Cleaning device control method and cleaning device

Abstract

The embodiments of the present disclosure provide a cleaning equipment control method and a cleaning equipment. The cleaning equipment comprises a machine body, a main cleaning assembly, an auxiliary cleaning assembly and a first driving assembly arranged on the machine body. The main cleaning assembly and the auxiliary cleaning assembly are arranged at the rear part of the machine body along the advancing direction of the machine body, and the auxiliary cleaning assembly is distributed on the along-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. The first driving assembly is used to drive the auxiliary cleaning assembly to adjust within the swing range between the initial position and the third position. The cleaning equipment control method comprises: controlling the machine body to perform first rotation in the included angle region between the first edge and the second edge, so that the auxiliary cleaning assembly moves along the first edge towards the second edge; and controlling the auxiliary cleaning assembly to adjust within the swing range during the first rotation, so that the distance between the auxiliary cleaning assembly and the first edge is less than or equal to the first distance.

Description

[0001] This application is a divisional application of Chinese invention patent application No. 202411078162.7, filed on August 7, 2024, entitled "Control Method and Cleaning Equipment for Cleaning Equipment". Technical Field

[0002] This application relates to the field of cleaning technology, and more particularly to a cleaning equipment control method and a cleaning equipment. Background Technology

[0003] With the development of science and technology and the improvement of living standards, household cleaning equipment such as robotic vacuum cleaners, floor scrubbers, and robot vacuums / mops have become increasingly popular, reducing the burden of housework. The working scenarios for these cleaning devices typically include indoor environments such as residences. Indoor environments are relatively complex, with hard-to-clean areas such as corners. Therefore, ensuring the efficiency and coverage of robots in complex and changing working environments, and improving the user experience, is crucial. Summary of the Invention

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

[0005] According to a first aspect of the present disclosure, a cleaning equipment control method is provided. The cleaning equipment includes a body, on which a main cleaning component, an auxiliary cleaning component, and a first drive component are disposed. Along the forward direction of the body, both the main cleaning component and the auxiliary cleaning component are located at the rear of the body, with the auxiliary cleaning component distributed along the edge of the body. The cleaning coverage area of ​​the auxiliary cleaning component is smaller than that of the main cleaning component. The first drive 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, where LB > LA. The method includes:

[0006] The body is controlled to perform a first rotation in the 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, and the angle region is the interior angle formed by the first side and the second side;

[0007] During the first rotation of the machine 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 perform cleaning on the included angle area.

[0008] In some embodiments, the first drive assembly includes at least a swing arm of fixed length that swings about a fixed axis, and the auxiliary cleaning assembly is disposed on the swing arm;

[0009] Control the swing angle of the swing arm to drive the auxiliary cleaning component to extend and retract relative to the contour of the machine body, so that the auxiliary cleaning component can be adjusted within the swing range between the initial position and the third position;

[0010] The fuselage has a circular outline or a D-shaped arc in the rear half. 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 includes:

[0012] After the machine 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 machine body is controlled to continue performing 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 perform cleaning on the included angle area.

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

[0014] After cleaning of the included 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 performing edge cleaning on the first side and / or the second side, and the distance between the rotation center of the auxiliary cleaning component and the rotation center of the machine body in the edge position is represented by LC, where LB>LC>LA.

[0015] In some embodiments, after cleaning of the included angle region 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 side is greater than a distance threshold, the auxiliary cleaning component is controlled to switch to the edge position.

[0017] When the turning angle of the first rotation of the machine body is greater than or equal to the turning angle threshold, the auxiliary cleaning component is controlled to switch to the edge position;

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

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

[0020] When cleaning of the included angle area is completed and the auxiliary cleaning component is in the third position, or between the edge position and the third position, and the distance between the rotation center of the auxiliary cleaning component and the second side is the second distance, the machine body is controlled to perform a second rotation and rotate by a specified angle so that there is space between the machine body and the second side 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] After the machine body completes the second rotation, the auxiliary cleaning component is controlled to switch to the edge position, or the auxiliary cleaning component is controlled to switch to the edge position during the second rotation of the machine body.

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

[0023] During the first rotation of the machine body, 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 side decreases to the 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 side 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-fitting threshold, the method further includes:

[0025] When the machine 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 machine 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 the edge-adjacent value, 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] Continue to control the machine 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-fitting 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 the edge position, the auxiliary cleaning component is controlled to stop adjusting. The edge position is the position of the auxiliary cleaning component when performing edge cleaning on the first edge and / or the second edge. The distance between the rotation center of the auxiliary cleaning component at the edge position and the rotation center of the machine body is represented by LC, where LB>LC>LA.

[0029] While the auxiliary cleaning component remains in the edge position, the machine body is controlled to perform a fourth rotation until the machine body turns to the edge direction relative to the second side, 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 includes:

[0031] When the auxiliary cleaning component is in the edge-side position, the machine body is controlled to perform edge cleaning along the second edge;

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

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

[0034] Control the auxiliary cleaning component to switch from the initial position to the edge position.

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

[0036] The step of controlling the fuselage to perform a first rotation in the angle region between the first side and the second side includes: controlling the fuselage to perform a first rotation when the fuselage reaches the angle region;

[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 that the auxiliary cleaning component passes through are: initial position, edge position, and third position in sequence.

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

[0039] When the auxiliary cleaning assembly is at the edge-following position, controlling the main body to perform edge-following cleaning along the first side;

[0040] The step of controlling the main body to perform a first rotation in the corner region between the first side and the second side comprises:

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

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

[0043] Alternatively, after the speed of the main body decreases to zero, controlling the main 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, starting to control the auxiliary cleaning assembly to adjust within its swing range, so that the distance between the rotation center of the auxiliary cleaning assembly and the first side is the first distance, until the auxiliary cleaning assembly swings to the third position; wherein the preset position is a position where the line connecting the rotation center of the auxiliary cleaning assembly and the rotation center of the main body is perpendicular to the first side.

[0044] In some embodiments, the distance between the rotation center of the main body 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 main body adjacent to the first side in the direction perpendicular to the first side, 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-following parameters.

[0045] In some embodiments, the distance between the rotation center of the main body 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 main body adjacent to the second side in the direction perpendicular to the second side, r is the radius of the auxiliary cleaning assembly, Δd is the deformation amount of the flexible member 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-following parameters.

[0046] In some embodiments, the edge-adhering 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 member 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-following parameter.

[0047] According to a second aspect of the present disclosure, a cleaning device is provided, the cleaning device including a body, on which a main cleaning component, an auxiliary cleaning component, a first drive component, and a controller are disposed; along the forward direction of the body, the main cleaning component and the auxiliary cleaning component are both disposed at the rear of the body, the auxiliary cleaning component being distributed along the edge 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 drive 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 respectively represented by LA and LB, where LB>LA;

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

[0049] In the cleaning equipment control method provided in this disclosure, the cleaning equipment includes a body, on which a main cleaning component, an auxiliary cleaning component, and a first drive component are disposed. Along the forward direction of the body, both the main cleaning component and the auxiliary cleaning component are located at the rear of the body, with the auxiliary cleaning component distributed along the edges of the body. The cleaning coverage area of ​​the auxiliary cleaning component is smaller than that of the main cleaning component. The first drive 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 in the initial position and the rotation center of the body, and the distance between the rotation center of the auxiliary cleaning component in the third position and the rotation center of the body, are represented by LA and LB, respectively. The method includes: controlling the machine body to perform a first rotation in the angled region between a first side and a second side, causing the auxiliary cleaning component to move along the first side toward the second side, the angled region being the interior angle formed by the first side and the second side; during the first rotation of the machine body, 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 a first distance, so as to perform cleaning on the angled region. On the one hand, the machine body drives the main cleaning unit and the auxiliary cleaning component to move along the first side toward the second side to achieve cleaning of the angled region; by cleaning the area that the main cleaning component cannot clean by the auxiliary cleaning component on the side of the machine body, the missed area in the angled region is reduced, and the cleaning coverage of the angled region is improved. 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, which reduces the probability of abnormal phenomena such as squeezing or scratching the auxiliary cleaning component with obstacles, further reduces the missed area in the angled region, improves the cleaning coverage of the angled region, and enhances the user experience. Attached Figure Description

[0050] Figure 1 This is a bottom view schematic diagram illustrating the cleaning components on the machine body according to an exemplary embodiment;

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

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

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

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

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

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

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

[0058] Figure 9 This is a schematic diagram illustrating another cleaning device cleaning process according to an exemplary embodiment;

[0059] Figure 10 This is a schematic diagram illustrating another cleaning device cleaning process according to an exemplary embodiment;

[0060] Figure 11 This is a schematic diagram illustrating another cleaning device cleaning process according to an exemplary embodiment;

[0061] Figure 12 This is a schematic diagram illustrating another cleaning device cleaning process according to an exemplary embodiment;

[0062] Figure 13 This is a schematic diagram illustrating another cleaning device cleaning process according to an exemplary embodiment;

[0063] Figure 14 This is a schematic diagram illustrating another cleaning device cleaning process according to an exemplary embodiment;

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

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

[0066] Figure 17 This is a schematic diagram of another cleaning device structure according to an exemplary embodiment;

[0067] Figure 18 This is a schematic diagram of another cleaning device structure according to an exemplary embodiment. Detailed Implementation

[0068] To make the technical solution and beneficial effects of the present invention more apparent and understandable, a detailed description is provided below by listing specific embodiments. The accompanying 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 pertains.

[0069] This disclosure is not exhaustive, but merely illustrative of some embodiments, and is not intended to limit the scope of protection of this disclosure. Unless otherwise specified, each step in a particular 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 particular embodiment can also be implemented as an independent embodiment, and the order of the steps in a particular embodiment can be arbitrarily interchanged. Furthermore, the optional implementation methods in a particular embodiment can be arbitrarily combined; moreover, the embodiments can be arbitrarily combined, for example, some or all steps of different embodiments can be arbitrarily combined, and a particular embodiment can be arbitrarily combined with the optional implementation methods of other embodiments.

[0070] In each of the disclosed embodiments, unless otherwise specified or in case of logical conflict, the terminology and / or descriptions of the embodiments are consistent and can be referenced by each other. Technical features in different embodiments can be combined to form new embodiments based on their inherent logical relationships.

[0071] The terminology used in the embodiments of this disclosure is for the purpose of describing particular embodiments only and is not intended to limit the scope of this disclosure.

[0072] In this embodiment of the disclosure, unless otherwise stated, elements expressed in the singular form, such as "a," "an," "the," "the," "the," "the," "the," "the," "this," etc., can mean "one and only one," or "one or more," "at least one," etc. For example, when using articles such as "a," "an," "the," etc. in translation, the noun following the article can be understood as either a singular expression or a plural expression.

[0073] In the embodiments disclosed herein, "multiple" refers to two or more.

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

[0075] In some embodiments, the notation "at least one of A and B", "A and / or B", "A in one case, B in another", "A in one case, B in another", etc., may include the following technical solutions depending on the situation: in some embodiments, A (A is executed regardless of B); in some embodiments, B (B is executed regardless 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). The same applies when there are more branches such as A, B, C, etc.

[0076] In some embodiments, the notation "A or B" may include the following technical solutions, depending on the situation: in some embodiments, A (execution of A regardless of B); in some embodiments, B (execution of B regardless of A); in some embodiments, execution is selected from A and B (A and B are selectively executed). The same applies when there are more branches such as A, B, C, etc.

[0077] The prefixes "first," "second," etc., used in the embodiments of this disclosure are merely for distinguishing different descriptive objects and do not impose restrictions on the position, order, priority, value, or content of the descriptive objects. The description of the descriptive objects should be found in the claims or the context of the embodiments, and the use of prefixes should not constitute unnecessary restrictions. For example, if the descriptive object is a "field," the ordinal numbers preceding "field" in "first field" and "second field" do not restrict the position or order of the "fields." "First" and "second" do not restrict whether the "fields" they modify are in the same message, nor do they restrict the order of "first field" and "second field." Similarly, if the descriptive object is a "level," the ordinal numbers preceding "level" in "first level" and "second level" do not restrict the priority between "levels." Furthermore, the value of the descriptive object is not limited by ordinal numbers and can be one or more. For example, in "first device," the value of "device" can be one or more. Furthermore, the objects modified by different prefixes can be the same or different. For example, if the object being described is "device", then "first device" and "second device" can be the same device or different devices, and their types can be the same or different. Similarly, if the object being described is "information", then "first information" and "second information" can be the same information or different information, and their content can be the same or different.

[0078] In some embodiments, “including A,” “containing A,” “for indicating 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…”, “when…”, “when…”, “if…”, etc. can be used interchangeably.

