments, when the first distance is greater than the edge threshold, the method further includes:

[0269] Step 701: when the body performs the first rotation, the auxiliary cleaning component swings to the third position and / or the distance between the rotation center of the auxiliary cleaning component and the first side is the second distance, the body is controlled to perform a third rotation while keeping the auxiliary cleaning component stationary, until the auxiliary cleaning component contacts the first side, or until the distance between the rotation center of the auxiliary cleaning component and the first side is a close value to the edge, wherein the rotation direction of the first rotation is opposite to the rotation direction of the third rotation;

[0270] Step 702: Continue to control the body to perform the third rotation, and control the auxiliary cleaning component to adjust within the swing range, so that the distance between the rotation center of the auxiliary cleaning component and the first side is the edge contact critical value.

[0271] Step 701 and step 702 may be implemented separately, or may be implemented together with at least one of step 101 , step 102 , steps 201 to 203 , steps 301 to 304 , step 401 , step 501 , step 601 , and step 602 .

[0272] The edge critical value may be a preset value to control the auxiliary cleaning component to clean as close to the edge as possible and avoid excessive squeezing and contact between the auxiliary cleaning component and the obstacle. For example, as shown in the above scenario example, the first distance is r+d1, and the edge critical value may be the radius r+d3, wherein the distance d3 between the point of the auxiliary cleaning component closest to the first side and the first side is infinitely close to zero, so that the point of the auxiliary cleaning component closest to the first side is extremely close to the first side or in contact with the first side to ensure that there is no missed cleaning area along the edge as much as possible. Of course, when the peripheral side of the auxiliary cleaning component is a flexible structure, the deformation space of the flexible part may also be considered to determine the proximity value. Accordingly, in some embodiments, the edge critical value is r+d3, -Δd≤d3≤α, r is the radius of the auxiliary cleaning component, Δd is the deformation amount of the flexible part of the auxiliary cleaning component, α is the error redundancy parameter, Δd and α are values ​​greater than or equal to zero, and d3 is the edge parameter.

[0273] During the first rotation of the fuselage, if the angle area has not been cleaned, the auxiliary cleaning component and the obstacle are over-extruded and cause the swing back. Because the fuselage is still rotating, if the amount of the auxiliary cleaning component that needs to be swung out again cannot be accurately determined, it will cause the swing to be inadequate and cause missed cleaning, or excessive swinging will cause the auxiliary cleaning component and the obstacle to be over-extruded again, further increasing the missed cleaning area. Therefore, when the fuselage rotates faster, the first distance can be set relatively large, that is, during the first rotation of the fuselage, the distance between the auxiliary cleaning component and the first side is large, resulting in missed cleaning. When the auxiliary cleaning component swings to the third position and / or the distance between the rotation center of the auxiliary cleaning component and the first side is the second distance, the first rotation can be stopped, and the fuselage can be controlled to perform the third rotation, first driving the auxiliary cleaning component to perform the third rotation, and following the third rotation of the fuselage, the auxiliary cleaning component gradually moves away from the second side and approaches the first side until the auxiliary cleaning component contacts the first side, or the distance between the rotation center of the auxiliary cleaning component and the first side is the edge contact critical value. After the auxiliary cleaning component contacts the first edge, it swings back along with the rotation of the body, such as continuing to control the body to perform the third rotation and controlling the distance between the designated point of the auxiliary cleaning component and the first edge to maintain the edge-adjacent critical value to perform the swing back. The auxiliary cleaning component can be controlled to stop swinging back when the auxiliary cleaning component swings back to the edge position; or it can be controlled to stop swinging back when the auxiliary cleaning component swings back to the initial position. The body can be controlled to stop the third rotation at the same time as the auxiliary cleaning component stops swinging back.

[0274] In some other embodiments, the auxiliary cleaning component stops swinging back and the body stops the third rotation at different times. For example, the position to which the auxiliary cleaning component swings and the preset rotation angle to which the body rotates can be preset, and the auxiliary cleaning component stops swinging back when it swings to the preset position, and the body stops the third rotation when it rotates to the preset rotation angle.

