Cleaning device and cleaning method thereof

Abstract

The invention provides a cleaning device and a cleaning method thereof. The cleaning method includes controlling the cleaning device to move a distance from an initial boundary of the main field toward a first movement direction; the cleaning device is controlled to rotate by a first angle in the first rotating direction so as to move by a certain distance in the second moving direction; the cleaning device is controlled to rotate by a second angle in a second rotating direction opposite to the first rotating direction so as to move by a certain distance in a third moving direction; and controlling the cleaning device to rotate by a third angle in the first rotating direction so as to move to the starting boundary of the main field in the direction opposite to the first moving direction. The first angle and the third angle are acute angles, and the second angle is the sum of the first angle and the third angle.

Description

Technical Field

[0001] The invention relates to the field of robot control, in particular to a cleaning device and a cleaning method thereof. Background Art

[0002] Solar panels are generally installed at high places or in harsh environments, and are difficult to clean manually. Therefore, cleaning devices (such as sweeping robots) are generally used to clean solar panels. The cleaning path of the cleaning device generally used to clean solar panels is in the shape of a bow. Specifically, when the cleaning device wants to change rows of cleaning in the field formed by the solar panels, it needs to rotate 90 degrees in place twice in stages. For example, when the cleaning device wants to switch from a first horizontal path to a second horizontal path with a spacing between the first horizontal path and the first horizontal path (i.e., changing rows of cleaning) on ​​the solar panel, the cleaning device must first rotate 90 degrees in place to switch from the first horizontal path to a vertical path, and after walking a distance along the vertical path, it rotates 90 degrees in place again to switch to the second horizontal path. However, since solar panels are generally tilted and present an inclined surface, it is easy to slip when the cleaning device rotates significantly in place. Usually, the occurrence of slipping can be reduced by adding a suction cup mechanism to the cleaning device or increasing the motor torque of the cleaning device. However, this will lead to an increase in the size, weight, cost and power consumption of the cleaning device. Summary of the invention

[0003] In view of the above, the present invention provides a cleaning device and a cleaning method thereof. The cleaning device includes a main body, a moving module and a processing module. The moving module is located in the main body. The processing module is coupled to the moving module. The processing module is used to control the moving module to drive the main body to move a distance from the starting boundary of the main field toward the first moving direction; control the moving module to drive the main body to rotate a first angle in a first rotation direction to move a distance in a second moving direction; control the moving module to drive the main body to rotate a second angle in a second rotation direction opposite to the first rotation direction to move a distance in a third moving direction; and control the moving module to drive the main body to rotate a third angle in the first rotation direction to move in the opposite direction of the first moving direction to the starting boundary of the main field. The first angle and the third angle are both acute angles, and the second angle is the sum of the first angle and the third angle.

[0004] The cleaning method includes controlling a cleaning device to move a distance from a starting boundary of a main field toward a first moving direction; controlling the cleaning device to rotate a first angle in a first rotation direction to move a distance toward a second moving direction; controlling the cleaning device to rotate a second angle in a second rotation direction opposite to the first rotation direction to move a distance toward a third moving direction; and controlling the cleaning device to rotate a third angle in the first rotation direction to move to the starting boundary of the main field in the opposite direction of the first moving direction. The first angle and the third angle are both acute angles, and the second angle is the sum of the first angle and the third angle.

[0005] In summary, according to some embodiments, the present invention forms a V-shaped path when performing row-changing cleaning by rotating at the first angle, the second angle, and the third angle, so that the cleaning device does not need to rotate significantly in situ, thereby reducing the occurrence of slippage. Furthermore, since the V-shaped path can reduce the occurrence of slippage, the cleaning device does not need to add a suction cup mechanism or increase the motor torque. In this way, the increase in the size, weight, cost, and power consumption of the cleaning device can be avoided.

[0006] The present invention is described in detail below with reference to the accompanying drawings and specific embodiments, but is not intended to limit the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0007] Figure 1 Schematic diagram of a cleaning device according to some embodiments of the present invention.

[0008] Figure 2 Schematic diagram of the application of cleaning devices according to some embodiments of the present invention.

[0009] Figure 3 The figure is a flow chart of a cleaning method according to some embodiments of the present invention.

[0010] Figure 4 Schematic diagram of a cleaning path of a cleaning device in a main field according to some embodiments of the present invention.

[0011] Figure 5 The figure is a flow chart of a cleaning method according to some embodiments of the present invention.

[0012] Figure 6 Schematic diagram of a cleaning path of a cleaning device in a main field according to some embodiments of the present invention.

[0013] Figure 7 Schematic bottom view of a cleaning device according to some embodiments of the present invention.

[0014] Figure 8 Schematic diagram of the application of cleaning devices according to some embodiments of the present invention.

[0015] Fig. 9 Schematic diagram of the main field of some embodiments of the present invention.

[0016] Fig.10 The figure is a flow chart of a cleaning method according to some embodiments of the present invention.

[0017] Fig.11 Schematic diagram of a cleaning path of a cleaning device in a main field according to some embodiments of the present invention.

[0018] Fig.12 The figure is a flow chart of a cleaning method according to some embodiments of the present invention.

[0019] Fig.13 Schematic diagram of a cleaning path of a cleaning device in a main field according to some embodiments of the present invention.

[0020] Fig.14 Schematic diagram of a cleaning path of a cleaning device in a main field according to some embodiments of the present invention.

[0021] Fig.15 The figure is a flow chart of a cleaning method according to some embodiments of the present invention.

[0022] Fig.16 Schematic diagram of a partial structure of a moving part of some embodiments of the present invention.

[0023] Fig.17 It is a schematic diagram of the application of a partial structure of a moving part of some embodiments of the present invention.

[0024] Fig.18 Schematic diagram of an angle positioning series of a second image according to some embodiments of the present invention.

[0025] Fig.19 Schematic diagram of an angle positioning series of a first image according to some embodiments of the present invention.

[0026] Fig. 20 Schematic diagram of a rotated first image and a vertical pixel array and a horizontal pixel array according to some embodiments of the present invention.

[0027] Fig.21 Schematic diagram of a rotated second image and a vertical pixel array and a horizontal pixel array according to some embodiments of the present invention.

[0028] Fig. 22 Schematic diagram of the overall cleaning path of the cleaning device in the main field according to some embodiments of the present invention.

[0029] Fig.23 The figure is a flow chart of an overall cleaning method of a main field according to some embodiments of the present invention.

[0030] Fig.24 Schematic diagram of the application of cleaning devices according to some embodiments of the present invention.

[0031] Fig.25 Schematic diagram of the application of cleaning devices according to some embodiments of the present invention.

[0032] Among them, the reference numerals

[0033] 10: Cleaning device

[0034] 20: Ontology

[0035] 21: Front-end

[0036] 23: Backend

[0037] 30: Mobile Module

[0038] 31A~31B: Mobile part

[0039] 33: Raised parts

[0040] 35: Main body

[0041] 40: Processing module

[0042] 50: Main Field

[0043] 51: Starting boundary

[0044] 53: End of Boundary

[0045] 55: Subfield

[0046] 550: Sub-boundary

[0047] 57: Cleaning surface

[0048] 59A: First Clean Area

[0049] 59B: Second clean area

[0050] 60A~60B: Cleaning parts

[0051] 70: Sensing module

[0052] 71: Sensor Group

[0053] 73A~73B: Sensor

[0054] 80: Image capture module

[0055] D1: First moving direction

[0056] D2: Second moving direction

[0057] D3: The third moving direction

[0058] D4: The opposite direction of the first moving direction

[0059] D5: The opposite direction of the second moving direction

[0060] D6: The opposite direction of the third moving direction

[0061] P0~P8: Position

[0062] P10~P17: Location

[0063] CN_1~CN_6: Corner

[0064] G: Ground

[0065] C1~C2: Row

[0066] R1~R5: Column

[0067] LD1~LD2: Path

[0068] S301~S307: Steps

[0069] S501~S507: Steps

[0070] S1001~S1009: Steps

[0071] S1201~S1207: Steps

[0072] S1501~S1509: Steps

[0073] S2301~S2321: Steps DETAILED DESCRIPTION

[0074] The technical solution of the present invention is described in detail below in conjunction with the accompanying drawings and specific embodiments to further understand the purpose, solution and effect of the present invention, but it is not intended to limit the scope of protection of the claims attached to the present invention.

[0075] Reference Figure 1 and Figure 2 . Figure 1 Schematic diagram of a cleaning device 10 according to some embodiments of the present invention. Figure 2Schematic diagram of the application of the cleaning device 10 of some embodiments of the present invention. The cleaning device 10 includes a body 20, a mobile module 30 and a processing module 40. The mobile module 30 and the processing module 40 are located on the body 20. The processing module 40 is coupled to the mobile module 30 (not shown). The processing module 40 controls the mobile module 30 to drive the body 20 to move in the main field 50. For example, the mobile module 30 includes a motor and moving parts 31A and 31B, and the processing module 40 drives the motor to move the mobile module 30 and drive the body 20 to move in the main field 50. The processing module 40 is, for example but not limited to, a computing circuit such as a central processing unit, a microprocessor, an application-specific integrated circuit (ASIC), or a system on a chip (SOC).