[0080] In some embodiments, the terms “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 used interchangeably, as can the terms “less than,” “less than or equal to,” “not greater than,” “less than,” “less than or equal to,” “not more than,” “lower than,” “lower than or equal to,” “not higher than,” and “below”.

[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”, “circuit”, “network element”, “node”, “function”, “unit”, “section”, “system”, “network”, “chip”, “chip system”, “entity”, and “subject” can be used interchangeably.

[0082] Furthermore, each element, each row, or each column in the table of this disclosure can be implemented as an independent embodiment, and any combination of any element, any row, or any column can also be implemented as an independent embodiment.

[0083] This specification provides an example of a cleaning device. See also... Figure 1 As shown.

[0084] Figure 1 This is a bottom view (reverse view) of the cleaning equipment described above. The equipment can move autonomously within its work area and complete cleaning tasks without external human input or control. The work area can include indoor and outdoor areas. Indoor areas can include family rooms, offices, shopping malls, factory workshops, etc. Outdoor areas can include lawns, gardens, roads, etc. Cleaning tasks can include sweeping (e.g., washing, mopping, sweeping), lawn mowing, snow removal, etc.

[0085] The aforementioned cleaning equipment includes, but is not limited to: robotic vacuum cleaners, robotic floor scrubbers, robotic vacuum and mop combos, robotic lawnmowers, and robotic snowplows. These cleaning devices can perform cleaning using either a front-sweeping-then-mopping method or a separate sweeping-and-mopping method. The front-sweeping-then-mopping method allows for simultaneous sweeping and mopping, improving cleaning efficiency. The separate sweeping-and-mopping method allows for sweeping first, followed by mopping, which enhances the cleaning effect.

[0086] For details, please refer to Figure 1 As shown, the cleaning equipment described above includes at least a body 100, a controller (not shown), one or more cleaning components, a walking system 700 (drive wheels), and a sensing system (not shown).

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

[0088] The fuselage can be circular, square, or other shapes. For example, one part of the fuselage can be circular, and another part can be square.

[0089] The controller described above may include a microcontroller unit (MCU). Of course, the controller may also include other devices capable of control functions.

[0090] The cleaning component described above can be circular, square, or other shapes (e.g., semi-circular, arc-shaped, triangular, or other irregular shapes). The circular shape facilitates rotating cleaning. The irregular shape facilitates cleaning corner areas.

[0091] In one possible implementation, the side brush gathers foreign objects and moves them towards the center of the bottom of the cleaning device. The roller brush sweeps up foreign objects from the bottom of the cleaning device, allowing them to enter the dust collection box through the suction port 103. The mop disc is used for wiping or mopping the floor.

[0092] In one possible implementation, the aforementioned mop trays (large and / or small) are equipped with mop cloths. A water tank is provided on the cleaning equipment. Water in the water tank flows through holes to the mop cloth, wetting it. The wetted mop cloth is then used for mopping the floor.

[0093] In one possible implementation, the main brush is located within a main brush chamber at the bottom of the cleaning device's body. The main brush chamber is connected to the cleaning device's suction channel. Small debris such as dust and hair swept up by the main brush and / or side brushes is sucked into the main brush chamber by the cleaning device.

[0094] refer to Figure 1 The walking system is mounted on the machine body and is used to drive the machine to achieve its walking function. The walking system generally includes a drive unit and walking components, with the drive unit driving the walking components to move. There are usually two walking components, symmetrically mounted on the machine body. The walking components can be, but are not limited to, drive wheels, track wheels, or adjustable steering wheels. For example, steering wheels are Mecanum wheels. Furthermore, the walking system can be oscillatingly mounted on the machine body to enable the cleaning equipment to overcome obstacles during movement. The walking function includes, but is not limited to: straight-line movement, rotation, and rotation around a predetermined position.

[0095] The aforementioned sensor system can acquire three-dimensional information about obstacles. Based on this information, the cleaning equipment can detect and identify obstacles. Furthermore, the controller can adjust its operation accordingly based on detected obstacles, such as doors.

[0096] The perception system includes a two-dimensional or three-dimensional lidar located on the top of the fuselage, as well as a buffer, line laser sensor, and vision sensor located at the front of the fuselage, and edge sensors located on the side walls of the fuselage, ultrasonic sensors and downward-looking sensors located at the bottom of the fuselage, and inertial measurement units and odometers located within the cleanliness identification system.

[0097] The identification system can identify the environment and obstacles based on the sensing data from the perception system. The identification system can also be implemented by at least one of the following: a perception system, a control system, or a system other than cleaning equipment (such as a cloud server).

[0098] The system includes a buffer that performs obstacle detection by colliding with obstacles. An edge sensor detects the distance to obstacles, allowing the cleaning equipment to perform edge cleaning based on this information. Two-dimensional or three-dimensional LiDAR, or a line laser sensor, can collect distance information about obstacles. A vision sensor can also be used to identify images of the environment in which the cleaning equipment is located. The control system can determine the distance, outline, and type of obstacles based on the information collected by the two-dimensional or three-dimensional LiDAR, line laser sensor, and vision sensor, thereby enabling mapping and controlling the cleaning equipment to perform obstacle avoidance / crossing / edge cleaning. A downward-looking sensor is used for cliff detection. An inertial measurement unit (IMU) can be a device that measures the three-axis attitude angles (or angular rates) and acceleration of an object to acquire the motion attitude information of the cleaning equipment in real time. An odometer can be used to determine the location of the cleaning equipment on the map, i.e., to locate the cleaning equipment. An ultrasonic sensor is used to identify carpet signals; the control system uses these signals to control the cleaning components of the wet cleaning module of the cleaning equipment to lift, or to control the cleaning equipment to return to the base station to disassemble the cleaning components of the wet cleaning module. Of course, the above-described sensing system is merely illustrative and does not constitute a limitation of the embodiments described in this specification.

[0099] It is understood that the above-described cleaning equipment is for illustrative purposes only and does not constitute a limitation of the embodiments described in this specification.

[0100] In one structural example, the cleaning device 10 includes a main cleaning module 300 and an auxiliary cleaning module 500 mounted on a body 100. The main cleaning module 300 includes at least one main cleaning component 310 (e.g., a cleaning disc, a flat mop, or a track 317) or two main cleaning components 310 (e.g., two cleaning discs). The main cleaning components 310 do not swing relative to the body 100. No swinging structure is needed within the body 100 to drive the main cleaning components 310 to swing. Therefore, the drive structure for the main cleaning components 310 only needs to include a first lifting structure to drive the lifting and lowering motion of the main cleaning components 310 and a second drive structure for the mopping motion. For example, the mopping motion can be the rotation of the main cleaning disc, the reciprocating vibration or twisting of the flat mop, or the movement of the track.

[0101] like Figures 15 to 18 As shown, the auxiliary cleaning module 500 includes at least one auxiliary cleaning component 510, which is swayable relative to the body 100 to be in an initial position A (e.g., Figure 15 (as shown by the middle arrow A) and along the edge position C (as shown by the middle arrow A) Figure 18 The auxiliary cleaning component 510 switches between positions (as indicated by the middle arrow C) and, in the edge-side position C, at least a portion of the auxiliary cleaning component 510 extends beyond the edge of the body 100 to perform edge cleaning on obstacles or walls. In the initial position A, the auxiliary cleaning component 510 may be located within the maximum projection of the edge of the body 100, or at least a portion of the auxiliary cleaning component 510 may be located outside the edge of the body 100.

[0102] The area of ​​the auxiliary cleaning component 510 is smaller than the area of ​​the main cleaning component 310. For example, the area of ​​the auxiliary cleaning component 510 is less than three-quarters, or less than half, or less than one-third, one-quarter, or one-fifth of the area of ​​the main cleaning component 310, etc. The size relationship between the two can be selected according to the needs, thereby driving the swinging, lifting, and mopping movements of the auxiliary cleaning component 510. It requires little swing space and is suitable for all models currently on the market, such as disc mops, flat mops, and belt mops.

[0103] By retracting and swinging outwards, the auxiliary cleaning component 510 can switch between the edge position C and the initial position A, and perform edge cleaning at the edge position C. At the same time, the main cleaning component 310 does not need to swing as a whole, so the structure of the entire cleaning module is simple and compact, occupies little space, and 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 cleaning mode is performed along the forward direction of the robot body 100 (e.g., along...). Figure 1(In the direction of the arrow in the image), the dry cleaning module 200 is located in front of the main cleaning module 300; the dry cleaning module 200 is used to sweep the floor; the main cleaning module 300 is used to wet mop the swept floor, i.e., the wet cleaning module, thus forming a sweep-then-mop mode to clean the floor.

[0105] In some embodiments, the cleaning robot also includes a side brush 400, which is positioned in front of the dry cleaning module 200 along the forward direction of the body 100. The side brush 400 is rotatable and is used to gather garbage on the ground toward 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 means of suction or other methods.

[0106] For example, the side brush 400 can be located in front of the dry cleaning module 200 and near the edge of the body 100. For instance, the side brush 400 can be located at the edge of positions including, but not limited to, the left front or right front of the dry cleaning module 200, such that when the side brush 400 rotates, at least a portion of the side brush 400 is outside the outline of the body 100. This allows the side brush 400 to gather debris outside the outline of the body 100 towards the inside of the cleaning robot, thereby increasing the cleaning range. The side brush 400 can be a rubber strip or a bristle brush, as long as it can clean the floor; there are no restrictions.

[0107] The fuselage 100 is typically formed in shapes such as circular, D-shaped, or rectangular. The outline of the fuselage 100 refers to its circular, D-shaped, or rectangular outline, for example, in... Figure 1 In the case of fuselage 100, the outline of fuselage 100 is a circular structure; for example, the range of the outline of fuselage 100 can be determined based on the projection of fuselage 100 on the horizontal plane.

[0108] like Figure 15 As shown, for the fuselage 100, the fuselage 100 typically includes at least a chassis 101 and an upper shell connected to the chassis 101 (the upper shell may be provided with an upper cover 102). 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 is rotatably disposed in a brush chamber on the bottom of the chassis 101, allowing the cleaning robot to sweep debris on the ground in its direction of travel. There may be one or two roller brushes 201. The dust box and the main fan are respectively disposed in the inner cavity of the body 100. The main fan is configured to provide negative pressure airflow into the dust box. The body 100 is provided with a suction port 103 communicating with the dust box. For example, the suction port 103 is disposed at the bottom of the body 100 and communicates with the roller brush chamber. In this way, the roller brush 201 is used to collect debris on the ground into the suction port 103, and the negative pressure suction can collect debris and dust particles into the dust box through the 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 independently, enabling it to move on the surface to be cleaned. The walking system includes at least a driver and drive wheels 700, with the driver driving the drive wheels 700. There are generally two drive wheels 700, symmetrically arranged on the bottom of the body 100. Furthermore, the walking system is oscillatingly mounted on the body 100 to allow the cleaning device 10 to overcome obstacles during movement. The surface to be cleaned can be, but is not limited to, the surface of an object such as a floor, tabletop, glass, or wall. For ease of description, the following description uses a floor as an example.

[0111] The perception system includes an LDS located above the robot body 100, a buffer and vision sensor located at the front of the robot body 100, an edge sensor located on the front side wall of the robot body 100, and ultrasonic sensors and downward-facing sensors located at the bottom of the robot body 100. The LDS, buffer, and edge sensor can all measure distances to obtain the distance between the edge of the robot body 100 and obstacles. The control system uses this distance to control the cleaning device 10 to perform corresponding actions, such as obstacle avoidance and edge cleaning. The ultrasonic sensor is used to identify carpet signals. The control system uses this signal to control the main cleaning component 310 and the auxiliary cleaning component 510 of the cleaning device 10 to lift, or to control the cleaning device 10 to return to the base station for charging, dust collection, cleaning of cleaning components, and disassembly and installation of cleaning components. The vision sensor is used to identify images of the environment in which the cleaning device 10 is located to obtain obstacle information. The control system uses this information to control the cleaning device 10 to perform actions, such as obstacle avoidance, obstacle crossing, and edge cleaning.

[0112] In this embodiment, along the forward direction of the body 100, the body 100 has a front part and a rear part, with the dust box or roller brush 201 or drive wheel 700 as the boundary, and a connecting part or middle part connecting the front part and the rear part of the body 100. The dust box or roller brush 201 or drive wheel 700 is provided in the connecting part or 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. Typically, the roller brush 201 is distributed in the area between the two drive wheels 700.

[0114] In one embodiment, the main cleaning module 300 and the auxiliary cleaning module 500 are both located at the rear of the body 100, and the side brush 400 is located at the front of the body 100. 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] Along the forward direction of the body 100, the main cleaning component 310 and the auxiliary cleaning component 510 are located behind the roller brush 201, which facilitates the cleaning robot to perform dry sweeping followed by wet mopping, and also facilitates the layout of the internal space of the body 100.