[0275] The swinging back of the auxiliary cleaning component is a process of retraction. Even if the auxiliary cleaning component is over-extruded with the first side during the swinging back, causing the auxiliary cleaning component to retract and swing back quickly, it only affects the missed cleaning area between the auxiliary cleaning component and the first side during the first rotation, and does not cause much missed cleaning. Therefore, after the first rotation is completed, the body is controlled to rotate, and after the auxiliary cleaning component contacts the first side, the auxiliary cleaning component begins to be controlled to swing back with the rotation of the body, and the auxiliary cleaning component is controlled to be close to the edge or extremely close to the edge during the swinging back, so as to further perform supplementary cleaning on the missed cleaning during the first rotation, which can reduce swinging abnormalities and ensure the cleaning coverage rate.

[0276] like Fig.12As shown, when the fuselage performs the first rotation, the auxiliary cleaning assembly swings to the third position, and as the fuselage rotates, the auxiliary cleaning assembly reaches the position of the second distance from the second side, thereby completing the cleaning of the angle area. Stop the first rotation, control the fuselage to perform the third rotation, and first drive the auxiliary cleaning assembly in the third position to perform the third rotation. Following the third rotation of the fuselage, the auxiliary cleaning assembly gradually moves away from the second side and approaches the first side until the auxiliary cleaning assembly contacts the first side. Then, continue to control the fuselage to perform the third rotation, and control the distance between the rotation center of the auxiliary cleaning assembly and the first side to maintain the edge critical value to perform the swing back. After the distance between the rotation center of the auxiliary cleaning assembly and the first side is the edge critical value, the fuselage can continue to perform the third rotation, and the first drive assembly can adjust the position of the auxiliary cleaning assembly relative to the fuselage, such as adjusting the distance of the auxiliary cleaning swing out of the fuselage, so that the distance between the auxiliary cleaning assembly and the first side maintains the edge critical value, thereby achieving the edge cleaning of the first side during the third turning process, and performing leak cleaning on the area that was not cleaned during the first rotation process.

[0277] In one possible implementation, Fig.12 As shown, the first driving assembly can drive the swing arm to swing in the counterclockwise direction when the body rotates in the clockwise direction, and control the swing angular velocity of the swing arm to keep the auxiliary cleaning assembly close to the first edge.

[0278] The first rotation and the third rotation can be performed multiple times to achieve multiple cleaning of the angle area and improve the cleaning effect.

[0279] After the third rotation is completed, the body can be controlled to perform a fourth rotation so that the forward direction of the body is consistent with the edge direction of the second edge. After reaching consistency, the body can be controlled to stop the fourth rotation and perform edge cleaning of the second edge. During the fourth rotation of the body, the position of the auxiliary cleaning component can be set as needed.

[0280] In some embodiments, after continuing to control the body to perform a third rotation and controlling the auxiliary cleaning component to adjust within the swing range, the method further includes:

[0281] Step 801: When the auxiliary cleaning component is adjusted to the edge position, the auxiliary cleaning component is controlled to stop adjusting, and the body is controlled to stop the third rotation; wherein the edge position is the position of the auxiliary cleaning component when the edge operation is performed on the first edge and / or the second edge, and the distance between the rotation center of the auxiliary cleaning component at the edge position and the rotation center of the body is represented by LC, wherein LB>LC>LA;

[0282] Step 802: When the auxiliary cleaning component remains in the edge position, control the body to perform a fourth rotation until the body turns to the edge direction with respect to the second edge, wherein the rotation direction of the first rotation is the same as the rotation direction of the fourth rotation.

[0283] Step 801 and step 802 may be implemented separately or in combination with at least one of step 101, step 102, steps 201 to 203, steps 301 to 304, step 401, step 501, step 601, step 602, step 701, and step 702.

[0284] When the body performs the third rotation until the distance between the rotation center of the auxiliary cleaning component and the first side is the edge-contact critical value, the third rotation is continued, and the position of the auxiliary cleaning component is adjusted within the swing range to keep the distance between the auxiliary cleaning component and the first side at the edge-contact critical value. When the auxiliary cleaning component is adjusted from the third position to the edge position, the third rotation can be stopped. After the body completes the third rotation, the fourth rotation can be performed.

[0285] The fuselage turning to the edgewise direction for the second side may mean that the forward direction of the fuselage is consistent with the edgewise direction for the second side. It should be noted that, due to the measurement accuracy, the forward direction of the fuselage is consistent with the edgewise direction for the second side, which is not strictly identical, and there may be a slight error.