[0076] In some embodiments, Figure 1 As shown, the cleaning device 10 further includes two cleaning members 60A and 60B, which are respectively located at two ends of the body 20 (e.g., the front end 21 and the rear end 23), so as to clean the main field 50 when the cleaning device 10 moves in the main field 50 to form a cleaning path. The cleaning members 60A and 60B are, for example, but not limited to, brushes, cleaning cloths, etc. In some embodiments, the cleaning device 10 is directed toward the moving direction of the cleaning device 10 in the main field 50 by one end of the body 20 (e.g., the front end 21 or the rear end 23) provided with the cleaning members 60A and 60B. In some embodiments, the main field 50 is formed by a solar panel, and the cleaning device 10 moves and cleans the surface of the solar panel.

[0077] Reference Figure 3 and Figure 4 . Figure 3 The figure is a flow chart of a cleaning method according to some embodiments of the present invention. Figure 4 Schematic diagram of the cleaning path of the cleaning device 10 in the main field 50 in some embodiments of the present invention. The processing module 40 of the cleaning device 10 is suitable for performing the cleaning method of the present invention. First, the processing module 40 controls the moving module 30 to drive the body 20 to move a distance from the starting boundary 51 of the main field 50 toward the first moving direction D1 to form a first path (step S301). In some embodiments, the starting boundary 51 is the side boundary of the main field 50. Figure 4 As shown, in one example, the starting boundary 51 is the right boundary of the main field 50. When the cleaning device 10 is placed at the starting boundary 51 of the main field 50, the front end 21 of the body 20 is facing the left of the main field 50, and the first moving direction D1 is the left of the main field 50. In some embodiments, the length of the first path is within 1 meter. Next, the processing module 40 performs a row-changing cleaning procedure to form a V-shaped path in the main field 50. The row-changing cleaning procedure includes steps S303 and S305.

[0078] In step S303, the processing module 40 controls the moving module 30 to drive the body 20 to rotate in the first rotation direction by a first angle, so as to move a distance toward the second moving direction D2 to form a second path. The first angle is an acute angle. Figure 4 As shown, in an example, the first rotation direction is counterclockwise, and the front end 21 of the body 20 is rotated toward the lower left of the main field 50, and the second movement direction D2 is the lower left of the main field 50. In some embodiments, the first angle is in the range of 5 degrees to 45 degrees.

[0079] In step S305, the processing module 40 controls the moving module 30 to drive the body 20 to rotate in a second rotation direction opposite to the first rotation direction by a second angle, so as to move a distance in a third moving direction D3 to form a third path. Figure 4 As shown, in one example, the second rotation direction is clockwise, and after rotation, the rear end 23 of the main body 20 faces the lower right side of the main field 50, and the third movement direction D3 is the lower right side of the main field 50. In this way, the second path and the third path can form a V-shaped path, so the cleaning device 10 does not need to rotate significantly in situ, thereby reducing the occurrence of slippage. Furthermore, since the V-shaped path can reduce the occurrence of slippage, the cleaning device 10 does not need to add a suction cup mechanism or increase the motor torque. In this way, the increase in the volume, weight, cost and power consumption of the cleaning device 10 can be avoided.

[0080] Next, the processing module 40 controls the moving module 30 to drive the body 20 to rotate in the first rotation direction by a third angle, so as to move in the opposite direction D4 of the first moving direction D1 to the starting boundary 51 of the main field 50 and form a fourth path (step S307). The third angle is an acute angle, and the second angle is the sum of the first angle and the third angle. Figure 4 As shown, in an exemplary embodiment, the first rotation direction is counterclockwise, and the rear end 23 of the body 20 after rotation faces the right side of the main field 50, the opposite direction D4 of the first moving direction D1 is the right side of the main field 50, and the starting boundary 51 is the right side boundary of the main field 50. In some embodiments, the third angle is the same as the first angle. In some embodiments, the third angle is in the range of 5 degrees to 45 degrees. In some embodiments, the length of the fourth path is the same as the length of the first path. In some embodiments, the length of the fourth path is within 1 meter. In some embodiments, the length of the second path and the length of the third path are determined according to the spacing between the first path and the fourth path and / or the length of the body 20 of the cleaning device 10.

[0081] Reference Figure 5 and Figure 6 . Figure 5The figure is a flow chart of a cleaning method according to some embodiments of the present invention. Figure 6 Schematic diagram of the cleaning path of the cleaning device 10 in the main field 50 of some embodiments of the present invention. In some embodiments of step S303, when the moving module 30 drives the main body 20 to move in the second moving direction D2 (step S501), the processing module 40 determines whether the main body 20 of the cleaning device 10 reaches the end boundary 53 of the main field 50 (step S503). When it is determined that the cleaning device 10 reaches the end boundary 53 of the main field 50, the processing module 40 controls the moving module 30 to drive the main body 20 to rotate in the second rotation direction by a first angle to move in the opposite direction D4 of the first moving direction D1 to the starting boundary 51 of the main field 50 (step S505) to end the row-changing cleaning procedure. In some embodiments, the end boundary 53 of the main field 50 is the top boundary or the bottom boundary of the main field 50. Figure 6 As shown, in an example, the second moving direction D2 is the lower left of the main field 50, the end boundary 53 is the bottom boundary of the main field 50, the second rotation direction is clockwise, the rear end 23 of the body 20 after rotation is toward the right of the main field 50, the opposite direction D4 of the first moving direction D1 is the right side of the main field 50, and the starting boundary 51 is the right side boundary of the main field 50.

[0082] When it is not determined that the main body 20 of the cleaning device 10 has reached the end boundary 53 of the main field 50, the processing module 40 determines whether the distance moved by the main body 20 of the cleaning device 10 in the second moving direction D2 has reached the row-changing threshold (step S507). For example, assuming that the row-changing threshold is 20 cm, the processing module 40 determines whether the distance moved by the main body 20 of the cleaning device 10 in the second moving direction D2 has reached 20 cm. If the distance moved by the main body 20 of the cleaning device 10 in the second moving direction D2 has reached the row-changing threshold, the processing module 40 executes step S305 and subsequent steps. If the distance moved by the main body 20 of the cleaning device 10 in the second moving direction D2 has not reached the row-changing threshold, the processing module 40 returns to execute step S501, so that the main body 20 of the cleaning device 10 continues to move in the second moving direction D2, and continues to execute subsequent steps.

[0083] Reference Figure 7 and Figure 8 . Figure 7 Schematic bottom view of a cleaning device 10 according to some embodiments of the present invention. Figure 8 Schematic diagram of the application of the cleaning device 10 in some embodiments of the present invention. Figure 7 As shown, in some embodiments, the cleaning device 10 further includes a sensing module 70, which is located at the bottom of the body 20 and coupled to the processing module 40 (not shown). The sensing module 70 is used to detect the boundary of the main field 50 (such as the end boundary 53) and return the detection result to the processing module 40 for judgment. Figure 8 As shown, the sensing module 70 detects the distance between the main body 20 and the obstacle from the bottom of the main body 20 downward. When the distance is not greater than a distance threshold, it means that the obstacle is the surface of the main field 50 for the cleaning device 10 to travel. At this time, the processing module 40 determines that the cleaning device 10 has not reached the boundary of the main field 50 according to the detection result of the sensing module 70. When the distance is greater than the distance threshold, it means that the obstacle is not the surface of the main field 50 for the cleaning device 10 to travel. At this time, the obstacle may be the roof or the ground G where the main field 50 is set, and the processing module 40 determines that the cleaning device 10 has reached the boundary of the main field 50 according to the detection result of the sensing module 70.

[0084] Reference Fig. 9 , is a schematic diagram of a main field 50 of some embodiments of the present invention. In some embodiments, the main field 50 includes a plurality of sub-fields 55, and each sub-field 55 includes a plurality of sub-boundaries 550. For example, the main field 50 is composed of a plurality of solar panels, each sub-field 55 is a single solar panel, and the sub-boundary 550 of each sub-field 55 is the boundary of a single solar panel. In some embodiments, the boundary of the main field 50 (e.g., the starting boundary 51 and the ending boundary 53) is formed by the sub-boundaries 550 on the same side of the sub-fields 55 located on the same side of the main field 50.

[0085] Reference Figure 6 , Fig.10 and Fig.11 . Fig.10 The figure is a flow chart of a cleaning method according to some embodiments of the present invention. Fig.11 Schematic diagram of the cleaning path of the cleaning device 10 in the main field 50 of some embodiments of the present invention. In some embodiments, step S503 includes steps S1001~S1009. When the moving module 30 drives the main body 20 to move in the second moving direction D2 (step S501), the processing module 40 detects and determines whether the main body 20 exceeds one of the sub-boundaries 550 of one of the sub-fields 55 through the sensing module 70 (step S1001). When it is not determined that the main body 20 of the cleaning device 10 exceeds one of the sub-boundaries 550 of one of the sub-fields 55, the processing module 40 executes step S507. Figure 6 , Figure 7 and Fig.11As shown, for example, when the body 20 moves from the position P0 of the main field 50 toward the second moving direction D2 (such as the lower left of the main field 50), the sensing module 70 detects the distance between the body 20 and the obstacle from the bottom of the body 20. Before the body 20 moves to the position P1 of the main field 50, the distance detected by the sensing module 70 is not greater than the distance threshold, so the processing module 40 determines that the body 20 is one of the sub-boundaries 550 of one of the sub-fields 55 according to the detection result of the sensing module 70.