[0116] The cleaning device 10 also includes a second drive structure, which is located on the body 100 and is used to drive the main cleaning component 310 to move for mopping; and also includes a first lifting structure, which is used to drive the cleaning component to move up and down so that the main cleaning component 310 is in the mopping position or the lifted position.

[0117] The cleaning device 10 also includes at least a water replenishment structure for replenishing water to the main cleaning component 310, so that the mop is in a wet or damp state when mopping the floor, forming wet cleaning to improve the cleaning effect. The water replenishment structure includes at least a water tank, which delivers water in the water tank to a conveying mechanism on the main cleaning component 310.

[0118] Ideally, the aforementioned auxiliary cleaning component 510 can also be replenished with water, allowing it to perform wet cleaning of the floor in a moist state. Alternatively, it can be left dry, allowing the auxiliary cleaning component 510 to clean the floor, although the cleaning effect is weaker compared to wet mopping.

[0119] In some scenarios, the main cleaning component 310 needs to be raised. For example, when the main body 100 is on a carpet, the main cleaning component 310 needs to be in a raised position to avoid wetting the carpet; or, in scenarios such as obstacle crossing or returning to the base station, the main cleaning component 310 needs to be in a raised position to prevent it from getting stuck on obstacles and detaching from the main body 100. Therefore, the cleaning device 10 also includes a first lifting structure, located inside the main body 100, for driving the main cleaning component 310 to be raised, so as to switch between the mopping position and the raised position.

[0120] The main cleaning assembly 310 can take many forms. For example, in some embodiments, the main cleaning assembly 310 includes a mounting base 312 and a main cleaning component disposed at the bottom of the mounting base 312.

[0121] For example, the mounting base 312 can be a main cleaning tray. In this case, the main cleaning component is, for instance, a main cloth mounted on the bottom of the cleaning tray. A second drive mechanism drives the main cleaning tray to rotate, causing the main cloth to rotate and clean the floor. Under the action of the driving force, the main cleaning tray can drive the main cleaning component to rotate relative to the machine body 100, so that the main cleaning component performs cleaning operations; alternatively, the main cleaning tray can be fixed relative to the machine body 100, so that when the cleaning robot moves along the direction of travel, the main cleaning component moves relative to the ground to perform cleaning operations. The main cleaning tray can be one, two, or more. For example, there can be two main cleaning trays, each with a main cleaning component, and the two main cleaning trays drive the main cleaning component to rotate to perform cleaning operations on the floor.

[0122] In another example, the mounting base 312 can be a flat mop, and the main cleaning component is a main cleaning cloth mounted on the flat mop. Specifically, a vibrating plate can be provided in the flat mop, and the vibrating plate can reciprocate or swing in at least one direction under the drive of the second drive mechanism to drive the main cleaning cloth to reciprocate and vibrate or twist, thereby increasing the friction between the main cleaning component and the ground to improve the cleaning effect. The direction of movement of the vibrating plate can be in the horizontal plane.

[0123] In another example, the mounting base 312 is a track cover, the main cleaning component is a track rotatably mounted on the track cover and located below the track cover, and the second drive mechanism drives the track to move to clean the ground surface waiting to be cleaned.

[0124] In this embodiment, the auxiliary cleaning module 500 is mainly used in conjunction with the main cleaning module 300 to assist in cleaning areas that are difficult to clean by the main cleaning component 310. For example, it can perform edge cleaning, or, based on edge cleaning, further clean the corner areas (described in detail below) to improve cleaning efficiency and reduce the number of missed areas.

[0125] To clean areas missed by the main cleaning component 310, the auxiliary cleaning module 500 includes at least one auxiliary cleaning component 510. The auxiliary cleaning component 510 has at least an initial position A and an edge-side position C relative to the body 100. In the edge-side position C, at least a portion of the auxiliary cleaning component 510 extends beyond the edge of the body 100 for edge cleaning. In one embodiment, when the auxiliary cleaning component 510 is in the initial position A, the auxiliary cleaning module 500 is completely retracted within the projection range of the maximum edge of the body 100, so that it is not exposed outside the body 100 when viewed from above; or the auxiliary cleaning module 500 is partially retracted within the projection range of the maximum edge of the body 100 and partially extends beyond the edge of the body 100. The initial position A and the edge-side position C can be a fixed point or a range of positions. Especially at the edge position C, when the first drive component 520 that drives the auxiliary cleaning component 510 to swing uses an elastic element, when the auxiliary cleaning component 510 is subjected to the force of an obstacle at the edge position C, the auxiliary cleaning module 500 will passively retract under the buffering effect of the elastic element to buffer the collision with the obstacle. Therefore, the edge position C can be a dynamically changing position rather than a fixed point.

[0126] Furthermore, if the auxiliary cleaning component 510 is in the initial position A, a portion of the auxiliary cleaning component 510 extends outside the body 100. In the edge position C, the portion of the auxiliary cleaning component 510 extending outside the body 100 is larger than the portion of the auxiliary cleaning component 510 extending outside the body 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 only for the auxiliary cleaning component 510, but can also be any component in the auxiliary cleaning module 500 that swings synchronously with the auxiliary cleaning component 510.

[0128] like Figure 17 As shown, the auxiliary cleaning module 500 also includes a first drive component 520 for driving the auxiliary cleaning component 510 to swing 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 element 522. With the cooperation of the first drive motor 521 and the first elastic element 522, the swing arm 524 is driven to swing, thereby causing the auxiliary cleaning assembly 510 to swing, switching between the edge position C and the initial position A. The first motor 521 can be a stepper motor, controlling the swing angle of the swing arm by controlling the number of steps of the stepper motor, thereby achieving stepless swing or multi-level swing of the auxiliary cleaning assembly 510. By setting the first elastic element 522, the auxiliary cleaning assembly 510 can passively retract when subjected to pressure from an obstacle, buffering the sudden pressure force of the obstacle. Of course, if the auxiliary cleaning assembly 510 is still subjected to continuous pressure at the end of the buffer zone of the elastic element, the first motor 521 can actively control the auxiliary cleaning assembly 510 to retract based on the signal that the auxiliary cleaning assembly 510 is under continuous pressure.

[0130] Since the swing arm 524 and the auxiliary cleaning component 510 swing synchronously, the aforementioned initial position A and edge position C can also be said to mean that the swing arm 524 has an initial position A and an edge position C.

[0131] In some embodiments, along the traveling direction of the cleaning robot, the auxiliary cleaning module 500 is disposed behind the dry cleaning module 200 and near the edge of the body 100. In this way, when the cleaning robot is running, the auxiliary cleaning module 500 can perform cleaning operations on areas such as the edges that are difficult for the main cleaning module 300 to clean. And because the auxiliary cleaning module 500 is disposed near the edge of the body 100, the auxiliary cleaning module 500 will not occupy much space inside the body 100 when it swings outward or retracts inward.

[0132] In some embodiments, the auxiliary cleaning component 510 is, for example, a plate-like or disc-like structure. Exemplarily, in the accompanying drawings, the auxiliary cleaning component 510 is a circular disc. The auxiliary cleaning component 510 may also be a triangle, a Reuleaux triangle, a square, or other irregular shapes.

[0133] The auxiliary cleaning module 500 also includes a second lifting mechanism, which is used to drive the auxiliary cleaning component 510 to rise and fall, so that the auxiliary cleaning component 510 is in a raised position to detach from the ground; or in a mopping position to perform edge cleaning.

[0134] In some optional implementations, the first drive mechanism can also drive the auxiliary cleaning component 510 to rotate, thereby increasing the friction between the auxiliary cleaning component 510 and the ground and improving the cleaning effect along the edge. Specifically, one motor of the first drive component 520 can drive the swing arm 524 to swing the auxiliary cleaning component 510, switching between the initial position A and the edge position C; it can also drive the auxiliary cleaning component 510 to rotate for mopping, thus making the drive structure compact and eliminating the need for a separate drive structure to drive the auxiliary cleaning component 510 to rotate.

[0135] Furthermore, by combining the second lifting mechanism with the rotational movement of the swing arm 524, the swing rotation drives the second lifting mechanism to perform lifting and lowering movements, which in turn drives the swing arm 524 to perform lifting and lowering movements, thereby driving the entire auxiliary cleaning module 500 to perform lifting and lowering movements. This allows the auxiliary cleaning component 510 to move between the raised position and the mopping position. As a result, only one motor is needed to drive the swing, rotation, and lifting functions of the auxiliary cleaning component 510, making the drive structure more compact and occupying less space. The entire auxiliary cleaning module 500 can be a single module with a small footprint.

[0136] The aforementioned auxiliary cleaning component 510 can swing in a straight line or in an arc shape relative to the body 100. It is preferred to use an arc shape. When achieving the same swing distance, the arc shape requires less swing space than the straight line, so that the auxiliary cleaning module 500 requires less space inside the body 100.

[0137] like Figure 16 As shown, a first clearance 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. The body 100 has a first clearance area communicating with the first clearance opening 104, allowing the auxiliary cleaning module 500 to swing between the outward swing position and the initial position A. When the auxiliary cleaning module 500 is in the initial position A, it is housed in the first clearance area, and is positioned above the mounting base 312. In this way, at least a portion of the structure of the auxiliary cleaning module 500 is located within the first clearance area, and the auxiliary cleaning module 500 can swing outward toward the edge position C via the first clearance opening 104, or retract toward the initial position A. In the non-edge cleaning mode, the auxiliary cleaning module 500 retracts into the body 100, making the overall structure of the cleaning device 10 more compact, maintaining the overall appearance of the cleaning device 10, and reducing the overall size of the cleaning device 10.

[0138] Based on any of the foregoing embodiments, this embodiment mainly describes how the main cleaning component 310 and the auxiliary cleaning component 510 avoid missed areas in the width direction of the machine body 100. Specifically, in some embodiments, at least at the edge position C, with the auxiliary cleaning module 500 and the main cleaning module 300 working together, there are no missed areas between the cleaning areas of the auxiliary cleaning component 510 and the main cleaning component 310 in the width direction of the machine body 100; wherein, the width direction of the machine body 100 is perpendicular to the forward direction of the machine body 100.

[0139] As one of the optional methods, such as Figure 18 As shown, at the initial position A and the third position B (as... Figure 16 At at least one position (e.g., along edge position C) between arrow B and the auxiliary cleaning component 510, the main cleaning component 310 has at least a first portion 5111, and the auxiliary cleaning component 510 has at least a second portion 3111. In the forward direction of the body 100, the cleaning areas of the first portion 5111 and the second portion 3111 overlap to avoid missed areas. Specifically, in some embodiments, in the forward direction of the body 100, the first portion 5111 is located in front of the second portion 3111, so that the first portion 5111 cleans first, and the second portion 3111 cleans later, with their cleaning areas overlapping the aforementioned area H. Alternatively, in other embodiments, in the forward direction of the body 100, the first portion 5111 is located behind the second portion 3111, so that the second portion 3111 cleans first, and the first portion 5111 cleans later, with their cleaning areas also overlapping the area H. When the main cleaning component 310 has different structures, the first portion 5111 and the second portion 3111 can correspondingly have different positions.

[0140] Since the auxiliary cleaning component 510 can swing relative to the body 100, there are multiple ways to install the auxiliary cleaning component 510 on the robot. There are two main technical approaches, specifically:

[0141] The first technical approach is as follows: the auxiliary cleaning component 510 is mounted on the main body 100. The auxiliary cleaning component 510 needs to swing and rise / fall simultaneously. Furthermore, in order to achieve better edge cleaning, the auxiliary cleaning component 510 also needs to rotate, so that the aforementioned first drive component 520 drives the auxiliary cleaning component 510 to swing to switch between the initial position A and the edge position C, at least to perform rotational mopping at the edge position C, and to rise / fall to switch between the raised position and the mopping position.

[0142] The second technical approach is as follows: the auxiliary cleaning module 500 is mounted on the main cleaning component 310. The main cleaning module 300 itself has a first lifting structure for driving the main cleaning component 310 to move up and down. When the first lifting structure drives the main cleaning component 310 to move up and down, it simultaneously drives the auxiliary cleaning module 500 to move up and down, so that the main cleaning component 310 and the auxiliary cleaning component 510 are simultaneously in the mopping position and the raised position. For the auxiliary cleaning component 510, the first drive component 520 only 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 approach, the first drive component 520 in the second technical approach does not need to implement the lifting function, which simplifies the structure of the first drive component 520 and occupies less space.