[0286] For example, Fig.13 As shown, the fuselage can be controlled to perform the fourth rotation while the auxiliary cleaning component is kept in the edge position. For example, during the third rotation, when the auxiliary cleaning component rotates to the edge position, the fuselage can be controlled to stop the third rotation, and then, while the auxiliary cleaning component is kept in the edge position, the fuselage can be controlled to perform the fourth rotation until the forward direction of the fuselage is consistent with the edge direction for the second edge, and the fourth rotation is ended. By controlling the fuselage to perform the fourth rotation while the auxiliary cleaning component is kept in the edge position, the edge cleaning for the second edge can be performed after the rotation of the fuselage is completed, without performing other additional control actions, thereby simplifying the control logic.

[0287] In some scenarios, due to the gap between the auxiliary cleaning component and the main cleaning component, there may be an area that is not covered by the auxiliary cleaning component and the main cleaning component when the fuselage performs the first rotation, thereby forming a missed cleaning area. Accordingly, the structures of the auxiliary cleaning component and the main cleaning component can be analyzed in advance to determine the missed cleaning area caused by the first rotation, and then the position to which the auxiliary cleaning component needs to swing during the fourth rotation is configured, and the position is used as the leak repair position. Then, when performing the fourth rotation, the auxiliary cleaning component is kept in the leak repair position to perform the turn, so as to perform the supplementary cleaning of the missed cleaning area produced during the first rotation. It is also possible to directly use the edge position as the leak repair position, keep the auxiliary cleaning component in the edge position, and control the fuselage to perform the fourth rotation, so as to use the auxiliary cleaning component in the edge position to perform supplementary cleaning on the angle area.

[0288] In some embodiments, the method further comprises:

[0289] Step 901: When the auxiliary cleaning component is in an edgewise position, controlling the body to perform edgewise cleaning along the second edge;

[0290] Before controlling the body to perform edge cleaning along the second edge, the method further includes:

[0291] Step 902: Control the auxiliary cleaning component to switch to the initial position;

[0292] Step 903: Control the auxiliary cleaning component to switch from the initial position to the edge position.

[0293] Steps 901 to 902 may be implemented separately or in combination with at least one of steps 101, 102, 201 to 203, 301 to 304, 401, 501, 601, 602, 701, 702, 801, and 802.

[0294] In one possible implementation, after the fuselage completes cleaning of the angle area (including completing at least one of the first rotation, the second rotation, the third rotation and the fourth rotation in the above embodiment and switching the auxiliary cleaning component to the edge position), the fuselage can perform edge movement on the second edge to perform edge cleaning of the second edge through the auxiliary cleaning group.

[0295] In a possible implementation, after the main body completes the fourth rotation, the auxiliary cleaning assembly is in an edgewise position, and the main body can move along the second edge so that the auxiliary cleaning group can perform edgewise cleaning on the second edge.

[0296] In one possible implementation, Fig.14As shown, after the fuselage completes cleaning of the angled area, the fuselage can be adjusted to a position for moving along the second edge by moving and / or rotating the fuselage, and then cleaning along the second edge is performed.

[0297] After the fuselage completes cleaning the angle area, the auxiliary cleaning component is in the edge position. Therefore, by performing edge cleaning on the second edge, the continuity of cleaning is maintained, reducing the complexity of path planning and cleaning omissions caused by the discontinuity of the cleaning line.

[0298] The fuselage may have a plurality of position detection components for detecting the position of the auxiliary cleaning component, and the position detection component may be used to detect whether the auxiliary cleaning component is located at the initial position, the third position, and a certain position or any position between the initial position and the third position. However, in some cases, the fuselage is only equipped with a detection component for detecting that the auxiliary cleaning component is located at the initial position, and there is no detection component for detecting the third position, any position between the initial position and the third position. In a possible implementation, the swing arm can be driven by a stepper motor (such as the first motor 521 is a stepper motor) to adjust the position of the auxiliary cleaning component. Accordingly, the cleaning device can control the swing position of the swing arm based on the number of steps of the stepper motor in the driving component, so that the auxiliary cleaning component is switched from the initial position to any position between the initial position and the third position, or the third position. Although the position of the auxiliary cleaning component can be recorded by recording the number of steps of the stepper motor, the farther the auxiliary cleaning component is swung out of the fuselage, the greater the probability of abnormalities such as collision between the auxiliary cleaning component and the obstacle, resulting in the lower accuracy of the auxiliary cleaning component swinging back from the third position to the edge position. Since the edge cleaning path is relatively long, if the edge position control is not accurate enough, the missed cleaning area will increase, or the probability of the auxiliary cleaning component rubbing against obstacles, excessive squeezing, and other abnormal situations will increase. In this embodiment, the auxiliary cleaning component is switched to the initial position first and then to the edge position, which can improve the accuracy of the edge position switching.