[0086] When it is determined that the body 20 exceeds one of the sub-boundaries 550 of one of the sub-fields 55, the processing module 40 controls the moving module 30 to drive the body 20 to move in the opposite direction D5 of the second moving direction D2 to the detected sub-boundary (step S1003), and then controls the moving module 30 to drive the body 20 to move a certain distance in the second moving direction D2 (step S1005), and detects and determines again through the sensing module 70 whether the body 20 exceeds one of the sub-boundaries 550 of one of the sub-fields 55 (step S1007). When the sub-field 55 is implemented by a single solar panel, there may be gaps between the solar panels when multiple solar panels are spliced ​​to form the main field 50, that is, there may be gaps between adjacent sub-boundaries 550 between adjacent sub-fields 55. By executing steps S1003 to S1007 , it is possible to avoid the cleaning device 10 making a misjudgment due to detecting the gap (i.e., the cleaning device 10 misjudged that it has reached the end boundary 53 of the main field 50 due to the gap, thus terminating the row-changing cleaning process early).

[0087] like Figure 6 and Fig.11 As shown, for example, after the body 20 moves to the position P1 of the main field 50, the sensing module 70 detects that the spacing is greater than the spacing threshold. At this time, the processing module 40 determines that the body 20 is one of the sub-boundaries 550 that exceeds one of the sub-fields 55 according to the detection result of the sensing module 70. Figure 6 As shown, at the position P1 of the main field 50, a corner CN_1 of the body 20 of the cleaning device 10 exceeds the lower sub-boundary 550 of the left sub-field 55 and / or the lower sub-boundary 550 of the right sub-field 55. Specifically, the corner CN_1 of the body 20 of the cleaning device 10 exceeds the end boundary 53 of the main field formed by the lower sub-boundary 550 of the left sub-field 55 and the lower sub-boundary 550 of the right sub-field 55. At this time, the obstacle faced by the corner CN_1 of the body 20 is not the surface of the main field 50 for the cleaning device 10 to travel, but the roof or the ground G (such as the roof) where the main field 50 is set. Figure 8As shown in FIG. 1 , the distance between the corner CN_1 of the body 20 and the obstacle is greater than the distance threshold. Thus, the processing module 40 determines that the corner CN_1 of the body 20 exceeds the lower sub-boundary 550 of the left sub-field 55 and / or the lower sub-boundary 550 of the right sub-field 55 according to the detection result of the sensing module 70. Fig.11 As shown, at the position P1 of the main field 50, a corner of the body 20 of the cleaning device 10 is located in the gap between adjacent sub-fields 55 (for example, the gap between the upper left sub-field 55 and the lower left sub-field 55 and / or the gap between the upper right sub-field 55 and the lower right sub-field 55). At this time, the obstacle faced by the corner of the body 20 is not the surface of the main field 50 for the cleaning device 10 to move, but the roof or the ground G where the main field 50 is set (for example, Figure 8 As shown in FIG. 1 ), the distance between the corner of the body 20 and the obstacle is greater than the distance threshold. Thus, the processing module 40 determines that the corner of the body 20 exceeds the lower sub-boundary 550 of the upper left sub-field 55 and / or the lower sub-boundary 550 of the upper right sub-field 55 according to the detection result of the sensing module 70.

[0088] Next, the processing module 40 controls the moving module 30 to drive the body 20 to move in the opposite direction D5 of the second moving direction D2 (such as the upper right of the main field 50) until the distance detected by the sensing module 70 is no greater than the distance threshold (for example, moving to the position P2 of the main field 50, which is between the position P0 and the position P1). At this time, the processing module 40 can know that the cleaning device 10 has moved to the detected sub-boundary 550 (such as Figure 6 The sub-boundary 550 on the lower side of the left sub-field 55 and / or the sub-boundary 550 on the lower side of the right sub-field 55, or as shown in Fig.11 Then, the processing module 40 controls the moving module 30 to drive the body 20 to move in the second moving direction D2 (such as the lower left of the main field 50) to the position P3 of the main field 50, and the sensing module 70 detects again whether the spacing is greater than the spacing threshold, so that the processing module 40 determines again whether the body 20 exceeds one of the sub-boundaries 550 of one of the sub-fields 55 according to the detection result of the sensing module 70.

[0089] If it is not determined again that the main body 20 of the cleaning device 10 exceeds one of the sub-boundaries 550 of one of the sub-fields 55, the processing module 40 executes step S507 and subsequent steps. Fig.11As shown, if the spacing detected by the sensing module 70 at the position P3 of the main field 50 is not greater than the spacing threshold, the processing module 40 determines that the main body 20 is one of the sub-boundaries 550 that does not exceed one of the sub-fields 55 according to the detection result of the sensing module 70, and determines that the main body 20 has not reached the end boundary 53 of the main field 50 (specifically, at the position P3 of the main field 50, the corner of the main body 20 of the cleaning device 10 has left the gap between the adjacent sub-fields 55, but still remains within the end boundary 53 of the main field 50), and continues to execute subsequent steps, such as continuing to move in the second moving direction D2 (such as the lower left of the main field 50) to the position P4 of the main field 50, thereby continuing the row-changing cleaning procedure.

[0090] When it is determined again that the body 20 exceeds one of the sub-boundaries 550 of one of the sub-fields 55, the processing module 40 controls the moving module 30 to drive the body 20 to move in the opposite direction D5 of the second moving direction D2 to the sub-boundary 550 detected again (step S1009), and determines that the body 20 has reached the end boundary 53 of the main field 50. For example, if Figure 6 As shown, if the spacing detected by the sensing module 70 at the position P3 of the main field 50 is greater than the spacing threshold, the processing module 40 determines that the main body 20 is one of the sub-boundaries 550 that exceeds one of the sub-fields 55 according to the detection result of the sensing module 70, and determines that the main body 20 has reached the end boundary 53 of the main field 50 (specifically, at the position P3 of the main field 50, the corner CN_1 of the main body 20 still exceeds the end boundary 53 of the main field 50 formed by the lower sub-boundary 550 of the left sub-field 55 and the lower sub-boundary 550 of the right sub-field 55). At this time, the processing module 40 controls the moving module 30 to drive the main body 20 to move again in the opposite direction D5 of the second moving direction D2 (such as the upper right corner of the main field 50) until the spacing detected by the sensing module 70 is no greater than the spacing threshold (for example, moving to the position P2 of the main field 50, that is, within the sub-boundary 550 detected again), and executes step S505 to end the row-changing cleaning procedure.

[0091] Reference Fig.12 and Fig.13 . Fig.12 The figure is a flow chart of a cleaning method according to some embodiments of the present invention. Fig.13Schematic diagram of the cleaning path of the cleaning device 10 in the main field 50 of some embodiments of the present invention. In some embodiments of step S305, when the moving module 30 drives the main body 20 to move in the third moving direction D3 (step S1201), the processing module 40 determines whether the main body 20 of the cleaning device 10 reaches the end boundary 53 of the main field 50 (step S1203). When it is determined that the cleaning device 10 reaches the end boundary 53 of the main field 50, the processing module 40 controls the moving module 30 to drive the main body 20 to rotate in the first rotation direction by a third angle to move in the opposite direction D4 of the first moving direction D1 to the starting boundary 51 of the main field 50 (step S1205) to end the row-changing cleaning procedure. Fig.13 As shown, in an example, the third moving direction D3 is the lower right side of the main field 50, the end boundary 53 is the bottom boundary of the main field 50, the first rotation direction is counterclockwise, the rear end 23 of the body 20 after rotation is toward the right side of the main field 50, the opposite direction D4 of the first moving direction D1 is the right side of the main field 50, and the starting boundary 51 is the right side boundary of the main field 50.

[0092] When it is not determined that the main body 20 of the cleaning device 10 has reached the end boundary 53 of the main field 50, the processing module 40 determines whether the distance moved by the main body 20 of the cleaning device 10 in the third moving direction D3 has reached the row-changing threshold (step S1207). For example, assuming that the row-changing threshold is 20 cm, the processing module 40 determines whether the distance moved by the main body 20 of the cleaning device 10 in the third moving direction D3 has reached 20 cm. If the distance moved by the main body 20 of the cleaning device 10 in the third moving direction D3 has reached the row-changing threshold, the processing module 40 executes step S307. If the distance moved by the main body 20 of the cleaning device 10 in the third moving direction D3 has not reached the row-changing threshold, the processing module 40 returns to execute step S1201, so that the main body 20 of the cleaning device 10 continues to move in the third moving direction D3, and then executes the subsequent steps.