[0143] To make the above-mentioned objectives, features, and advantages of the embodiments of this application more apparent and understandable, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0144] In real-world work scenarios, it's common to encounter situations where cleaning equipment cannot pass through an angled area formed between two sides of an obstacle (the first and second sides can be two sides of the same obstacle, or one side of each 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). If cleaning along the first side might obstruct the cleaning equipment's path, then the angle between the first and second sides can be considered an interior angle. If cleaning along the first side doesn't obstruct the equipment's path, then the angle between the first and second sides can be considered an exterior angle. Taking the interior angle formed by two wall edges as an example, the space in the interior angle is relatively narrow, making the machine's movement in that area less agile and difficult to clean thoroughly.

[0145] Taking a circular cleaning unit as an example, the main cleaning unit has a large area, and the radius of the circular cleaning unit is also large. When cleaning inner corners, even if the cleaning unit is kept close to the two sides of the obstacle, there will still be many areas missed during cleaning. In this embodiment of the specification, by setting a smaller auxiliary cleaning unit to perform edge cleaning, compared to the larger area of ​​the main cleaning unit, the area of ​​missed cleaning in the inner corner region can be further reduced. In this embodiment of the specification, the area of ​​the cleaning unit can be the area covered by the cleaning unit on the surface to be cleaned when the machine body and the cleaning unit are stationary.

[0146] Theoretically, the smaller the area of ​​the auxiliary cleaning component, the smaller the missed cleaning area in the inner corner region. However, since the main cleaning component cannot swing, to reduce the probability of collisions between the main cleaning component and obstacles, and to avoid increasing the width of the area through which the cleaning equipment can pass, the main cleaning component is usually designed not to extend beyond the machine body or to have a very small extension. Therefore, to avoid missed cleaning between the auxiliary and main cleaning components along edges, and to reduce the area of ​​missed cleaning between the auxiliary cleaning component and the edge of obstacles along edges, 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 actual measurement data while at least addressing the above issues; no specific limitations are imposed here.

[0147] In some embodiments, such as 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 is more complex when cleaning is not along the edge, and the cleaning components are prone to collisions and getting stuck. In order to prevent the cleaning components from extending too far out of the body during non-edge cleaning, which would make them prone to collisions, the auxiliary cleaning components can be entirely located inside the edge of the body when in the initial position. Even if at least part of the auxiliary cleaning components is located outside the edge of the body, the part of the auxiliary cleaning components extending out of the edge of the body is relatively small.

[0149] However, when the cleaning unit performs edge cleaning on an obstacle, a certain gap usually exists between the unit and the obstacle edge to avoid collisions. This can lead to missed cleaning areas when the auxiliary cleaning component performs edge cleaning from its initial position. Alternatively, for structures with a circular rear end and the cleaning component located on the rear end, even if the distance between the unit and the obstacle edge is very small, missed cleaning areas can still occur when the auxiliary cleaning component performs edge cleaning from its initial position. Accordingly, when the auxiliary cleaning component is in the edge cleaning position, at least a portion of the auxiliary cleaning component can extend beyond the edge of the unit, and the portion extending beyond the unit in the edge cleaning position is larger than the portion extending beyond the unit in the initial position. This allows the edge of the auxiliary cleaning component to extend further during edge cleaning, thereby ensuring that the edge of the auxiliary cleaning component contacts the obstacle edge or has a smaller gap, reducing missed cleaning areas. Preferably, the maximum projection range of the auxiliary cleaning component extending beyond the edge of the unit when in the edge cleaning position can be set to further reduce missed cleaning areas when cleaning along long straight edges.

[0150] like Figure 2As shown, through structural design, the auxiliary cleaning component can be controlled to perform edge cleaning in the edge-side position, or in the third position (B). In the same edge-side travel direction as the auxiliary cleaning component in the edge-side position, the cleaning areas of the main cleaning component and the auxiliary cleaning component can be seamless. Furthermore, in the third position, the auxiliary cleaning component contacts the first edge of the obstacle, reducing missed cleaning areas along the edge. However, given that in daily cleaning, the cleaning path length for edge cleaning of obstacles is still relatively large compared to the overall cleaning of the work area, and the environmental factors around obstacles are usually quite complex, the auxiliary cleaning component extends further out of the machine body in the third position compared to the edge-side position. In the third position, the auxiliary cleaning component extends fully out of the machine body, and the swing arm also extends out. While edge cleaning can still be performed in the third position, it increases the probability of the auxiliary cleaning component colliding with obstacles, the probability of the swing arm getting entangled with wire-like obstacles, and the probability of small obstacles getting stuck between the auxiliary cleaning component and the machine body, compared to when the auxiliary cleaning component is in the edge-side position.

[0151] Therefore, if the portion of the auxiliary cleaning component extending beyond the body during edge cleaning is small, the probability of the auxiliary cleaning disc getting stuck or colliding increases. When the auxiliary cleaning component is small, if its center is far from the center of the body, the swing arm may extend beyond the body, making it prone to entanglement with wire-like obstacles in the environment, leading to damage to the auxiliary cleaning component. This also increases the probability of small obstacles getting stuck between the auxiliary cleaning component and the body, making it difficult to retract the auxiliary cleaning component.

[0152] like Figure 2 As shown, by configuring the position and swing direction of the auxiliary cleaning component, the auxiliary cleaning component can be positioned closest to the edge of the obstacle when it is in the edge-side position. This allows the auxiliary cleaning component to contact the edge of the obstacle or maintain a small distance from it when the portion of the auxiliary cleaning component extending beyond the edge of the machine body is small. This reduces the area of ​​missed cleaning along the edge, lowers the probability of the auxiliary cleaning component colliding or getting stuck, and prevents the swing arm from extending beyond the machine body or reduces the portion of the swing arm extending beyond the machine body.

[0153] However, when the auxiliary cleaning component extends only a small portion of the body, it is difficult for the auxiliary cleaning component to maintain contact with the first and second sides or maintain a small distance when cleaning the inner corner area of ​​the body, resulting in the auxiliary cleaning component missing cleaning areas.

[0154] In some embodiments of this specification, a third position can be added to the auxiliary cleaning component, extending further out of the body than the edge position. This allows the auxiliary cleaning component located at the third position to perform cleaning on the inner corner area, enabling it to extend further out of the body when cleaning the inner corner, maintaining contact with the first and second sides as much as possible, or maintaining a small gap, thereby reducing areas missed during cleaning. 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 denoted by LA, LB, and LC, respectively, where LB > LC > LA.

[0155] The angled area is smaller than open areas and obstacle edges, and the environment is usually simpler. Controlling the auxiliary cleaning component to extend a relatively longer distance in the angled area reduces the probability of collisions or jamming with undetected obstacles, or the swing arm getting entangled in wiring harnesses or small obstacles. This minimizes the chance of missed cleaning areas in the angled area. Even if the longer swing arm causes missed cleaning between the auxiliary cleaning disc and the main cleaning component, the missed cleaning area in the inner corner can be reduced by simple movements of the machine body, improving control ease and cleaning efficiency.

[0156] In some embodiments, when the swing arm swings in one direction, the auxiliary cleaning component passes through the following positions in sequence: initial position, edge position, and third position. Alternatively, in other embodiments, when the swing arm swings in one direction, the auxiliary cleaning component passes through the following positions in sequence: initial position, third position, and edge position.

[0157] In some embodiments, if the body outline is circular or the rear half is an arc-shaped D, the third position and the swing axis of the swing arm can be configured behind the edge position along the forward direction of the body. This allows the auxiliary cleaning component to be closer to the center of the body when it is positioned at the edge. When the auxiliary cleaning component extends only a small portion beyond the body outline, it can perform spot cleaning along the edge. When the auxiliary cleaning component needs to extend further beyond the body outline, the swing arm can be controlled to continue swinging towards the rear of the body, thereby causing the auxiliary cleaning component to swing further backward. Because the body outline is circular or the rear half is an arc-shaped D, the auxiliary cleaning component extends further relative to the body outline after swinging backward, effectively covering the angled area. Furthermore, since the auxiliary cleaning component is closer to the rear of the body, when the body is controlled to move backward towards the angled area, the auxiliary cleaning component can also be brought closer to the angle, improving the coverage of the angled area.

[0158] In some embodiments, when the cleaning unit is positioned along a 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 a first edge-along distance, and the distance between the point of the cleaning unit closest to the long straight edge and the long straight edge is a second edge-along distance. Correspondingly, when the auxiliary cleaning component is in a third position and the cleaning unit is controlled to perform edge-along cleaning along the long straight edge, the first edge-along distance is less than the second edge-along distance and greater than or equal to the edge-adhering threshold. The edge-adhering threshold can be a preset value to control the auxiliary cleaning component to clean along the edge as closely as possible and to avoid excessive pressure contact between the auxiliary cleaning component and obstacles.

[0159] For example, the auxiliary cleaning component is circular with a radius of 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 body closest to the long straight edge and the long straight edge is the second edge distance L2. The edge contact threshold value is Lmin. L1 is less than L2 and L1 is greater than or equal to Lmin. Lmin can be equal to 1mm. This makes the distance between the point of the auxiliary cleaning component closest to the long straight edge and the long straight edge smaller and avoids the auxiliary cleaning component from squeezing into contact with obstacles.

[0160] Therefore, by using the solution of this embodiment, at least when performing corner cleaning, when the machine body turns from the first side to the second side, and when the machine body turns to the edge direction for the second side, the auxiliary cleaning component is in the third position with a small distance from the second side. When performing backward corner cleaning, it can effectively cover the area of ​​the corner area adjacent to the second side, reducing missed cleaning.

[0161] In one possible implementation, the auxiliary cleaning component is located at the initial position A or the edge position C, forming a complete cleaning surface with the main cleaning disc as the cleaning device moves forward. That is, there are no cleaning gaps between the auxiliary cleaning component and the main cleaning disc along the travel path during cleaning. Alternatively, when the auxiliary cleaning component is located at the third position B, it also forms a complete cleaning surface with the main cleaning disc during cleaning, again with no cleaning gaps along the travel path. Correspondingly, when the auxiliary cleaning component is in the third position performing backward angle cleaning, missed cleaning between the auxiliary cleaning component and the main cleaning disc can be avoided.

[0162] Based on the above scenario examples, in some embodiments of this specification, the cleaning device may include a body, and the body is provided with a main cleaning component, an auxiliary cleaning component, and a side brush; along the forward direction of the body, the main cleaning component and the auxiliary cleaning component are both located at the rear of the body, and the side brush is located at the front of the body, and the side brush and the auxiliary cleaning component are both distributed along the edge 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 main cleaning component does not swing relative to the body; the auxiliary cleaning component swings relative to the body and switches between an initial position, an edge position, and a third position under the drive of the first drive component; the auxiliary cleaning component does not exceed the projection range of the maximum edge of the body in the initial position, at least part of its edge is outside the edge of the body in the edge position, and the portion extending outside the body in the edge position is greater than the portion extending outside the body in the initial position; the distance between the rotation center of the auxiliary cleaning component in the initial position and the rotation center of the body, the distance between the rotation center of the auxiliary cleaning component in the edge position and the rotation center of the body, and the distance between the rotation center of the auxiliary cleaning component in the third position and the rotation center of the body are respectively represented by LA, LC, and LB, where LB>LC>LA.

[0163] In some embodiments, Figure 2 This is a top view of the cleaning equipment. (Example:) Figure 1 and Figure 2 As shown, the main cleaning component and the auxiliary cleaning component are exemplified as mop assemblies of different sizes, which can perform wet mopping on the cleaning surface. The main cleaning component is a larger main mop assembly, while the auxiliary cleaning component is a smaller auxiliary mop assembly. The auxiliary cleaning component can switch positions between an initial position (as shown by arrow A), an edge position (as shown by arrow B), and a third position (as shown by arrow C) driven by an internal drive component. Typically, the edge position is used to clean the edges of obstacles, and the third position is used to clean corner areas.

[0164] In some embodiments, such as Figure 2 As shown, cleaning equipment typically uses auxiliary cleaning components positioned along the edges to clean the edges of obstacles, such as the first edge. How to transition from cleaning the first edge to cleaning the angled area formed by the first and second edges, while minimizing discontinuities in edge cleaning of the first edge during the transition, thereby improving edge cleaning coverage and enhancing user experience, is a problem that urgently needs to be solved.

[0165] As shown in some embodiments, when the auxiliary cleaning component has three fixed positions, even when cleaning the corner area using the auxiliary cleaning component in the third position, there will still be areas in the corner area that cannot be cleaned. Figure 3 Shaded areas, etc. Therefore, how to improve the cleaning coverage of corner areas and enhance the user experience is an urgent problem to be solved.

[0166] Based on the above scenario examples, in some embodiments of this specification, the cleaning device includes a body, on which a main cleaning component, an auxiliary cleaning component, and a first drive component are disposed; along the forward direction of the body, the main cleaning component and the auxiliary cleaning component are both disposed at the rear of the body, and the auxiliary cleaning component is distributed along the edge 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 drive component is used to drive the auxiliary cleaning component to adjust within the 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 respectively represented by LA and LB, where LB>LA.