[0299] Of course, in some embodiments, a detection component can be set at the position with the largest swing angle after the swing arm is swung out from the initial position, and accordingly, it can be swung back to the edge position from the position with the largest swing angle. Compared with first switching to the position with the largest swing angle and then switching to the edge position, the switching space required for switching from the initial position to the edge position is less, which can reduce the space requirement caused by the switching of the auxiliary cleaning component and reduce the complexity of control.

[0300] Therefore, before performing edge cleaning on the second edge, the auxiliary cleaning component can be switched to the initial position, and then the auxiliary cleaning component can be controlled to switch from the initial position to the edge position to reduce the situation where the auxiliary cleaning component deviates from the edge position. Since the cleaning device accurately detects whether the auxiliary cleaning component is in the initial position, the accuracy of the auxiliary cleaning component switching to the edge position can be improved by controlling the swing amplitude of the swing arm. Switching the auxiliary cleaning component to the initial position first and then to the edge position can improve the accuracy of the auxiliary cleaning component position, so that the auxiliary cleaning component can clean at the accurate edge position, thereby improving the cleaning effect of edge cleaning on the second edge.

[0301] 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.

[0302] 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.

[0303] The present application also provides a cleaning device, such as a cleaning robot, etc. The cleaning device includes a control device.

[0304] In a possible implementation, the cleaning device further includes a walking system for enabling the cleaning device to walk, such as wheels, tracks, a driving assembly, and the like.

[0305] The control device is used to execute the above cleaning equipment control method.

[0306] 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 above cleaning equipment control method is implemented.

[0307] 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.

[0308] The computer-readable storage medium mentioned above can 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 can be any available medium that can be accessed by a general or special-purpose computer.

[0309] 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.

[0310] 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.

[0311] 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.

[0312] 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.

[0313] 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 cleaning equipment control method, characterized in that: The cleaning device comprises a body, on which a main cleaning component, an auxiliary cleaning component and a first driving component are arranged; 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, and the auxiliary cleaning component is distributed along the side of the body; the cleaning coverage area of ​​the auxiliary cleaning component is smaller than the cleaning coverage area of ​​the main cleaning component, and the first driving component is used to drive the auxiliary cleaning component to adjust within a swing range between an initial position and a third position, and the distance between the rotation center of the auxiliary cleaning component at the initial 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 and LB respectively, wherein LB>LA; the method comprises: Controlling the body to perform a first rotation in an angle region between the first side and the second side, so that the auxiliary cleaning component moves along the first side toward the second side, the angle region being an inner angle formed by the first side and the second side; During the first rotation of the body, the auxiliary cleaning component is controlled to be adjusted within the swing range so that the distance between the rotation center of the auxiliary cleaning component and the first side is a first distance, so as to clean the angle area.

2. The method according to claim 1, characterized in that The first driving assembly at least comprises a swing arm of fixed length and swinging around a fixed axis, and the auxiliary cleaning assembly is arranged on the swing arm; Controlling the swing angle of the swing arm to drive the auxiliary cleaning assembly to extend and retract relative to the contour of the body, so that the auxiliary cleaning assembly is adjusted within the swing range between the initial position and the third position; The outline of the fuselage is circular, or the rear half is an arc-shaped D-shape. Along the forward direction of the fuselage, the third position and the swing axis of the swing arm are located behind the edge position.

3. The method according to claim 1 or 2, characterized in that: The method further comprises: After the body performs the first rotation and the auxiliary cleaning component swings to the third position, if the distance between the rotation center of the auxiliary cleaning component and the second side is greater than the second distance, the auxiliary cleaning component is controlled to remain in the third position, and the body is controlled to continue to perform the first rotation until the distance between the rotation center of the auxiliary cleaning component and the second side is the second distance, so as to clean the angle area.