[0093] Reference Fig.13 , Fig.14 and Fig.15 . Fig.14 Schematic diagram of a cleaning path of a cleaning device 10 in a main field 50 according to some embodiments of the present invention. Fig.15Flow chart of the cleaning method of some embodiments of the present invention. In some embodiments, step S1203 includes steps S1501 to S1509. When the moving module 30 drives the main body 20 to move toward the third moving direction D3 (step S1201), the processing module 40 detects and determines whether the main body 20 exceeds one of the sub-boundaries 550 of one of the sub-fields 55 through the sensing module 70 (step S1501). When it is not determined that the main body 20 of the cleaning device 10 exceeds one of the sub-boundaries 550 of one of the sub-fields 55, the processing module 40 executes step S1207. For example, Fig.13 and Fig.14 As shown, the body 20 moves from the position P4 of the main field 50 toward the third moving direction D3 (such as the lower right side of the main field 50), and before the body 20 moves to the position P5 of the main field 50, the processing module 40 determines that the body 20 is one of the sub-boundaries 550 that does not exceed one of the sub-fields 55. Since step S1501 is similar to step S1001, it will not be described in detail.

[0094] When it is determined that the main body 20 exceeds one of the sub-boundaries 550 of one of the sub-fields 55, the processing module 40 controls the moving module 30 to drive the main body 20 to move in the opposite direction D6 of the third moving direction D3 to within the detected sub-boundary 550 (step S1503), and then controls the moving module 30 to drive the main body 20 to move a certain distance in the third moving direction D3 (step S1505), and detects and determines again via the sensing module 70 whether the main body 20 exceeds one of the sub-boundaries 550 of one of the sub-fields 55 (step S1507). By executing steps S1503 to S1507, it is possible to avoid the cleaning device 10 from making a misjudgment due to detecting a gap between adjacent sub-boundaries 550 between adjacent sub-fields 50 (i.e., the situation in which the cleaning device 10 is misjudged to have reached the end boundary 53 of the main field 50 due to the gap, resulting in the premature termination of the row-changing cleaning procedure, can be avoided). For example, Fig.13 As shown, after the body 20 moves to the position P5 of the main field 50, the processing module 40 determines that a corner CN_2 of the body 20 is beyond the lower sub-boundary 550 of the left sub-field 55 and / or the lower sub-boundary 550 of the right sub-field 55. Fig.14As shown, at position P5 of the main field 50, a corner of the body 20 of the cleaning device 10 is located in the gap between adjacent sub-fields 55 (e.g., the gap between the upper left sub-field 55 and the lower left sub-field 55 and / or the gap between the upper right sub-field 55 and the lower right sub-field 55), so the processing module 40 determines that the corner of the body 20 is beyond the lower sub-boundary 550 of the upper left sub-field 55 and / or the lower sub-boundary 550 of the upper right sub-field 55. Then, the processing module 40 controls the moving module 30 to drive the body 20 to move in the opposite direction D6 of the third moving direction D3 (e.g., the upper left of the main field 50) to the position P6 of the main field 50 located between the position P4 and the position P5. Next, the processing module 40 continues to control the moving module 30 to drive the main body 20 to move in the third moving direction D3 (such as the lower right side of the main field 50) to the position P7 of the main field 50, and detects and determines again through the sensing module 70 whether the main body 20 exceeds one of the sub-boundaries 550 of one of the sub-fields 55. Since steps S1503 to S1507 are similar to steps S1003 to S1007, they will not be described in detail.

[0095] If it is not determined again that the main body 20 of the cleaning device 10 exceeds one of the sub-boundaries 550 of one of the sub-fields 55, the processing module 40 executes step S1207 and subsequent steps. Fig.14 As shown, if at position P7 of the main field 50, the processing module 40 does not again determine that the main body 20 of the cleaning device 10 exceeds one of the sub-boundaries 550 of one of the sub-fields 55, it means that the main body 20 has not yet reached the end boundary 53 of the main field 50 (specifically, at position P7 of the main field 50, the corner of the main body 20 of the cleaning device 10 has left the gap between the adjacent sub-fields 55, but still remains within the end boundary 53 of the main field 50), and continues to execute subsequent steps, such as continuing to move in the third moving direction D3 (such as the lower right corner of the main field 50) to position P8 of the main field 50, thereby continuing the row-changing cleaning procedure. When it is determined again that the body 20 exceeds one of the sub-boundaries 550 of one of the sub-fields 55, the processing module 40 controls the moving module 30 to drive the body 20 to move in the opposite direction D6 of the third moving direction D3 to the sub-boundary 550 detected again (step S1509), and determines that the body 20 has reached the end boundary 53 of the main field 50. For example, Fig.13As shown, if at position P7 of the main field 50, the processing module 40 again determines that the body 20 of the cleaning device 10 exceeds one of the sub-boundaries 550 of one of the sub-fields 55, it means that the body 20 has reached the end boundary 53 of the main field 50 (specifically, at position P7 of the main field 50, the corner CN_2 of the body 20 still exceeds the end boundary 53 of the main field 50 formed by the sub-boundaries 550 at the lower side of the left sub-field 55 and the sub-boundaries 550 at the lower side of the right sub-field 55). At this time, the processing module 40 controls the moving module 30 to drive the body 20 to move again in the opposite direction D6 of the third moving direction D3 (such as the upper left of the main field 50) until it returns to the sub-boundary 550 detected again (such as position P6 of the main field 50), and executes step S1205 to end the row-changing cleaning procedure. Since step S1509 is similar to step S1009, detailed description thereof will not be given again.

[0096] like Figure 7 As shown, in some embodiments, the sensing module 70 includes a plurality of sensor groups 71, which are respectively located at different corners of the main body 20. Each sensor group 71 includes two sensors 73A and 73B, which are staggeredly arranged at corresponding corners of the main body 20. The sensors 73A and 73B are, for example but not limited to, ultrasonic sensors, infrared sensors, etc. In some embodiments, each sensor 73A and 73B detects the distance between the main body 20 and the obstacle from the bottom of the main body 20 downward. In some embodiments, when the two sensors 73A and 73B of the same sensor group 71 both detect that the main body 20 exceeds one of the sub-boundaries 550 of one of the sub-fields 55, the processing module 40 begins to determine whether the main body 20 exceeds the detected sub-boundary 550. For example, if Figure 6 , Figure 7 and Fig.13 As shown, when the corner of the body 20 (such as Figure 6 The corner CN_1 shown and Fig.13 When the two sensors 73A and 73B of the sensor group 71 disposed at the corner CN_2 (shown as shown) both detect that the distance between the main body 20 and the obstacle is greater than the distance threshold, the processing module 40 determines, based on the detection result, whether the main body 20 (specifically, its corner) is beyond one of the sub-boundaries 550 of one of the sub-fields 55 (such as Figure 6 and Fig.13The lower sub-boundary 550 of the left sub-field 55 and / or the lower sub-boundary 550 of the right sub-field 55 shown in the figure). In this way, the frequency of detecting the gap between the adjacent sub-boundaries 550 of the adjacent sub-fields 50 can be reduced, so that the occurrence of false judgments can be reduced (i.e., the situation in which the cleaning device 10 is falsely judged to have reached the end boundary 53 of the main field 50 due to the gap, resulting in the early termination of the row-changing cleaning process, can be reduced). If only a single sensor is provided at a single corner of the body 20, false judgments may occur frequently because the gap between the adjacent sub-boundaries 550 of the adjacent sub-fields 50 is more easily detected.

[0097] like Figure 1 and Figure 7 As shown, in some embodiments, the mobile module 30 includes two mobile parts 31A and 31B, which are respectively located on both sides of the body 20 and rotated under the control of the processing module 40 (for example, the processing module 40 drives the motor of the mobile module 30 to rotate the mobile parts 31A and 31B), thereby driving the body 20 to move and rotate. The mobile parts 31A and 31B are, for example, but not limited to, tracks, rollers, etc. In some embodiments, when the mobile module 30 drives the body 20 to rotate, the two mobile parts 31A and 31B have different rotation speeds. Compared with the rotation of the cleaning device 10 in a manner in which the two mobile parts 31A and 31B have the same rotation speed, this embodiment can improve the turning radius of the cleaning device 10 when it rotates, and increase the grip of the cleaning device 10, so that the cleaning device 10 is not prone to slipping. However, the present invention is not limited to this. In other embodiments, when the mobile module 30 drives the body 20 to rotate, the two mobile parts 31A and 31B have the same rotation speed.

[0098] Reference Fig.16 and Fig.17 . Fig.16 Schematic diagram of a partial structure of a moving part 31A according to some embodiments of the present invention. Fig.17 Schematic diagram of the application of a partial structure of the moving part 31A of some embodiments of the present invention. Since the structure of the moving part 31B is the same as that of the moving part 31A, only a schematic diagram of a partial structure of the moving part 31A is shown here. In some embodiments, the moving parts 31A and 31B have a plurality of protrusions 33, which are located on the surface of the main body 35 of the moving parts 31A and 31B. One end of the protrusion 33 is the cleaning surface 57 (i.e., the surface for the cleaning device 10 to move) presented to the main field 50. In this way, when the cleaning device 10 moves on the cleaning surface 57, the protrusion 33 is deformed due to external force, thereby generating additional friction to increase the grip of the cleaning device 10 and make the cleaning device 10 less likely to slip. In some embodiments, the protrusion 33 can be a regular shape such as a triangle or a rectangle, or an irregular shape.