[0167] In one possible implementation, the cleaning device may further include a side brush. The side brush is located at the front of the body, and both the side brush and auxiliary cleaning components are distributed along the sides of the body.

[0168] Accordingly, this disclosure provides a cleaning equipment control method, the method comprising:

[0169] Step 101: Control the body to perform a first rotation in the 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 the interior angle formed by the first side and the second side;

[0170] Step 102: During the first rotation of the machine 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 perform cleaning on the included angle area.

[0171] In one possible implementation, the cleaning equipment control method of the present disclosure embodiments can be executed by a controller or the like in the cleaning equipment.

[0172] The cleaning equipment can be any of the cleaning equipment described in the above embodiments, and the specific structure will not be repeated. It should be noted that the specific structure of the cleaning equipment 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 that of the main cleaning component.

[0174] In one possible implementation, the main cleaning component does not oscillate relative to the body; the auxiliary cleaning component oscillates relative to the body.

[0175] like Figure 4 As shown, the cleaning equipment may include a body 100, a main cleaning module 300, and an auxiliary cleaning module 500. The auxiliary cleaning module 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 equipment may be an axis parallel to the forward direction of the cleaning equipment.

[0176] In one possible implementation, the auxiliary cleaning component can be infinitely adjustable and can remain at any position within the swing range of the initial position, the third position, and the initial position and the third position. For example, the first end of the swing arm can be connected to a drive component such as a motor or gear inside the machine body. The drive component can drive the first end to rotate, thereby enabling the swing arm to drive the auxiliary cleaning component to swing within the swing range. The swing arm can drive the auxiliary cleaning component to swing to any position within the swing range, meaning the position of the auxiliary cleaning component can be infinitely variable.

[0177] In one possible implementation, the auxiliary cleaning component has the largest area within the projection coverage of the cleaning equipment body when in the initial position. The auxiliary cleaning component has the smallest area within the projection coverage of the cleaning equipment body when in the third position.

[0178] In one possible implementation, when the auxiliary cleaning components are in the third position, all of the auxiliary cleaning components are located outside the cleaning equipment body. The distance between the rotation center of the auxiliary cleaning components and the rotation center of the cleaning equipment when in the third position can be represented by LB.

[0179] In one 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 in the edge position and the rotation center of the machine body is denoted by LC, where LB > LC. The edge position can be a preset position for cleaning the edge of an obstacle; it can be a fixed position or a preset range of positions. Of course, the auxiliary cleaning component in the edge position is not limited to cleaning the edge of an obstacle. For example, the auxiliary cleaning component in the edge position can also be used to clean specific areas, such as the missed cleaning area between the main cleaning component and the auxiliary cleaning component.

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

[0181] In one possible implementation, the area of ​​the auxiliary cleaning component outside the cleaning device body when in the third position is larger than the area of ​​the auxiliary cleaning component outside the cleaning device body when in the edge-side position. The area of ​​the auxiliary cleaning component outside the cleaning device body when in the edge-side position is larger 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 within the projection coverage of the cleaning equipment body; when the auxiliary cleaning component is in the edge position, part of the auxiliary cleaning component is within the projection coverage of the cleaning equipment body; and when the auxiliary cleaning component is in the third position, the entire auxiliary cleaning component is outside the projection coverage of the cleaning equipment body.

[0183] Here, the auxiliary cleaning component may include the auxiliary cleaning tray of the cleaning equipment. The main cleaning component may include the main cleaning tray of the cleaning equipment. The coverage area of ​​the main cleaning component is larger than that 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 irregular shape shown. The main cleaning component may also include one or more mop trays.

[0184] The auxiliary cleaning component can be driven by the first drive component of the cleaning equipment and can switch positions within the swing range.

[0185] In some embodiments, the first drive assembly includes a swing arm, a first end of which is rotatably connected to the body to rotate relative to the body about a rotation axis, and a second end of which is connected to the auxiliary cleaning assembly; the first drive assembly drives the swing arm to rotate to adjust the distance between the rotation center of the auxiliary cleaning assembly and the rotation center of the body.

[0186] In one possible implementation, the auxiliary cleaning component can rotate to clean the floor. Alternatively, the auxiliary cleaning component can clean the floor by moving along with the main body instead of rotating. The auxiliary cleaning component can also rotate simultaneously with the main body to improve cleaning effectiveness.

[0187] In one possible implementation, when the auxiliary cleaning component is in its initial or edge-side position, typically for scenarios such as moving along a straight line or a curve with a large radius, the cleaning areas of the auxiliary cleaning component and the main cleaning component overlap, with no cleaning gaps.

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

[0189] In one possible implementation, the cleaning device can also determine whether the machine body is located in the included angle region based on the impact plate making contact with the first side and / or the impact plate making contact with the second side. For example, if the impact plate makes contact with the second side during the edge cleaning of the first side, the machine body is determined to be located in the included angle region.

[0190] In one possible implementation, the rotation of the machine body can be based on the speed difference between the two drive wheels of the cleaning device, in which case the center of rotation of the cleaning device can be the center point between the two drive wheels.

[0191] In one possible implementation, the cleaning device can access the included angle region from any location; for example, the cleaning device can enter the included angle region from the process of cleaning along the first edge. The cleaning device can also enter the included angle region from the process of cleaning a bow-shaped section.

[0192] The cleaning equipment can move the auxiliary cleaning component within a corner area by controlling the main body to perform linear motion, curved motion, or rotation in place, thereby achieving cleaning of the corner area. In the corner area, the auxiliary cleaning component operates in a third position, extending into the corner area to reduce situations where the main body cannot reach the corner, improving cleaning effectiveness, reducing blind spots, and enhancing the user experience.

[0193] It should be noted that in the various embodiments of this specification, the fuselage turning can be performed by turning around the fuselage's rotation center when the fuselage's speed is zero, or it can be performed when the fuselage's speed is not zero. In the first rotation, second rotation, third rotation, and fourth rotation, when the fuselage's speed is zero, the fuselage rotates in place around the fuselage's rotation center.

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

[0195] In one possible implementation, the first rotation is used to cause the body to move the main cleaning assembly and the auxiliary cleaning assembly 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 distance between the rotation axis of the swing arm and the second side gradually decreases with the rotation of the fuselage, and correspondingly, the distance between the first end of the swing arm and the second side decreases 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 correspondingly, 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 component can drive the auxiliary cleaning component to adjust its position within the swing range, so that the rotation center of the auxiliary cleaning component maintains a first distance from the first side during the rotation of the machine body.

[0198] Understandably, since the rotation center of the auxiliary cleaning component is kept at a first distance from the first side, 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 the 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, keeping the distance between the rotation center of the auxiliary cleaning component and the first side at the first distance is equivalent to keeping the distance between any point on the auxiliary cleaning component and the first side constant. 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 embodiments of this specification can be substituted for 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 substituted for the distance between the auxiliary cleaning component and the second side.

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

[0200] In one possible implementation, the first distance is the radius of the auxiliary cleaning component, meaning that when the machine body makes its first rotation, the auxiliary cleaning component can remain in contact with the first side, thereby improving the edge cleaning effect on the first side of the included angle area.

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

[0202] like Figure 5 As shown, when the machine body rotates for the first time, if the auxiliary cleaning component remains fixed in a certain position relative to the machine body (i.e., the first drive component does not adjust the position of the auxiliary cleaning component), then as the machine body rotates, the relative position of the auxiliary cleaning component and the first side will also change. For example, the auxiliary cleaning component will move away from the first side, creating a large gap between the auxiliary cleaning component and the first side, thereby creating a missed cleaning area between the auxiliary cleaning component and the first side, reducing the cleaning effect; or, the auxiliary cleaning disc will interfere with the first side, thereby pushing the machine body away from the first side or causing the auxiliary cleaning disc to experience greater pressure or collision, thereby damaging the cleaning equipment or causing the cleaning equipment to deviate from the cleaning path.

[0203] Therefore, when the machine body makes its first rotation, the first drive component can adjust the position of the auxiliary cleaning component relative to the machine body, such as adjusting the distance of the auxiliary cleaning component from the machine body, so that the distance between the auxiliary cleaning component and the first side is kept at a first distance, so that the distance between the edge point of the auxiliary cleaning component closest to the first side and the first side is very small or keeps in contact, but does not cause excessive squeezing contact. This reduces the probability of abnormal phenomena such as the auxiliary cleaning component scraping against obstacles or excessive squeezing, while achieving cleaning of the angled area during the first rotation, at least reducing the area of ​​missed cleaning 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 drive 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 counteracting the tendency of the auxiliary cleaning component to leave the first side caused by the rotation of the body, and keeping the distance between the auxiliary cleaning component and the first side at a first distance.

[0205] The cleaning unit rotates once in the angled area. On one hand, this rotation moves the main and auxiliary cleaning components along the first side to the second side, cleaning the angled area. The auxiliary cleaning component on the side of the unit cleans areas inaccessible to the main cleaning component, reducing missed areas and improving cleaning coverage. On the other hand, the auxiliary cleaning component maintains a fixed distance from the first side, ensuring it cleans along the edge of the first side within the angled area, further reducing missed areas, improving cleaning coverage, and enhancing the user experience.

[0206] When the rotation speed of the main body is too high, it is difficult to accurately control the distance between the point of the auxiliary cleaning component closest to the first edge and the first edge to be zero, which easily causes excessive squeezing contact between the auxiliary cleaning component and the first edge. Especially when the cleaning device is not provided with an elastic squeezing buffer for the auxiliary cleaning component, it is prone to abnormal phenomena such as scraping between the auxiliary cleaning component and the first edge, or causing uncontrollable offset of the main body. Therefore, when the rotation speed of the main body increases, the point of the auxiliary cleaning component closest to the first edge can be controlled to have a certain distance from the first edge, that is, a certain distance margin is controlled between the auxiliary cleaning component and the first edge, so as to maximize the cleaning coverage while reducing the occurrence probability of abnormal phenomena such as scraping between the auxiliary cleaning component and the first edge or causing uncontrollable offset of the main body. When the rotation speed of the main body is low, the distance between the auxiliary cleaning component and the first edge can be easily controlled accurately, so the point of the auxiliary cleaning component closest to the first edge can be controlled to be in contact with the first edge.

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

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

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

[0210] Step 201: With the auxiliary cleaning component in the edge-side position, control the machine body to perform edge cleaning along the first edge;

[0211] Step 202: During the cleaning process of the machine body along the first side, when it reaches the included angle area, the machine 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 that the auxiliary cleaning component passes through are: initial position, edge position, and third position in sequence.

[0213] Steps 201 to 203 can be implemented individually or in combination with steps 101 and / or 102.

[0214] like Figure 6 As shown, when the cleaning equipment reaches the included angle area, the auxiliary cleaning component is in the edge-side position. At the start of the first rotation of the machine body, the auxiliary cleaning component is in the edge-side position. During the first rotation of the machine body, the auxiliary cleaning component is in the edge-side position, and as the machine body rotates, the auxiliary cleaning component moves within its swing range to maintain a first distance from the first edge during the machine body's rotation. Figure 6 As shown, as the machine body performs the first rotation, the auxiliary cleaning component can be adjusted from the edge position to the position closest to the rotation center of the machine body (such as the initial position) under the drive of the first drive component, and then gradually swing out of the machine body from the position closest to the rotation center of the machine body. Figure 6 It only includes a partial illustration of the machine's movements, from cleaning the first edge to performing the first rotation. Figure 6 and Figure 5 This can be used to illustrate the movement of the machine body from cleaning the first edge to performing the first rotation. That is, the auxiliary cleaning component can be driven by the first drive component to retract into the machine body from the edge position, and then gradually swing out of the machine body until the auxiliary cleaning component reaches the third position farthest from the center of rotation.

[0215] During the cleaning process, from cleaning along the edge of the first side to cleaning the included angle area by the first rotation of the cleaning equipment, the auxiliary cleaning component maintains a constant initial distance from the first side from its initial position, achieving continuous cleaning of the first side in both the initial edge cleaning and the included angle area cleaning processes. On one hand, this improves the continuity and coverage of edge cleaning; on the other hand, the movement of the auxiliary cleaning component in the included angle area achieves cleaning of that area, while also eliminating cleaning blind spots (such as...) within the included angle area. Figure 3 (As shown) Cleaning improves the cleaning coverage of the corner area, thereby enhancing the user experience.