4. The method according to claim 1 or 2, characterized in that: The method further comprises: After cleaning of the angle area is completed, the auxiliary cleaning component is controlled to switch to the edge position, wherein the edge position is the position of the auxiliary cleaning component when cleaning the first edge and / or the second edge, and the distance between the rotation center of the auxiliary cleaning component at the edge position and the rotation center of the fuselage is represented by LC, wherein LB>LC>LA.

5. The method according to claim 4, characterized in that After the cleaning of the angle area is completed, controlling the auxiliary cleaning component to switch to the edge position includes at least one of the following: When the distance between the rotation center of the auxiliary cleaning component and the first edge is greater than a distance threshold, the auxiliary cleaning component is controlled to switch to the edge position; The steering angle of the first rotation of the fuselage body is greater than or equal to a steering angle threshold, and the auxiliary cleaning component is controlled to switch to the edge position; When the body performs the first rotation and the auxiliary cleaning assembly swings to the third position, the auxiliary cleaning assembly is controlled to switch to the edge position.

6. The method according to claim 4, characterized in that After the cleaning of the angle area is completed, controlling the auxiliary cleaning component to switch to the edge position includes: When the cleaning of the angled area is completed and the auxiliary cleaning component is in the third position, or in a position between the edge position and the third position, and the distance between the rotation center of the auxiliary cleaning component and the second edge is a second distance, the body is controlled to perform a second rotation and rotate a specified angle so that there is a space between the body and the second edge for the auxiliary cleaning component to switch to the edge position, wherein the rotation direction of the first rotation is opposite to the rotation direction of the second rotation; The auxiliary cleaning component is controlled to switch to the edge position after the body completes the second rotation, or the auxiliary cleaning component is controlled to switch to the edge position during the second rotation of the body.

7. The method according to claim 4, characterized in that After the cleaning of the angle area is completed, controlling the auxiliary cleaning component to switch to the edge position includes: During the first rotation of the fuselage, when the auxiliary cleaning component swings to the third position, or a position between the edge position and the third position, and the distance between the rotation center of the auxiliary cleaning component and the second edge is reduced to a second distance, the auxiliary cleaning component is controlled to adjust within the swing range so that the distance between the rotation center of the auxiliary cleaning component and the second edge is maintained at the second distance until the auxiliary cleaning component moves to the edge position.

8. The method according to claim 1 or 2, characterized in that: When the first distance is greater than the edge critical value, the method further includes: When the body performs the first rotation, the auxiliary cleaning component swings to the third position, and / or the distance between the rotation center of the auxiliary cleaning component and the second side is the second distance, the body is controlled to perform a third rotation while keeping the auxiliary cleaning component stationary, until the distance between the rotation center of the auxiliary cleaning component and the first side is a close value to the edge, or until the auxiliary cleaning component contacts the first side, wherein the rotation direction of the first rotation is opposite to the rotation direction of the third rotation; The body is continuously controlled to perform the third rotation, and the auxiliary cleaning component is controlled to adjust within the swing range, so that the distance between the rotation center of the auxiliary cleaning component and the first side is the edge contact critical value.

9. The method according to claim 8, characterized in that After continuing to control the body to perform a third rotation and controlling the auxiliary cleaning component to adjust within the swing range, the method further includes: When the auxiliary cleaning component is adjusted to an edge position, controlling the auxiliary cleaning component to stop adjusting, wherein the edge position is a position of the auxiliary cleaning component when edge adjustment is performed on the first edge and / or the second edge, and the distance between the rotation center of the auxiliary cleaning component at the edge position and the rotation center of the body is represented by LC, wherein LB>LC>LA; And when the auxiliary cleaning component remains in the edge position, the body is controlled to perform a fourth rotation until the body turns to the edge direction for the second edge, wherein the rotation direction of the first rotation is the same as the rotation direction of the fourth rotation.

10. The method according to claim 4, characterized in that The method further comprises: When the auxiliary cleaning assembly is in an edgewise position, controlling the body to perform edgewise cleaning along the second edge; Before controlling the body to perform edge cleaning along the second edge, the method further includes: Controlling the auxiliary cleaning component to switch to the initial position; The auxiliary cleaning component is controlled to switch from the initial position to the edge position.