[0099] like Figure 7 As shown, in some embodiments, the cleaning device 10 includes an image capture module 80, which is located at the bottom of the body 20 and is coupled to the processing module 40 (not shown). The image capture module 80 is, for example, but not limited to, a device with an image capture function such as a camera. In some embodiments, the processing module 40 controls the image capture module 80 to capture the main field 50 at different times to obtain multiple images, and obtains the position information of the body 20 in the main field 50 at different times according to the row and column features presented by the main field 50 in these images. In some embodiments, the processing module 40 performs image processing on these images, and uses the row and column features presented by these images after image processing to obtain the position information of the body 20 in the main field 50 at different times to improve the accuracy of the position information. The image that has not been image processed is hereinafter referred to as the original image. In some embodiments, the image processing includes fuzzy convolution processing, subtraction processing, and binarization processing. Specifically, the processing module 40 performs a fuzzy convolution process on an original image to obtain a fuzzy convolution image, performs a subtraction process on the original image and the fuzzy convolution image to obtain a difference image, and performs a binarization process on the difference image to obtain a final image as the image after the image processing. In some embodiments, before shooting an original image, the processing module 40 adjusts the focal length of the lens of the image capture module 80 to adjust (e.g., reduce) the spatial frequency of the original image.

[0100] Reference Fig.18 , is a schematic diagram of the angle positioning series of the second image of some embodiments of the present invention. In some embodiments, the position information includes angle information. The processing module 40 controls the image capture module 80 to capture the main field 50 at the first time and the second time to obtain the first image corresponding to the first time and the second image corresponding to the second time in the images. The second time is subsequent to the first time. The processing module 40 obtains the updated angle presented by the posture of the main body 20 in the main field 50 at the second time according to the row and column characteristics of the second image and the angle information corresponding to the first time, as the angle information corresponding to the second time. In some embodiments, the angle information is based on the lower side of the main field 50 as 0 degrees (or 360 degrees), the right side as 90 degrees, the upper side as 180 degrees and the left side as 270 degrees as the coordinate system, and the direction of the front end 21 of the main body 20 of the cleaning device 10 is used as the posture reference.

[0101] For example, it is assumed that the processing module 40 stores angle information corresponding to the first time, and the angle information corresponding to the first time is 185 degrees. The angle information corresponding to the first time is 185 degrees, which means that the position of the body 20 (such as the orientation of the front end 21) at the coordinates of the main field 50 at the first time is 185 degrees. The processing module 40 performs a positive and negative degree sampling according to the angle information corresponding to the first time to obtain a sampled degree information. For example, assuming that the positive and negative degree sampling is a positive and negative 1 degree sampling, the sampled degree information is 184 degrees and 186 degrees. The processing module 40 rotates the second image according to the sampled degree information and the angle information corresponding to the first time. For example, the processing module 40 rotates the second image clockwise by 184 degrees, 185 degrees and 186 degrees in sequence to generate three rotated second images corresponding to 184 degrees, 185 degrees and 186 degrees respectively. The main field 50 presents row and column features on each of the rotated second images. The processing module 40 obtains an angle positioning direction according to the row and column features of the rotated second image. In some embodiments, the angle positioning direction refers to a gradient rise.

[0102] For example, the processing module 40 calculates the total number of pixels with high gray values ​​in each pixel vertical axis of the row and column features corresponding to the second image rotated by 184 degrees, and selects the pixel with the largest total number of pixels with high gray values ​​from each pixel vertical axis as the angular positioning representative value corresponding to the second image rotated by 184 degrees. Fig.18 As shown, the angular positioning representative value corresponding to the 184-degree rotation of the second image is 44. A pixel with a high grayscale value is, for example, a pixel with a grayscale value of 255. The processing module 40 also performs the same processing on the second image corresponding to the 185-degree rotation and the second image corresponding to the 186-degree rotation to obtain the angular positioning representative value corresponding to the 185-degree rotation and the angular positioning representative value corresponding to the 186-degree rotation. Fig.18 As shown, the angle positioning representative values ​​corresponding to the rotation of 185 degrees and 186 degrees of the second image are 45 and 46 respectively. The processing module 40 compares the angle positioning representative values ​​corresponding to the rotation of 184 degrees, 185 degrees and 186 degrees of the second image respectively to obtain the angle positioning direction. Specifically, since the angle positioning representative value corresponding to the rotation of 186 degrees of the second image is greater than the angle positioning representative value corresponding to the rotation of 185 degrees of the second image, and the angle positioning representative value corresponding to the rotation of 185 degrees of the second image is greater than the angle positioning representative value corresponding to the rotation of 184 degrees of the second image, the angle positioning representative value corresponding to the rotation of 186 degrees of the second image rises in a gradient. In this way, the angle positioning direction refers to continuing to rotate the second image toward a trend greater than 186 degrees.

[0103] The processing module 40 gradually rotates the second image according to the angular positioning direction, and calculates the angular positioning representative values ​​corresponding to the rotations of the gradually rotated second image at different angles. Here, since the method of generating the angular positioning representative values ​​corresponding to the rotations of the second image at different angles is the same as the method of generating the angular positioning representative values ​​corresponding to the rotations of 184 degrees, 185 degrees and 186 degrees of the second image, they are not described in detail. When the angular positioning representative value of the latter rotation angle of the second image presents a gradient reversal relative to the angular positioning representative value of the previous rotation angle, it indicates that the previous rotation angle is the updated angle presented by the posture of the main body 20 (such as the orientation of the front end 21) in the main field 50 at the second time. At this time, the processing module 40 uses the updated angle as the angle information corresponding to the second time to complete the update of the angle information. Fig.18 As shown, for example, since the angle positioning representative value corresponding to the 195-degree rotation of the second image is greater than the angle positioning representative value corresponding to the 196-degree rotation of the second image, the angle positioning representative value corresponding to the 196-degree rotation of the second image is gradient-down, that is, a gradient reversal occurs (from gradient-up to gradient-down). In this way, the angle information corresponding to the second time is 195 degrees, and it means that the position of the main body 20 at the second time presents 195 degrees in the coordinates of the main field. In some embodiments, Fig.18 As shown, the processing module 40 combines the angle positioning representative values ​​corresponding to different rotation angles of the second image into an angle positioning sequence according to the angle sequence.

[0104] In some embodiments, the angle information corresponding to the first time stored by the processing module 40 may be generated in a manner similar to the angle information corresponding to the second time. Specifically, the processing module 40 controls the image capture module 80 to capture the main field 50 at the third time and obtain a third image corresponding to the third time among the images. The first time is subsequent to the third time. The processing module 40 stores the angle information corresponding to the third time. The processing module 40 obtains the updated angle presented by the posture of the body 20 in the main field at the first time according to the row and column characteristics of the first image and the angle information corresponding to the third time, as the angle information corresponding to the first time.

[0105] In some embodiments, the method for generating the angle information corresponding to the first time stored by the processing module 40 may be different from the method for generating the angle information corresponding to the second time. Specifically, the processing module 40 obtains the initial angle presented by the posture of the body 20 in the main field at the first time according to the row and column characteristics of the first image and the moving direction of the body 20 at the first time, as the angle information corresponding to the first time.

[0106] Reference Fig.19, is a schematic diagram of the angle positioning sequence of the first image in some embodiments of the present invention. For example, it is assumed that the processing module 40 has not yet stored the angle information corresponding to the third time. The processing module 40 rotates the first image 360 ​​degrees step by step, and calculates the angle positioning representative values ​​corresponding to the rotation of the first image at different angles. Here, since the method of generating the angle positioning representative values ​​corresponding to the rotation of different angles of the first image is the same as the method of generating the angle positioning representative values ​​corresponding to the rotation of different angles of the second image, no detailed description is given. In some embodiments, the processing module 40 rotates the first image 180 degrees step by step, and since the angle positioning representative value corresponding to the rotation of 1 degree to 180 degrees is the same as the angle positioning representative value corresponding to the rotation of 181 degrees to 360 degrees, the processing module 40 sets the angle positioning representative value corresponding to the rotation of the first image from 181 degrees to 360 degrees as the angle positioning representative value corresponding to the rotation of the first image from 1 degree to 180 degrees.

[0107] The processing module 40 combines the angle positioning representative values ​​corresponding to different rotation angles of the first image into an angle positioning sequence according to the angle sequence. The processing module 40 obtains the peak parameter from the angle positioning sequence. For example, Fig.19 As shown, the processing module 40 obtains four peak parameters from the angle positioning sequence, each peak parameter includes a rotation angle and its corresponding angle positioning representative value. The peak parameters are, for example, a rotation angle of 20 degrees and its corresponding angle positioning representative value, a rotation angle of 108 degrees and its corresponding angle positioning representative value, a rotation angle of 200 degrees and its corresponding angle positioning representative value, and a rotation angle of 288 degrees and its corresponding angle positioning representative value. The processing module 40 obtains a target angle according to the moving direction of the main body 20 at the first time. For example, assuming that at the first time, the front end 21 of the main body 20 of the cleaning device 10 should be toward the left of the main field 50, and the cleaning device 10 should move toward the left of the main field 50 (that is, the moving direction of the cleaning device 10 should be the left of the main field 50), then the processing module 40 can know that the target angle is 270 degrees according to the coordinates of the main field 50. The processing module 40 searches for the peak parameters according to the target angle, and selects the rotation angle closest to the target angle from the peak parameters as the initial angle presented by the posture of the main body 20 in the main field 50 at the first time, and uses the initial angle as the angle information corresponding to the first time. For example, assuming that the target angle is 270 degrees, among the rotation angles of 20 degrees, 108 degrees, 200 degrees, and 288 degrees of the peak parameters, the rotation angle closest to the target angle is 288 degrees. Therefore, the processing module 40 can know that the initial angle presented by the posture of the main body 20 in the main field 50 at the first time is 288 degrees, and uses 288 degrees as the angle information corresponding to the first time.