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

[0217] Step 301: When the auxiliary cleaning component is in the edge-side position, control the machine body to perform edge cleaning along the first edge;

[0218] Step 302: During the cleaning process of the machine body along the first side, when it is at a preset distance from the second side, the auxiliary cleaning component is first controlled to swing to the initial position;

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

[0220] Step 303: After the machine speed drops to zero, control the machine to perform the first 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 first distance, until the auxiliary cleaning component swings to the third position;

[0221] Step 304: After the machine speed drops to zero, while keeping the auxiliary cleaning component in the initial position, control the machine to perform the first rotation;

[0222] Step 305: 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 machine body is perpendicular to the first side.

[0223] Steps 301 to 305 can be implemented individually or in combination with steps 101 and / or 102.

[0224] Understandably, the distance between the fuselage and the second side can include the distance between the edge of the fuselage and the second side, or the distance between the center point of the fuselage and the second side, or the distance between the center point of rotation of the fuselage and the second side. Based on the distance between any point on the fuselage and the second side, the distances between other points on the fuselage and the second side can be easily calculated. Therefore, the preset distance can be set based on actual needs. If the preset distance is the distance between the center point of rotation of the fuselage and the second side, then the distance limit between the point on the fuselage closest to the second side and the second side can be calculated, and vice versa. In practical applications, the predetermined distance can be determined based on the sensor used to measure the second side. For example, if a lidar is used to measure the distance to the second side, then the predetermined distance can be used to limit the distance between the second side and the lidar. If the control of the fuselage is based on the distance between the front impact plate of the fuselage and the second side, then the predetermined distance can be used to limit the distance between the second side and the impact plate.

[0225] In one possible implementation, the preset distance can be greater than or equal to the distance between the fuselage and the second side when the fuselage is in an angled position.

[0226] If the auxiliary cleaning component passes through the initial position, the third position, and the edge position sequentially when the swing arm swings in one direction, then during the first rotation, when the auxiliary cleaning component switches from the edge position to the third position, the distance between the center of rotation of the auxiliary cleaning component and the center of rotation of the machine body is minimized to LC. Therefore, during the first rotation, the auxiliary cleaning component will interfere with the first edge. Thus, by first swinging the auxiliary cleaning component to the initial position, and then gradually swinging it from the initial position to the third position during the first rotation, the risk of interference between the auxiliary cleaning component and the first edge can be reduced.

[0227] Regardless of whether the auxiliary cleaning component passes through the initial position, third position, and edge position sequentially, or vice versa, during the swing of the arm in one direction, the auxiliary cleaning component is prone to rubbing against the first edge when it reaches the position closest to the first edge during the first rotation, due to the close proximity between the machine body and the first edge. Using the solutions in steps S304-S305, the auxiliary cleaning component is first switched to the initial position, then the rotation is executed until the auxiliary cleaning component leaves the position closest to the first edge, and then the auxiliary cleaning component is controlled to swing out from the initial position. This further avoids rubbing between the auxiliary cleaning component and the first edge. Furthermore, the auxiliary cleaning component is relatively close to the position closest to the first edge when it is at the edge position. Therefore, even if the auxiliary cleaning component is first switched to the initial position, then the rotation is executed until the auxiliary cleaning component leaves the position closest to the first edge, and then the auxiliary cleaning component is controlled to swing out from the initial position, there will not be many missed cleanings.

[0228] like Figure 7As shown, the cleaning equipment cleans the first side while the auxiliary cleaning component is in the edge-side position. When the machine body is a predetermined distance from the second side, the auxiliary cleaning component can be adjusted from the edge-side position to the initial position. The machine body can stop moving when it is a predetermined distance from the second side and adjust the auxiliary cleaning component from the edge-side position to the initial position; that is, the machine body stops moving and adjusts the auxiliary cleaning component from the edge-side position to the initial position after reaching the included angle position. Alternatively, the machine body can continue moving when it is a predetermined distance from the second side and adjust the auxiliary cleaning component from the edge-side position to the initial position until the machine body reaches the included angle position and stops moving. The machine body can begin to decelerate when it is a predetermined distance from the second side and adjust the auxiliary cleaning component from the edge-side position to the initial position until the machine body reaches the included angle position and stops moving. When the machine body speed reaches 0, the auxiliary cleaning component is in the initial position, at which point the machine body can perform its first rotation.

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

[0230] Before the machine body makes its first rotation, the cleaning equipment will be adjusted from the edge position to the initial position by the auxiliary cleaning component. This can reduce the interference between the auxiliary cleaning component and the first edge, thereby reducing the risk of damage to the auxiliary cleaning component or abnormal situations such as machine body displacement.

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

[0232] Step 401: After the machine 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, then control the auxiliary cleaning component to remain in the third position, and control the machine body to continue performing 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 perform cleaning on the included angle area.

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

[0234] like Figures 5 to 7As shown, before the machine body undergoes its first rotation, the side of the auxiliary cleaning component on the machine body faces the first side. As the machine body undergoes its first rotation, the auxiliary cleaning component adjusts within its swing range to maintain a first distance from the first side, until the auxiliary cleaning component swings to the third position. Figure 8 As shown, after the auxiliary cleaning component swings to the third position, it has already moved to its furthest position under the drive of the drive component. As the machine body continues its first rotation, the auxiliary cleaning component cannot maintain the first distance from the first side. However, there is still a large space between the auxiliary cleaning component and the second side at this time. If the auxiliary cleaning component is retracted at this point, the angled area near the second side will not be effectively cleaned, resulting in a lot of missed cleaning. Therefore, when the auxiliary cleaning component is not in contact with the second side, it can be controlled to remain stationary in the third position, allowing it to clean the angled area as the machine body rotates until it contacts the second side, reducing missed cleaning. The contact between the auxiliary cleaning component and the second side can be determined based on the squeezing signal indicating contact; alternatively, if the auxiliary cleaning component can rotate, the contact can be determined based on the change in the parameter value representing the rotation of the auxiliary cleaning component.

[0235] Alternatively, the distance between the auxiliary cleaning component and the second side can be controlled. If, when the auxiliary cleaning component rotates to the third position, the distance between its rotation center and the second side is greater than the second distance, the machine body continues 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 with a radius of r, and the distance between its rotation center and the second side is the second distance, the second distance can be r + d2. 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, meaning d2 can be a value less than zero. Of course, to prevent excessive pressure 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 measurement data. Alternatively, the value of d2 can be greater than zero. This method allows the auxiliary cleaning component to retract when there is a certain amount of clearance between it and the second side, preventing excessive pressure and scraping. Figure 8 As shown, the smaller the second distance, the closer the point of the auxiliary cleaning component is to the second side. When the auxiliary cleaning component moves from the first side to the second side, the area of ​​the included angle region it covers is larger, and the cleaning effect on the included angle region is better.

[0236] Correspondingly, in some embodiments, the distance between the rotation center of the main 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 main 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 member 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-following parameters. In this embodiment, when limiting the included angle cleaning, the shortest distance d2 between the edge of the auxiliary cleaning assembly and the second edge is less than the shortest distance D2 between the main body and the second edge, or the edge is followed on the basis of considering the edge deformation of the auxiliary cleaning assembly, which can further reduce missed cleaning at the included angle while avoiding abnormal situations such as excessive extrusion of the auxiliary cleaning assembly. The error redundancy parameter α is used to characterize the deviation between the measured data and the theory.

[0237] For example, as shown in Figure 8 , during the first rotation process of the main body, after the auxiliary cleaning assembly is switched to the third position, as the main body rotates, the auxiliary cleaning assembly in the third position will move from the position at the first distance from the first edge toward the second edge, and stop the first rotation when the distance between the auxiliary cleaning assembly and the second edge is equal to the second distance. In the process of the auxiliary cleaning assembly turning from the first edge to the second edge, the auxiliary cleaning assembly can clean the included angle area, so as to improve the coverage rate of the included angle area.

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

[0239] Step 501: After the cleaning of the included angle area is completed, control the auxiliary cleaning assembly to switch to an edge-following position, wherein the edge-following position is the position where the auxiliary cleaning assembly is located when performing edge-following on the first edge and / or the second edge, and the distance between the rotation center of the auxiliary cleaning assembly in the edge-following position and the rotation center of the main body is represented by LC, where LB>LC>LA.

[0240] Step 501 may be implemented alone, or may be implemented 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 may reach the included angle area formed by the first edge and the second edge during the edge-following process of the first edge. After completing the cleaning of the included angle area, the path planned by the cleaning device is usually to clean the uncleaned edge, so the auxiliary cleaning assembly can be switched to the edge-following position after completing the cleaning of the included angle area. When the auxiliary cleaning assembly is in the edge-following position, at least part of the auxiliary cleaning assembly extends out of the edge of the main body, so that the edge of the auxiliary cleaning assembly is in contact with the first edge and / or the second edge or has a small gap during edge-following cleaning, reducing the missed cleaning area during edge-following.

[0242] In one possible implementation, when the cleaning of the included 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 one possible implementation, when cleaning of the included angle area is complete, the auxiliary cleaning component is at any position within its swing range, and the cleaning device can control the auxiliary cleaning component to switch from that position to the edge position.

[0244] After cleaning the angled area, switch the auxiliary cleaning component to the edge position. On the one hand, this can reduce the collision between the auxiliary cleaning component and the second side caused by the machine body continuing to rotate in the first position when the auxiliary cleaning component is in the third position, thus reducing damage to the auxiliary cleaning component. On the other hand, switching the auxiliary cleaning component from the third position to the edge position prepares it for subsequent cleaning, thereby improving cleaning efficiency.

[0245] Cleaning of the included angle area is considered complete if the distance between the auxiliary cleaning component and the first side exceeds a threshold. Alternatively, cleaning can be considered complete when a signal indicating contact between the auxiliary cleaning component and the second side is detected, at which point the auxiliary cleaning component switches to the edge-side position to perform edge-side cleaning on the second side. Alternatively, cleaning is considered complete when the turning angle of the first rotation of the machine body reaches a turning angle threshold, at which point the auxiliary cleaning component switches to the edge-side position. Alternatively, cleaning of the included angle area is considered complete when the machine body performs the first rotation and the auxiliary cleaning component swings to the third position, at which point the auxiliary cleaning component switches to the edge-side position.

[0246] The cleaning equipment controller can determine the position and / or attitude of the cleaning equipment based on the sensing data from the sensing system. For example, the controller can determine the rotation angle of the machine body, its distance from the first and / or second sides, etc., based on the sensing data from the sensing system. The relative position of the auxiliary cleaning component to the machine body is fixed. The controller can determine the relative positional relationship of the auxiliary cleaning component to the first and / or second sides based on the position and / or attitude of the machine body and the positional information of the auxiliary cleaning component relative to the machine body. Alternatively, the sensing system can directly sense the positional relationship between the auxiliary cleaning component and the first side.

[0247] For example, as shown in Figure 9, during the first rotation of the machine body, the auxiliary cleaning component adjusts within its swing range to maintain a first distance between its rotation center and the first side. When the auxiliary cleaning component is adjusted to the third position, the distance extended from the machine body reaches its maximum. At this point, the machine body continues its first rotation, and the auxiliary cleaning component can no longer maintain the first distance from the first side. When the distance between the auxiliary cleaning component and the first side exceeds the first distance, it can be determined that the cleaning of the included angle area is complete, and the auxiliary cleaning component is switched to the edge position to prepare for subsequent cleaning.

[0248] In one possible implementation, the machine body can be controlled to switch from the edge direction along the first side when the first rotation begins to the edge direction along the second side, thereby switching from edge direction along the first side to edge direction along the second side. During this switch, the position of the auxiliary cleaning component is adjusted to improve the cleaning effect on the angled area while minimizing the risk of the auxiliary cleaning component squeezing or colliding with obstacles. Correspondingly, the decision to switch to the edge direction along the second side can be determined based on whether the turning angle of the first rotation reaches a turning angle threshold, thus determining whether the angle has been cleaned. When the turning angle threshold is reached, the auxiliary cleaning component is controlled to switch to the edge position. For example, the turning angle threshold can be equal to the angle between the first and second sides. For example, for an inner right-angled area, the turning angle threshold can be 90 degrees.

[0249] In addition, in order to reduce the probability of abnormal phenomena such as squeezing or colliding between the auxiliary cleaning component and the second side, a distance margin can be set between the point of the auxiliary cleaning component closest to the second side and the second side. Then, based on the preset distance margin and the position information of the auxiliary cleaning component relative to the machine body, the turning angle threshold for the machine body to perform the first rotation can be determined.

[0250] Alternatively, the controller can determine the relative position of the machine body based on the angle between the central axis parallel to the forward direction and the second side, and determine whether the machine body has rotated to the edge-side direction along the second side. For example, when the angle between the central axis parallel to the forward direction and the second side is less than or equal to an angle threshold, it is determined that the cleaning of the angled area is complete, and the auxiliary cleaning component is switched to the edge-side position. If the angle threshold can be 0 degrees, that is, when the central axis of the machine body is parallel to the second side, the cleaning of the angle is considered complete. To reduce the probability of abnormal phenomena such as squeezing or colliding between the auxiliary cleaning component and the second side, a distance margin can be set between the point of the auxiliary cleaning component closest to the second side and the second side. The angle threshold can then be determined based on the preset distance margin and the position information of the auxiliary cleaning component relative to the machine body.