11. The method according to claim 4, characterized in that The method further comprises: when the auxiliary cleaning assembly is in an edgewise position, controlling the body to perform edgewise cleaning along the first edge; The controlling the fuselage to perform a first rotation in an angle region between the first side and the second side includes: when the fuselage is controlled to reach the angle region, controlling the fuselage to perform the first rotation; During the first rotation, the auxiliary cleaning component is controlled to adjust within the swing range starting from the edge position so that the distance between the rotation center of the auxiliary cleaning component and the first edge is the first distance, until the auxiliary cleaning component swings to the third position; wherein, when the swing arm swings in one direction, the positions passed by the auxiliary cleaning component are, in sequence: initial position, edge position, and third position.

12. The method according to claim 4, characterized in that The method further comprises: When the auxiliary cleaning assembly is in an edgewise position, controlling the body to perform edgewise cleaning along the first edge; The controlling the body to perform a first rotation in an angle region between the first side and the second side includes: In the process of controlling the body to perform cleaning along the first side, when the body is at a preset distance from the second side, the auxiliary cleaning assembly is first controlled to swing to the initial position, and the following actions are performed: After the speed of the body drops to zero, the body is controlled to perform the first rotation, and the auxiliary cleaning component is controlled to adjust within the swing range so that the distance between the rotation center of the auxiliary cleaning component and the first side is a first distance, until the auxiliary cleaning component swings to the third position; Alternatively, after the speed of the fuselage drops to zero, the fuselage is controlled to perform the first rotation while keeping the auxiliary cleaning component at the initial position; and during the first rotation, after the auxiliary cleaning component reaches the preset position, the auxiliary cleaning component is controlled to adjust within the swing range so that the distance between the rotation center of the auxiliary cleaning component and the first side is the first distance, until the auxiliary cleaning component swings to the third position; the preset position is the position where the line connecting the rotation center of the auxiliary cleaning component and the rotation center of the fuselage is perpendicular to the first side.

13. The method according to claim 1, characterized in that The distance between the rotation center of the fuselage and the first side is R1 + D1, the first distance is r + d1, -Δd ≤ d1 < D1 + α, R1 is the distance between the rotation center and the edge point of the fuselage close to the first side in the direction perpendicular to the first side, r is the radius of the auxiliary cleaning component, Δd is the deformation amount of the edge of the auxiliary cleaning component, α is the error redundancy parameter, Δd and α are values greater than or equal to zero, and D1 and d1 are edge parameters.

14. The method according to claim 3, characterized in that The distance between the rotation center of the fuselage and the second side is R2 + D2, the second distance is r + d2, -Δd ≤ d2 < D2 + α, R2 is the distance between the rotation center and the edge point of the fuselage close to the second side in the direction perpendicular to the second side, r is the radius of the auxiliary cleaning component, Δd is the deformation amount of the flexible part of the auxiliary cleaning component, α is the error redundancy parameter, Δd and α are values greater than or equal to zero, and D2 and d2 are edge parameters.

15. The method according to claim 8, characterized in that The edge - sticking critical value is r + d3, -Δd ≤ d3 ≤ α, r is the radius of the auxiliary cleaning component, Δd is the deformation amount of the flexible part of the auxiliary cleaning component, α is the error redundancy parameter, Δd and α are values greater than or equal to zero, and d3 is an edge parameter.

16. A cleaning device, characterized in that: The cleaning device includes a fuselage, on which a main cleaning component, an auxiliary cleaning component, a first driving component and a controller are arranged; along the advancing direction of the fuselage, both the main cleaning component and the auxiliary cleaning component are arranged at the rear of the fuselage, and the auxiliary cleaning component is distributed on the edge side of the fuselage; the cleaning coverage area of the auxiliary cleaning component is smaller than that of the main cleaning component, the first driving component is used to drive the auxiliary cleaning component to adjust within the swing range between the initial position and the third position, and the distances between the rotation center of the fuselage and the self - rotation center of the auxiliary cleaning component at the initial position and the third position are represented by LA and LB respectively, where LB > LA. The controller is used to execute the cleaning device control method according to any one of claims 1 to 15.

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