[0108] In some embodiments, the processing module 40 determines whether the rotation of the main body 20 of the cleaning device 10 reaches a specified angle (e.g., the first angle, the second angle, and the third angle in the aforementioned steps) based on the angle information in the position information of the main body 20 in the main field 50 at different times. In some embodiments, the cleaning device 10 further includes a gyroscope. In addition to obtaining the angle information in the position information of the main body 20 in the main field 50 at different times through the images captured by the image capture module 80, the processing module 40 can also detect the angle presented by the posture of the main body 20 in the main field 50 at different times through the gyroscope as the angle information.

[0109] Reference Fig. 20 and Fig.21 . Fig. 20 Schematic diagram of a rotated first image and a vertical pixel array and a horizontal pixel array according to some embodiments of the present invention. Fig.21 Schematic diagram of a rotated second image and pixel vertical axis number array and pixel horizontal axis number array according to some embodiments of the present invention. In some embodiments, the position information further includes displacement information, and the processing module 40 rotates the second image according to the angle information corresponding to the second time, and generates updated row and column number information for the row and column features of the rotated second image according to the row and column features of the rotated second image and its pixel values ​​and the displacement information corresponding to the first time, as the displacement information corresponding to the second time.

[0110] For example, assume that the processing module 40 stores displacement information corresponding to the first time. Each bit of displacement information includes row number information and column number information. The row number information includes the row number and its corresponding pixel vertical axis position, and the column number information includes the column number and its corresponding pixel horizontal axis position. Fig. 20 As shown, it is assumed that the row number information in the displacement information corresponding to the first time has a row number "0" and its corresponding pixel vertical axis position is 93 (such as Fig. 20 ), the column number information has a column number "0" and its corresponding pixel horizontal axis position is 95 (such as Fig. 20 R1), and has a column number "1" and its corresponding pixel horizontal axis position is 180 (such as Fig. 20 Assuming that the angle information corresponding to the second time is 195 degrees, the processing module 40 rotates the second image 195 degrees clockwise to obtain Fig.21The rotated second image shown. The processing module 40 calculates the total number of pixels with high grayscale values ​​in each pixel vertical axis of the row and column characteristics of the rotated second image, and combines the total number of pixels with high grayscale values ​​corresponding to different pixel vertical axes of the second image into a pixel vertical axis number sequence according to the position sequence of the pixel horizontal axes. The processing module 40 calculates the total number of pixels with high grayscale values ​​in each pixel horizontal axis of the row and column characteristics of the rotated second image, and combines the total number of pixels with high grayscale values ​​corresponding to different pixel horizontal axes of the second image into a pixel horizontal axis number sequence according to the position sequence of the pixel horizontal axes. Here, the pixel with high grayscale value is, for example, a pixel with a grayscale value of 255.

[0111] The processing module 40 obtains the vertical axis peak parameter from the pixel vertical axis number series and obtains the horizontal axis peak parameter from the pixel horizontal axis number series. Each vertical axis peak parameter includes a pixel vertical axis position and the total number of pixels with high gray values ​​corresponding thereto. Each horizontal axis peak parameter includes a pixel horizontal axis position and the total number of pixels with high gray values ​​corresponding thereto. For example, Fig.21 As shown, the processing module 40 obtains a vertical axis peak parameter from the pixel vertical axis sequence and obtains three horizontal axis peak parameters from the pixel horizontal axis sequence. The vertical axis peak parameter is, for example, the total number of pixels with high gray values ​​corresponding to the pixel vertical axis position "83" (e.g. Fig.21 The horizontal axis peak parameter is, for example, the total number of pixels with high grayscale values ​​corresponding to the horizontal axis position "23" of the pixel (e.g. Fig.21 R3), the total number of pixels with high grayscale values ​​corresponding to the pixel horizontal axis position "105" (such as Fig.21 R4) and the total number of pixels with high gray values ​​corresponding to the pixel horizontal axis position "192" (such as Fig.21 The processing module 40 compares the vertical axis peak parameter with the row number information of the displacement information corresponding to the first time, and compares the horizontal axis peak parameter with the column number information of the displacement information corresponding to the first time, and generates updated row and column number information according to the comparison result as the displacement information corresponding to the second time, thereby completing the update of the displacement information. The updated row and column number information includes updated row number information and updated column number information.

[0112] The following is an explanation of the generation of updated row number information. For example, the processing module 40 compares the pixel vertical axis position of each vertical axis peak parameter with each pixel vertical axis position in the row number information corresponding to the first time, and generates updated row number information according to the comparison result. Specifically, the processing module 40 searches for the pixel vertical axis positions corresponding to the row number information of the first time according to the pixel vertical axis position of each vertical axis peak parameter, and selects the closest ones from the pixel vertical axis positions corresponding to the row number information of the first time as the vertical axis comparison parameter. The processing module 40 compares the pixel vertical axis position of each vertical axis peak parameter with the corresponding selected vertical axis comparison parameter to obtain a vertical axis displacement value. The vertical axis displacement value is, for example, the difference between the pixel vertical axis position of the vertical axis peak parameter and the corresponding selected vertical axis comparison parameter. When the vertical axis displacement value is not greater than a vertical axis displacement threshold, the processing module 40 uses the row number corresponding to the corresponding selected vertical axis comparison parameter as an updated row number, and records the updated row number and the pixel vertical axis position of the vertical axis peak parameter as updated row number information. For example, if Fig. 20 and Fig.21 As shown, the vertical axis position of the pixel peak parameter is 83 (as shown in Fig.21 ), the selected vertical axis alignment parameter is 93, and the corresponding row number is 0 (such as Fig. 20 In this case, the vertical axis displacement value is 10. Assuming that the vertical axis displacement threshold is 12, since the vertical axis displacement value is not greater than the vertical axis displacement threshold, the processing module 40 generates an update row number "0" according to the row number corresponding to the selected vertical axis comparison parameter (such as Fig.21 In some embodiments, the vertical axis displacement threshold is determined by parameters such as the frame number of the image capture module 80, the moving speed of the cleaning device 10, and the spacing between the row and column lines of the main field 50 for presenting row and column features in the image.

[0113] When the vertical axis displacement value is greater than the vertical axis displacement threshold value, and the vertical axis position of the pixel of the vertical axis peak parameter is greater than the corresponding selected vertical axis comparison parameter, the processing module 40 increments the row number corresponding to the corresponding selected vertical axis comparison parameter (for example, increases the row number value by one) as an updated row number, and records the updated row number and the vertical axis position of the pixel of the vertical axis peak parameter to the updated row number information in the updated row and column number information. When the vertical axis displacement value is greater than the vertical axis displacement threshold value, and the vertical axis position of the pixel of the vertical axis peak parameter is less than the corresponding selected vertical axis comparison parameter, the processing module 40 decrements the row number corresponding to the corresponding selected vertical axis comparison parameter (for example, decreases the row number value by one) as an updated row number, and records the updated row number and the vertical axis position of the pixel of the vertical axis peak parameter to the updated row number information in the updated row and column number information.

[0114] The following is a description of the generation of updated column number information. For example, the processing module 40 compares the pixel horizontal axis position of each horizontal axis peak parameter with each pixel horizontal axis position in the column number information corresponding to the first time, and generates updated column number information according to the comparison result. Specifically, the processing module 40 searches for the pixel horizontal axis positions of the column number information corresponding to the first time according to the pixel horizontal axis position of each horizontal axis peak parameter, and selects the closest ones from the pixel horizontal axis positions of the column number information corresponding to the first time as the horizontal axis comparison parameter. The processing module 40 compares the pixel horizontal axis position of each horizontal axis peak parameter with the corresponding selected horizontal axis comparison parameter to obtain a horizontal axis displacement value. The horizontal axis displacement value is, for example, the difference between the pixel horizontal axis position of the horizontal axis peak parameter and the corresponding selected horizontal axis comparison parameter. When the horizontal axis displacement value is not greater than a horizontal axis displacement threshold, the processing module 40 uses the column number corresponding to the corresponding selected horizontal axis comparison parameter as an updated column number, and records the updated column number and the pixel horizontal axis position of the horizontal axis peak parameter as updated column number information. In some embodiments, the horizontal displacement threshold is determined by parameters such as the frame number of the image capture module 80 , the moving speed of the cleaning device 10 , and the spacing between row and column lines of the main field 50 for presenting row and column features in the image.