[0251] In some possible embodiments, the method of switching the auxiliary cleaning component to the edge position can be determined based on the position of the machine body and / or the position of the auxiliary cleaning component when the corner cleaning is completed.

[0252] For example, if, during corner cleaning, the auxiliary cleaning component is located in the third position, or any position between the third position and the edge position, and there is space between the machine body and the first and / or second side to switch the auxiliary cleaning component to the edge position, then the auxiliary cleaning component can be directly switched to the edge position. If, during corner cleaning, the auxiliary cleaning component is located in the third position, or any position between the third position and the edge position, and there is no space between the machine body and the first and / or second side to switch the auxiliary cleaning component to the edge position, then the machine body can be moved (e.g., rotated) to create space between the machine body and the first and / or second side to switch the auxiliary cleaning component to the edge position, and then the auxiliary cleaning component can be switched to the edge position.

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

[0254] During the first rotation of the machine body, 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 side is reduced to the 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 side 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 machine body, the auxiliary cleaning component gradually swings outward from its initial position. 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 angled cleaning, and the point of the auxiliary cleaning component closest to the second side is still a large distance from the second side, then the machine body can continue to perform the first rotation while 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. If the machine body rotates again, the auxiliary cleaning component and the second side will experience abnormal situations such as squeezing contact or collision. In this case, the auxiliary cleaning component can be controlled to swing back and switch to the edge position.

[0256] In some embodiments, while the main body continues to perform the first rotation, the auxiliary cleaning component can be controlled to swing back and switch to the edge-side position. For example... Figure 11 As shown, during 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 the second distance until the auxiliary cleaning component moves to the edge position.

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

[0258] Based on the solution of this embodiment, during the first rotation, after the auxiliary cleaning component swings 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 side reaches the second distance, the cleaning of the included angle area is considered complete. The auxiliary cleaning component can then be immediately controlled to adjust within the swing range, ensuring that the distance between the designated point of the auxiliary cleaning component and the second side remains at the second distance, until the auxiliary cleaning component switches to the edge position. This ensures that during the entire swing process, the auxiliary cleaning component and the second side will not experience excessive compression, collision, or other abnormal cleaning.

[0259] After the auxiliary cleaning component is switched to the edge-side position, if the machine's forward direction is aligned with the edge-side direction of the second side, the machine can be directly controlled to perform edge-side cleaning. If there is a deviation between the machine's forward direction and the edge-side direction of the second side, the machine's forward direction can be adjusted to align with the edge-side direction of the second side before performing edge-side cleaning.

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

[0261] Step 601: When the cleaning of the included angle area is completed and the auxiliary cleaning component is in the third position, or between the edge position and the third position, and the distance between the rotation center of the auxiliary cleaning component and the second side is the second distance, control the machine body to perform a second rotation and rotate a specified angle so that there is space between the machine body and the second side 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: After the machine body completes the second rotation, control the auxiliary cleaning component to switch to the edge position, or control the auxiliary cleaning component to switch to the edge position during the second rotation of the machine body.

[0263] Steps 601 and 602 can be implemented individually or in combination with at least one of steps 101, 102, 201 to 203, 301 to 304, 401, and 501.

[0264] like Figure 8 As shown, when the machine body rotates for the first time, the auxiliary cleaning component swings to the third position. Further, as the machine body rotates, the auxiliary cleaning component reaches a position a second distance from the second side, thus completing the cleaning of the angled area and stopping the first rotation. Or as... Figure 9 As shown, when the cleaning equipment stops its first rotation, the side of the auxiliary cleaning component on the machine body is relatively close to the second side. Figure 10 As shown, when the cleaning device stops its first rotation, the auxiliary cleaning component on the edge side of the machine body is relatively close to the second side. At this time, the trajectory of the auxiliary cleaning component swinging from the third position to the edge position may interfere with the second side, resulting in unnecessary collisions between the auxiliary cleaning component and the second side. Therefore, after stopping the first rotation, the cleaning device can control the machine body to perform a second rotation, so that there is space between the machine body and the second side to switch the auxiliary cleaning component from the third position to the edge position. After the machine body completes the second rotation, creating space between the machine body and the second side to switch the auxiliary cleaning component from the third position to the edge position, the cleaning device can control the auxiliary cleaning component to switch from the third position to the edge position. After the auxiliary cleaning component of the cleaning device is in the edge position, the cleaning device can travel along the second side to perform edge cleaning.

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

[0266] Alternatively, during the second rotation of the machine body, the auxiliary cleaning component can be switched from the third position to the edge position, for example, as... Figure 10 As shown, the machine body performs a second clockwise rotation, increasing the space for the auxiliary cleaning component to switch positions. The auxiliary cleaning component can gradually swing counter-clockwise during the machine body's rotation, adjusting from the third position to the edge position. The machine body can stop its second rotation after the auxiliary cleaning component switches to the edge position. Performing the switch from the third position to the edge position during the second rotation of the machine body further improves the continuity of the movements of the machine body and the auxiliary cleaning component, increasing switching efficiency.

[0267] If, before the switch, the machine's forward direction is along the edge of the second side, then after the auxiliary cleaning component switches to the edge position, the machine can be rotated by the same angle in the opposite direction of the second rotation to switch its forward direction to the edge direction, thus performing edge cleaning. If, before the switch, the machine's forward direction is not along the edge of the second side, the machine can be turned until its forward direction is along the edge of the second side, and then edge cleaning can begin.

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

[0269] Step 701: When the machine body performs the first rotation, and 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, while keeping the auxiliary cleaning component stationary, control the machine body to perform the third rotation 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 the edge-adjacent value, 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 machine 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-fitting critical value.

[0271] Steps 701 and 702 can be implemented individually or in combination with at least one of steps 101, 102, 201 to 203, 301 to 304, 401, 501, 601, and 602.

[0272] The edge-fitting threshold can be a preset value to control the auxiliary cleaning component to clean as close to the edge as possible while avoiding excessive pressure and contact between the auxiliary cleaning component and obstacles. For example, as shown in the scenario example above, the first distance is r+d1, and the edge-fitting threshold can be the radius r+d3. Here, the distance d3 between the point of the auxiliary cleaning component closest to the first edge and the first edge is infinitely close to zero, ensuring that the point of the auxiliary cleaning component closest to the first edge is extremely close to or in contact with the first edge, thus minimizing any missed cleaning areas along the edge. Of course, when the periphery of the auxiliary cleaning component is a flexible structure, the deformation space of the flexible part can also be considered to determine the proximity value. Correspondingly, in some embodiments, the edge-fitting threshold is r+d3, -Δd≤d3≤α, where r is the radius of the auxiliary cleaning component, Δd is the deformation 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 machine body, if the included angle area is not yet cleaned, excessive pressure between the auxiliary cleaning component and the obstacle may cause a swing back. Because the machine body continues to rotate, if the amount by which the auxiliary cleaning component needs to swing outward again cannot be accurately determined, it will result in incomplete swinging and missed cleaning, or excessive swinging, causing the auxiliary cleaning component to be excessively pressed against the obstacle again, further increasing the missed cleaning area. Therefore, when the machine body rotates at a relatively high speed, the first distance can be set relatively large, that is, during the first rotation of the machine body, 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 machine body can be controlled to perform a third rotation. First, the auxiliary cleaning component will perform a third rotation, and following the third rotation of the machine body, the auxiliary cleaning component will gradually move away from the second side and move closer to 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 critical value for contact with the edge. After contacting the first edge, the auxiliary cleaning component swings back as the machine body rotates. If the machine body continues to rotate a third time, and the distance between the designated point of the auxiliary cleaning component and the first edge is maintained at a critical edge-to-edge value, the swinging back can be stopped. The auxiliary cleaning component can be stopped when it swings back to the edge position; it can also be stopped when it swings back to its initial position. The machine body can also stop its third rotation simultaneously with the auxiliary cleaning component stopping its swinging back.

[0274] In other embodiments, the auxiliary cleaning component stopping its swing and the machine body stopping its third rotation may not be performed simultaneously. For example, the position to which the auxiliary cleaning component swings and the preset rotation angle of the machine body can be preset. The auxiliary cleaning component stops swinging when it reaches the preset position, and the machine body stops its third rotation when it reaches the preset rotation angle.

[0275] The auxiliary cleaning component's swingback is an inward retraction process. Even if excessive pressure occurs between the auxiliary cleaning component and the first side during the swingback, causing the auxiliary cleaning component to quickly retract, it only affects the area missed during the first rotation and does not result in significant missed cleaning. Therefore, after the first rotation, controlling the machine body to rotate, and after the auxiliary cleaning component contacts the first side, controlling the auxiliary cleaning component to swing back along with the machine body, and controlling the auxiliary cleaning component to adhere to the edge or reach its limit during the swingback, can further supplement the cleaning missed during the first rotation, reducing abnormal swinging and ensuring cleaning coverage.

[0276] like Figure 12As shown, when the machine body performs its first rotation, the auxiliary cleaning component swings to the third position. With the rotation of the machine body, the auxiliary cleaning component reaches a position two distances from the second side, thus completing the cleaning of the angled area. The first rotation stops, and the machine body performs a third rotation, first driving the auxiliary cleaning component in the third position to rotate. Following the third rotation of the machine body, the auxiliary cleaning component gradually moves away from the second side and towards the first side until it contacts the first side. Then, the machine body continues to perform a third rotation, and while maintaining the distance between the rotation center of the auxiliary cleaning component and the first side at the edge-contact critical value, it performs a swingback. After the distance between the rotation center of the auxiliary cleaning component and the first side reaches the edge-contact critical value, the machine body can continue its third rotation. The first drive component can adjust the position of the auxiliary cleaning component relative to the machine body, such as adjusting the distance the auxiliary cleaning component swings out of the machine body, so that the distance between the auxiliary cleaning component and the first side remains at the edge-contact critical value. This achieves edge cleaning of the first side during the third rotation, and performs supplementary cleaning of areas not cleaned during the first rotation.

[0277] In one possible implementation, such as Figure 12 As shown, the first drive assembly can drive the swing arm to swing counterclockwise when the machine body rotates clockwise, and control the swing angular velocity of the swing arm so that the auxiliary cleaning assembly keeps the first edge close to the edge.

[0278] The first and third rotations can be performed multiple times to achieve multiple cleanings of the angled area, thus improving the cleaning effect.

[0279] After the third rotation, the machine body can be controlled to perform a fourth rotation to align its forward direction with the edge cleaning direction targeting the second side. Once aligned, the machine body can be stopped from the fourth rotation to perform edge cleaning on the second side. During the fourth rotation, the position of the auxiliary cleaning components 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, control the auxiliary cleaning component to stop adjusting and control the machine body to stop the third rotation; wherein, the edge position is the position of the auxiliary cleaning component when performing edge cleaning on the first side and / or the second side, and the distance between the rotation center of the auxiliary cleaning component at the edge position and the rotation center of the machine body is represented by LC, where LB>LC>LA;

[0282] Step 802: With the auxiliary cleaning component held in the edge position, control the machine body to perform a fourth rotation until the machine body turns to the edge direction relative to the second side, wherein the rotation direction of the first rotation is the same as the rotation direction of the fourth rotation.

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

[0284] After the machine body completes its third rotation until the distance between the center of rotation of the auxiliary cleaning component and the first edge reaches the edge-fitting critical value, it continues to rotate a third time, adjusting the position of the auxiliary cleaning component within the swing range to maintain the distance between the auxiliary cleaning component and the first edge at the edge-fitting critical value. The third rotation can be stopped when the auxiliary cleaning component is adjusted from the third position to the edge-fitting position. After the machine body completes its third rotation, a fourth rotation can be performed.

[0285] The statement that the fuselage turns to the direction along the second side can mean that the fuselage's forward direction is consistent with the direction along the second side. It should be noted that, due to the influence of measurement accuracy, the consistency between the fuselage's forward direction and the direction along the second side is not strictly identical and may contain some errors.

[0286] For example, such as Figure 13 As shown, the machine body can be controlled to perform a fourth rotation while keeping the auxiliary cleaning component in the edge-side position. For example, during the third rotation, the machine body can be stopped when the auxiliary cleaning component reaches the edge-side position. Then, while keeping the auxiliary cleaning component in the edge-side position, the machine body can be controlled to perform a fourth rotation until the machine body's forward direction aligns with the edge-side direction for the second side, at which point the fourth rotation ends. Controlling the machine body to perform the fourth rotation while keeping the auxiliary cleaning component in the edge-side position allows edge cleaning for the second side to be performed immediately after the machine body rotation ends, eliminating the need for additional control actions and simplifying the control logic.