[0115] For example, if Fig. 20 and Fig.21 As shown, the pixel horizontal axis position of a certain horizontal axis peak parameter (herein referred to as the first horizontal axis peak parameter) is 105 (such as Fig.21 Column R4), the corresponding horizontal axis alignment parameter is 95, and the corresponding column number is 0 (such as Fig. 20 In this case, the horizontal axis displacement value is 10. Assuming that the horizontal axis displacement threshold is 12, since the horizontal axis displacement value is not greater than the horizontal axis displacement threshold, the processing module 40 generates an updated column number "0" according to the column number corresponding to the selected horizontal axis comparison parameter (such as Fig.21The updated column number "0" and the pixel horizontal axis position "105" of the horizontal axis peak parameter are recorded in the updated column number information in the updated row and column number information. Similarly, Fig. 20 and Fig.21 As shown, the pixel horizontal axis position of another horizontal axis peak parameter (herein referred to as the second horizontal axis peak parameter) is 192 (as shown in FIG. Fig.21 Column R5), the corresponding horizontal axis comparison parameter is 180, and the corresponding column number is 1 (such as Fig. 20 In this case, the horizontal axis displacement value is 12. Assuming that the horizontal axis displacement threshold is 12, since the horizontal axis displacement value is not greater than the horizontal axis displacement threshold, the processing module 40 generates an updated column number "1" according to the column number corresponding to the selected horizontal axis comparison parameter (such as Fig.21 Column R5), and record the updated column number "1" and the pixel horizontal axis position "192" of the horizontal axis peak parameter into the updated column number information in the updated row and column number information.

[0116] When the horizontal axis displacement value is greater than the horizontal axis displacement threshold, and the horizontal axis position of the pixel of the horizontal axis peak parameter is greater than the corresponding selected horizontal axis comparison parameter, the processing module 40 will increment the column number corresponding to the corresponding selected horizontal axis comparison parameter (for example, add one to the value of the column number) as an updated column number, and record the updated column number and the horizontal axis position of the pixel of the horizontal axis peak parameter to the updated column number information in the updated row and column number information. When the horizontal axis displacement value is greater than the horizontal axis displacement threshold, and the horizontal axis position of the pixel of the horizontal axis peak parameter is less than the corresponding selected horizontal axis comparison parameter, the processing module 40 will decrement the column number corresponding to the corresponding selected horizontal axis comparison parameter (for example, subtract one from the value of the column number) as an updated column number, and record the updated column number and the horizontal axis position of the pixel of the horizontal axis peak parameter to the updated column number information in the updated row and column number information. For example, if Fig. 20 and Fig.21 As shown, the pixel horizontal axis position of another horizontal axis peak parameter (herein referred to as the third horizontal axis peak parameter) is 23 (as shown in FIG. Fig.21 Column R3), the corresponding horizontal axis alignment parameter is 95, and the corresponding column number is 0 (such as Fig. 20 In this case, the horizontal axis displacement value is 72. Assuming that the horizontal axis displacement threshold is 12, since the horizontal axis displacement value is greater than the horizontal axis displacement threshold and the pixel horizontal axis position of the third horizontal axis peak parameter is less than the corresponding selected horizontal axis comparison parameter, the processing module 40 generates an updated column number "-1" (such as Fig.21 Column R3), and record the updated column number "-1" and the pixel horizontal axis position "23" of the horizontal axis peak parameter into the updated column number information in the updated row and column number information.

[0117] In some embodiments, the generation method of the displacement information corresponding to the first time stored by the processing module 40 can be similar to the generation method of the displacement information corresponding to the second time. Specifically, the processing module 40 controls the image capture module 80 to capture the main field 50 at the third time to obtain a third image corresponding to the third time among the images. The first time is subsequent to the third time. The processing module 40 stores the displacement information corresponding to the third time. The processing module 40 rotates the first image according to the angle information corresponding to the first time, and generates updated row and column number information for the row and column features of the rotated first image according to the row and column features of the rotated first image and its pixel value and the displacement information corresponding to the third time, as the displacement information corresponding to the first time.

[0118] In some embodiments, the generation method of the displacement information corresponding to the first time stored by the processing module 40 may be different from the generation method of the displacement information corresponding to the second time. Specifically, the processing module 40 rotates the first image according to the angle information corresponding to the first time, and generates an initial row and column number information for the row and column features of the rotated first image according to the row and column features of the rotated first image and its pixel value, as the displacement information corresponding to the first time. The initial row and column number information includes initial row number information and initial column number information.

[0119] like Fig. 20 As shown, for example, assuming that the processing module 40 has not stored the displacement information corresponding to the third time, and assuming that the angle information corresponding to the first time is 288 degrees. At this time, the processing module 40 rotates the first image 288 degrees clockwise to obtain Fig. 20 The rotated first image shown. The processing module 40 calculates the total number of pixels with high grayscale values ​​in each pixel vertical axis of the row and column characteristics of the rotated first image, and combines the total number of pixels with high grayscale values ​​corresponding to different pixel vertical axes of the first image into a pixel vertical axis sequence according to the position order of the pixel horizontal axis. The processing module 40 calculates the total number of pixels with high grayscale values ​​in each pixel horizontal axis of the row and column characteristics of the rotated first image, and combines the total number of pixels with high grayscale values ​​corresponding to different pixel horizontal axes of the first image into a pixel horizontal axis sequence according to the position order of the pixel horizontal axis. Here, pixels with high grayscale values ​​are, for example, pixels with grayscale values ​​of 255. The processing module 40 obtains a vertical axis peak parameter from the pixel vertical axis sequence, and obtains a horizontal axis peak parameter from the pixel horizontal axis sequence. For example, as Fig. 20 As shown, the processing module 40 obtains a vertical axis peak parameter from the pixel vertical axis sequence and obtains two horizontal axis peak parameters from the pixel horizontal axis sequence. The vertical axis peak parameter is, for example, the total number of pixels with high gray values ​​corresponding to the pixel vertical axis position "93" (e.g. Fig. 20The horizontal axis peak parameter is, for example, the total number of pixels with high grayscale values ​​corresponding to the horizontal axis position "95" of the pixel (e.g. Fig. 20 R1) and the total number of pixels with high gray values ​​corresponding to the pixel horizontal axis position "180" (such as Fig. 20 of column R2).

[0120] Next, the processing module 40 generates an incremental initial row number from a row number reference value according to the order of the vertical axis position of each pixel of the vertical axis peak parameter, and corresponds to the vertical axis position of the pixel of the vertical axis peak parameter, so as to record the associated initial row number and the vertical axis position of the pixel of the vertical axis peak parameter into the initial row number information of the initial row and column number information. Fig. 20 As shown, the row number reference value is 0. Since the number of vertical axis peak parameters is one, the processing module 40 uses the row number reference value as the initial row number and corresponds to the vertical axis position "93" of the pixel of the vertical axis peak parameter (such as Fig. 20 The processing module 40 generates an incremental initial column number from a column number reference value according to the order of the horizontal axis position of each pixel of the horizontal axis peak parameter, and corresponds to the horizontal axis position of the pixel of the horizontal axis peak parameter, so as to record the associated initial column number and the horizontal axis position of the pixel of the horizontal axis peak parameter to the initial column number information of the initial row and column number information. For example, if Fig. 20 As shown, the column number reference value is 0. Since there are two horizontal axis peak parameters, the processing module 40 uses the column number reference value as an initial column number (herein referred to as the first initial column number), and adds one to the column number reference value as another initial column number (herein referred to as the second initial column number). The processing module 40 corresponds the first initial column number to the horizontal axis position "95" of the pixel of the horizontal axis peak parameter according to the order of the horizontal axis position of the pixel of each horizontal axis peak parameter (such as Fig. 20 ), and the second initial column number corresponds to the pixel horizontal axis position "180" of the horizontal axis peak parameter (such as Fig. 20 The processing module 40 records the associated first initial column number and the pixel horizontal axis position "95" and the associated second initial column number and the pixel horizontal axis position "180" into the initial column number information in the initial row and column number information.

[0121] In some embodiments, the processing module 40 calculates the moving distance and moving speed of the main body 20 of the cleaning device 10 between two different times according to the displacement information in the position information of the main body 20 in the main field 50 at different times, and can determine whether the distance moved by the main body 20 of the cleaning device 10 reaches a specified value (such as the aforementioned row switching threshold). In some embodiments, the cleaning device 10 also includes an odometer. In addition to calculating the moving distance and moving speed of the main body 20 of the cleaning device 10 between two different times and determining whether the distance moved by the main body 20 of the cleaning device 10 reaches a specified value by using the displacement information (which is obtained by analyzing the image captured by the image capture module 80), the processing module 40 can also detect and accumulate the moving distance of the main body 20 of the cleaning device 10 between two different times through the odometer, so as to determine whether the distance moved by the main body 20 of the cleaning device 10 reaches a specified value, and can calculate the moving speed of the main body 20 of the cleaning device 10 between two different times.

[0122] Reference Fig. 22 , is a schematic diagram of the overall cleaning path of the cleaning device 10 in the main field 50 in some embodiments of the present invention. In some embodiments, the processing module 40 performs the cleaning process of steps S301 to S307 multiple times to complete the overall cleaning of the main field 50. For example, the processing module 40 divides the main field 50 from top to bottom into multiple cleaning areas (such as Fig. 22 Specifically, the processing module 40 performs the cleaning process of steps S301 to S307 for the first time in the first cleaning area 59A, and performs the cleaning process of steps S301 to S307 for the second time in the second cleaning area 59B to complete the overall cleaning of the main field 50.