[0287] In some scenarios, due to the gap between the auxiliary cleaning component and the main cleaning component, areas may be missed during the first rotation of the machine body, resulting in untreated areas. Correspondingly, by pre-analyzing the structure of the auxiliary and main cleaning components, the untreated areas caused by the first rotation can be determined. Then, the position to which the auxiliary cleaning component needs to swing during the fourth rotation can be configured as the repair position. During the fourth rotation, the auxiliary cleaning component is kept at this repair position while the machine rotates, thus repairing the untreated areas created during the first rotation. Alternatively, the edge position can be directly used as the repair position. The machine body can be controlled to perform the fourth rotation while the auxiliary cleaning component is in the edge position, allowing the auxiliary cleaning component in the edge position to repair the angled areas.

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

[0289] Step 901: With the auxiliary cleaning component in the edge-side position, control the machine body to perform edge cleaning along the second side;

[0290] Before controlling the machine body to perform edge cleaning along the second side, 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 can be implemented individually 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 has completed cleaning of the included angle area (including completing at least one of the first rotation, second rotation, third rotation and fourth rotation in the above embodiments and switching the auxiliary cleaning component to the edge position), the fuselage can perform edge travel on the second side to perform edge cleaning on the second side by means of the auxiliary cleaning group.

[0295] In one possible implementation, after the fuselage completes its fourth rotation, the auxiliary cleaning assembly is in the edge-side position, and the fuselage can perform edge-side travel on the second side to perform edge-side cleaning on the second side by means of the auxiliary cleaning assembly.

[0296] In one possible implementation, such as Figure 14As shown, after the machine body completes the cleaning of the angled area, the machine body can be adjusted to a position for moving along the second side by moving and / or rotating, and then the second side can be cleaned along the edge.

[0297] After the machine body completes the cleaning of the corner area, the auxiliary cleaning component is positioned along the edge. Therefore, by cleaning the second side along the edge, the cleaning continuity is maintained, reducing the complexity of path planning and the problem of missed cleaning caused by the discontinuity of the cleaning line.

[0298] The machine body can contain multiple position detection components for detecting the location of the auxiliary cleaning component. These components can detect whether the auxiliary cleaning component is in the initial position, the third position, or any position between the initial and third positions, or any other position. However, in some cases, the machine body only has a detection component for detecting the auxiliary cleaning component in the initial position, without a detection component for detecting the third position or any position between the initial and third positions. In one possible implementation, the swing arm can be driven by a stepper motor (e.g., the first motor 521 is a stepper motor) to adjust the position of the auxiliary cleaning component. Correspondingly, the cleaning device can control the swing position of the swing arm based on the number of steps of the stepper motor in the drive component, allowing the auxiliary cleaning component to switch from the initial position to any position between the initial and third positions, or the third position. Although the position of the auxiliary cleaning component can be recorded by, for example, recording the number of steps of the stepper motor, the farther the auxiliary cleaning component swings out of the machine body, the greater the probability of the auxiliary cleaning component colliding with obstacles or other abnormalities, resulting in lower accuracy in swinging the auxiliary cleaning component back from the third position to the edge position. Given the relatively long cleaning path along the edge, inaccurate edge position control can increase the number of missed cleaning areas or the probability of abnormal situations such as the auxiliary cleaning component rubbing against obstacles or being excessively squeezed. In this embodiment, the auxiliary cleaning component is switched to its initial position first and then to the edge position, which can improve the accuracy of the edge position switching.

[0299] Of course, in some implementations, a detection component can be placed at the position with the largest swing angle after the swing arm swings out from the initial position. Correspondingly, it can swing back from this position with the largest swing angle to the edge position. Compared to switching to the position with the largest swing angle first and then switching to the edge position, the switching space required to switch from the initial position to the edge position is less, which can reduce the space requirements caused by switching auxiliary cleaning components and reduce the complexity of control.

[0300] Therefore, before performing edge cleaning on the second side, the auxiliary cleaning component can be switched to its initial position, and then controlled to switch from the initial position to the edge position to reduce the possibility of the auxiliary cleaning component deviating from the edge position. Since the cleaning equipment accurately detects whether the auxiliary cleaning component is in the initial position, controlling the swing arm amplitude can improve the accuracy of the auxiliary cleaning component switching to the edge position. Switching the auxiliary cleaning component to the initial position first and then to the edge position improves the accuracy of the auxiliary cleaning component's position, enabling it to clean at the precise edge position and improving the cleaning effect of edge cleaning on the second side.

[0301] This application also provides a cleaning system, including a base station and the cleaning equipment provided in any of the above embodiments, such as a cleaning robot. The base station is used at least for filling the water tank inside the robot body, charging the robot, collecting dust in the dust box, and cleaning the main cleaning component of the main cleaning assembly.

[0302] The structure and working principle of the cleaning robot have been described in detail in the above embodiments and will not be repeated here.

[0303] This application also provides a cleaning device, such as a cleaning robot, which includes a control device.

[0304] In one possible implementation, the cleaning equipment also includes a walking system that enables the cleaning equipment to move, such as wheels, tracks, drive components, etc.

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

[0306] This application also provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, implement the above-described cleaning equipment control method.

[0307] The computer-readable storage medium provided in this embodiment can execute the control method of the cleaning equipment in the above embodiment. Its implementation principle and technical effect are similar, and will not be described again in this embodiment.

[0308] The aforementioned computer-readable storage medium 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 storage, flash memory, magnetic disk, or optical disk. The readable storage medium can be any available medium accessible to a general-purpose or special-purpose computer.

[0309] An exemplary readable storage medium is coupled to a processor, enabling the processor to read information from 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 reside in an Application Specific Integrated Circuit (ASIC). Alternatively, the processor and the readable storage medium can exist as discrete components in an electronic device or a host device.

[0310] Those skilled in the art will understand that all or part of the steps of the above-described method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When executed, the program performs the steps of the above-described method embodiments; and the aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disks, or optical disks.

[0311] The various embodiments or implementation methods described in this specification are presented in a progressive manner. Each embodiment focuses on the differences from other embodiments, and the same or similar parts between the embodiments can be referred to each other.

[0312] In the description of this specification, references to "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with an embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0313] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A method for controlling cleaning equipment, characterized in that, The cleaning device includes a body, on which a main cleaning component, an auxiliary cleaning component, a first drive component, and a side brush are disposed. Along the forward direction of the body, the side brush is located at the front of the body, and the main cleaning component and the auxiliary cleaning component are both located at the rear of the body. The auxiliary cleaning component is distributed along the side of the body. The cleaning coverage area of ​​the auxiliary cleaning component is smaller than that of the main cleaning component. The first drive 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, where LB > LA. The third position is the position where the auxiliary cleaning component is farthest from the rotation center of the body. The method includes: The body is controlled to perform a first rotation in the 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, and the angle region is the interior angle formed by the first side and the second side; During the first rotation of the machine 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 perform cleaning on the included angle area; After cleaning of the included 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 performing edge cleaning on the first side and / or the second side, and the distance between the rotation center of the auxiliary cleaning component and the rotation center of the machine body in the edge position is represented by LC, where LB>LC>LA.

2. The method according to claim 1, characterized in that, The first drive assembly includes at least a swing arm of fixed length that swings about a fixed axis, and the auxiliary cleaning assembly is disposed on the swing arm; Control the swing angle of the swing arm to drive the auxiliary cleaning component to extend and retract relative to the contour of the machine body, so that the auxiliary cleaning component can be adjusted within the swing range between the initial position and the third position; The fuselage has a circular outline or a D-shaped arc in the rear half. 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 includes: After the machine 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 machine body is controlled to continue performing 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 perform cleaning on the included angle area.

4. The method according to claim 1, characterized in that, After cleaning is completed in the included angle area, 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 side is greater than a distance threshold, the auxiliary cleaning component is controlled to switch to the edge position. When the turning angle of the first rotation of the machine body is greater than or equal to the turning angle threshold, the auxiliary cleaning component is controlled to switch to the edge position; When the machine body performs the first rotation and the auxiliary cleaning component swings to the third position, the auxiliary cleaning component is controlled to switch to the edge position.

5. The method according to claim 1, characterized in that, After cleaning is completed in the included angle area, controlling the auxiliary cleaning component to switch to the edge position includes: When cleaning of the included angle area is completed and the auxiliary cleaning component is in the third position, or between the edge position and the third position, and the distance between the rotation center of the auxiliary cleaning component and the second side is the second distance, the machine body is controlled to perform a second rotation and rotate by a specified angle so that there is space between the machine body and the second side 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; After the machine body completes the second rotation, the auxiliary cleaning component is controlled to switch to the edge position, or the auxiliary cleaning component is controlled to switch to the edge position during the second rotation of the machine body.

6. The method according to claim 1, characterized in that, After cleaning is completed in the included angle area, controlling the auxiliary cleaning component to switch to the edge position includes: During the first rotation of the machine body, 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 side decreases to the 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 side is maintained at the second distance, until the auxiliary cleaning component moves to the edge position.

7. The method according to claim 1 or 2, characterized in that, If the first distance is greater than the edge-fitting threshold, the method further includes: When the machine 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 machine 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 the edge-adjacent value, 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; Continue to control the machine 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-fitting critical value.

8. The method according to claim 7, characterized in that, After continuing to control the machine 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 the edge position, the auxiliary cleaning component is controlled to stop adjusting. The edge position is the position of the auxiliary cleaning component when performing edge cleaning on the first edge and / or the second edge. The distance between the rotation center of the auxiliary cleaning component at the edge position and the rotation center of the machine body is represented by LC, where LB>LC>LA. While the auxiliary cleaning component remains in the edge position, the machine body is controlled to perform a fourth rotation until the machine body turns to the edge direction relative to the second side, wherein the rotation direction of the first rotation is the same as the rotation direction of the fourth rotation.

9. The method according to claim 1, characterized in that, The method further includes: When the auxiliary cleaning component is in the edge-side position, the machine body is controlled to perform edge cleaning along the second edge; Before controlling the machine body to perform edge cleaning along the second side, the method further includes: Control the auxiliary cleaning component to switch to the initial position; Control the auxiliary cleaning component to switch from the initial position to the edge position.

10. The method according to claim 1, characterized in that, The method further includes: when the auxiliary cleaning component is in the edge-side position, controlling the machine body to perform edge cleaning along the first edge; The step of controlling the fuselage to perform a first rotation in the angle region between the first side and the second side includes: controlling the fuselage to perform a first rotation when the fuselage reaches the angle region; 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 that the auxiliary cleaning component passes through are: initial position, edge position, and third position in sequence.

11. The method according to claim 1, characterized in that, The method further includes: When the auxiliary cleaning component is in the edge-side position, the machine body is controlled to perform edge cleaning along the first edge; The control of the fuselage to perform a first rotation in the angle region between the first side and the second side includes: During the cleaning process of controlling the machine body along the first side, when it is at a preset distance from the second side, the auxiliary cleaning component is first controlled to swing to the initial position and perform the following actions: After the machine body speed drops to zero, the machine 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; Alternatively, after the machine speed drops to zero, the machine body is controlled to perform the first rotation while the auxiliary cleaning component is kept in 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 machine body is perpendicular to the first side.

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

13. The method according to claim 3, characterized in that, The distance between the rotation center of the machine body and the second edge is R2+D2, and the second distance is r+d2,- d≤d2<D2+α, where R2 is the distance between the rotation center and the edge point of the machine body close to the second edge in the direction perpendicular to the second edge, r is the radius of the secondary cleaning assembly, d is the deformation amount of the flexible member of the secondary cleaning assembly, and α is the error redundancy parameter, d and α are values greater than or equal to zero, and D2 and d2 are edge-aligned parameters.

14. The method according to claim 7, characterized in that, The critical value for edge contact is r+d3, - d≤d3≤α, where r is the radius of the auxiliary cleaning component. d represents the deformation of the flexible component in the auxiliary cleaning assembly, and α represents the error redundancy parameter. d and α are values ​​greater than or equal to zero, and d3 is the edge parameter.

15. A cleaning device, characterized in that, The cleaning device includes a body, on which a main cleaning component, an auxiliary cleaning component, a first drive component, and a controller are disposed. Along the forward direction of the body, both the main cleaning component and the auxiliary cleaning component are located at the rear of the body, with the auxiliary cleaning component distributed along the edges of the body. The cleaning coverage area of ​​the auxiliary cleaning component is smaller than that of the main cleaning component. The first drive 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, where LB > LA. The controller is configured to perform the cleaning equipment control method as described in any one of claims 1 to 14.

Images