[0123] In some embodiments, the processing module 40 is suitable for performing the overall cleaning method of the present invention. Before performing the overall cleaning method of the present invention, the cleaning device 10 is placed at a starting position of the main field 50 (such as the lower left corner or the lower right corner of the main field 50), the cleaning device 10 is located within the boundary of the main field 50, and the front end 21 of the body 20 of the cleaning device 10 faces the upper part of the main field 50. Since the overall cleaning path to be formed after the cleaning device 10 is placed at the lower left corner of the main field 50 and the overall cleaning path to be formed after the cleaning device 10 is placed at the lower right corner of the main field 50 are in a mirror configuration, the overall cleaning method performed after the cleaning device 10 is placed at the lower left corner of the main field 50 is similar to the overall cleaning method performed after the cleaning device 10 is placed at the lower right corner of the main field 50, and the only difference is that in the corresponding steps of the two, the moving direction of the cleaning device 10 is in a mirror configuration. For the sake of brevity, the following description will only focus on the overall cleaning method performed after the cleaning device 10 is placed at the lower left corner of the main field 50 .

[0124] Reference Fig. 22 and Fig.23 . Fig.23 Flow chart of the overall cleaning method of the main field 50 in some embodiments of the present invention. Fig. 22 The figure shows the overall cleaning path formed after the cleaning device 10 is placed at the lower left corner of the main field 50 (i.e., the starting position of the cleaning device 10 is located at the lower left corner of the main field 50). First, the processing module 40 controls the moving module 30 to drive the body 20 to move from the starting position toward the top of the main field 50 until the sensing module 70 detects the top boundary of the main field 50 (step S2301). Fig. 22 As shown, after the cleaning device 10 moves from the position P10 (ie, the starting position) of the main field 50 to the position P11 , it reaches the top boundary of the main field 50 .

[0125] Next, the processing module 40 controls the moving module 30 to drive the body 20 to rotate 90 degrees counterclockwise and then move to the left of the main field 50 until the sensing module 70 detects the left boundary of the main field 50 (step S2303). Fig. 22 As shown, after the cleaning device 10 moves from the position P11 of the main field 50 to the position P12 , it reaches the left boundary of the main field 50 .

[0126] Next, the processing module 40 controls the moving module 30 to drive the body 20 to move toward the right side of the main field 50 until the sensing module 70 detects the right side boundary of the main field 50 (step S2305). Fig. 22As shown, after the cleaning device 10 moves from the position P12 to the position P13 of the main field 50, it reaches the right boundary of the main field 50. In this example, the processing module 40 performs step S301 of the first cleaning process in the first cleaning area 59A.

[0127] Next, the processing module 40 determines whether the cleaning device 10 has reached the end boundary 53 of the main field 50 in the previously executed process (step S2307). If the cleaning device 10 has reached the end boundary 53 of the main field 50 in the previously executed process, the processing module 40 executes step S2309. Fig. 22 As shown in FIG. 2 , after the cleaning device 10 moves to the position P14 of the main field 50, the cleaning device 10 has reached the end boundary 53 of the main field 50, and the processing module 40 has also determined in the previously executed process that the cleaning device 10 has reached the end boundary 53 of the main field 50. Therefore, the processing module 40 continues to execute step S2309. If the cleaning device 10 has not been determined to have reached the end boundary 53 of the main field 50 in the previously executed process, the processing module 40 executes step S2311. Fig. 22 As shown, after the cleaning device 10 moves to the position P13 or the position P15 of the main field 50, the cleaning device 10 has not yet reached the end boundary 53 of the main field 50, and the processing module 40 has not yet determined in the previously executed process that the cleaning device 10 has reached the end boundary 53 of the main field 50. Therefore, the processing module 40 continues to execute step S2311. In this example, the end boundary 53 is the bottom boundary of the main field 50.

[0128] In step S2311, the processing module 40 determines whether the cleaning device 10 is located at the left boundary or the right boundary of the main field 50. For example, the processing module 40 records the moving direction of the body 20 in the previous step, and the processing module 40 determines whether the cleaning device 10 is located at the left boundary or the right boundary of the main field 50 according to the recorded moving direction.

[0129] When it is determined that the cleaning device 10 is located at the right boundary of the main field 50, the processing module 40 executes step S2313 to perform a row-changing cleaning procedure on the right side of the main field 50, and then executes steps S2315 and S2307. Fig. 22As shown, after the cleaning device 10 moves to the position P13 of the main field 50, the processing module 40 determines that the cleaning device 10 is located at the right boundary of the main field 50 according to the rightward moving direction recorded in step S2305. Then, the processing module 40 performs steps S303 to S305 (i.e., step S2313, that is, the processing module 40 performs the right-side row-changing cleaning procedure) in the first cleaning process on the right side of the first cleaning area 59A in the main field 50, so that the cleaning device 10 moves from the position P13 of the main field 50 to the position P16. Afterwards, the processing module 40 performs step S307 (i.e., step S2315, that is, the processing module 40 controls the moving module 30 to drive the body 20 to move toward the left of the main field 50 until the sensing module 70 detects the left boundary of the main field 50) in the first cleaning process, so that the cleaning device 10 moves from the position P16 of the main field 50 to the position P15. Since the first cleaning area 59A is connected to the second cleaning area 59B, the processing module 40 can also execute step S301 in the second cleaning process for the second cleaning area 59B (i.e., step S2315, that is, the processing module 40 controls the moving module 30 to drive the main body 20 to move toward the left of the main field 50 until the sensing module 70 detects the left boundary of the main field 50), so that the cleaning device 10 moves from position P16 of the main field 50 to position P15.

[0130] When it is determined that the cleaning device 10 is located at the left boundary of the main field 50, the processing module 40 executes step S2317 to perform a row-changing cleaning procedure on the left side of the main field 50, and returns to execute steps S2305 and S2307. Fig. 22 As shown, after the cleaning device 10 moves to the position P15 of the main field 50, the processing module 40 determines that the cleaning device 10 is located at the left boundary of the main field 50 according to the leftward moving direction recorded in step S2315. Then, the processing module 40 performs steps S303 to S305 (i.e., step S2317) in the second cleaning process on the left side of the second cleaning area 59B in the main field 50, that is, the processing module 40 performs the left-side row-changing cleaning procedure, so that the cleaning device 10 moves from the position P15 of the main field 50 to the position P17. After that, the processing module 40 performs step S307 (i.e., step S2305) in the second cleaning process, so that the cleaning device 10 moves from the position P17 of the main field 50 to the position P14.

[0131] In step S2309, the processing module 40 determines whether the cleaning device 10 is located at the left boundary or the right boundary of the main field 50. When it is determined that the cleaning device 10 is located at the right boundary of the main field 50, the processing module 40 executes steps S2319 and S2321. When it is determined that the cleaning device 10 is located at the left boundary of the main field 50, the processing module 40 executes step S2321.

[0132] In one example, if the processing module 40 has learned in step S2313 that the cleaning device 10 has reached the end boundary 53 of the main field 50, the processing module 40 executes step S2309 after executing step S2315 and the subsequent step S2307, so as to determine that the cleaning device 10 is currently staying at the left boundary of the main field 50 based on the leftward moving direction recorded in step S2315, and executes step S2321.

[0133] In another example, if the processing module 40 has learned in step S2317 that the cleaning device 10 has reached the end boundary 53 of the main field 50, the processing module 40 executes step S2309 after executing step S2305 and the subsequent step S2307 to determine that the cleaning device 10 is currently staying at the right boundary of the main field 50 (e.g., Fig. 22 As shown, the cleaning device 10 stays at position P14 of the main field 50 and executes steps S2319 and S2321.

[0134] In step S2319, the processing module 40 controls the moving module 30 to drive the body 20 to move to the left of the main field 50 until the sensing module 70 detects the left boundary of the main field 50. Fig. 22 As shown, after the cleaning device 10 moves from the position P14 of the main field 50 to the position P17 , it reaches the left boundary of the main field 50 .

[0135] In step S2321, the processing module 40 controls the moving module 30 to drive the body 20 to rotate 90 degrees in a clockwise direction, so that the front end 21 of the body 20 of the cleaning device 10 faces the upper part of the main field 50, and controls the moving module 30 to drive the body 20 to move to the upper part of the main field 50 to the starting position. Fig. 22 As shown, the cleaning device 10 moves from the position P17 of the main field 50 to the position P10 (ie, the starting position).

[0136] Reference Fig.24, which is a schematic diagram of the application of the cleaning device 10 according to some embodiments of the present invention. In some embodiments, the aforementioned sensing module 70 detects the boundaries (such as the top boundary, the bottom boundary, the left boundary and the right boundary) of the main field 50 by using sensors 73A and 73B (such as Figure 7 When at least three of the above (as shown) detect that the distance between the main body 20 and the obstacle is greater than the distance threshold, it means that the sensing module 70 detects the boundary of the main field 50 and the cleaning device 10 has reached the boundary of the main field 50. Fig.24 As shown, in this example, the body 20 moves toward the top of the main field 50 , one end of the body 20 in the moving direction is the front end 21 of the body 20 , and its corners are the corners CN_3 and CN_4 , and the sensing module 70 detects the top boundary of the main field 50 .

[0137] Reference Fig.25 , is a schematic diagram of the application of the cleaning device 10 of some embodiments of the present invention. In some embodiments, when the cleaning device 10 moves to the left or right of the main field 50 to reach the left boundary or the right boundary of the main field 50, if the sensor located outside (from the perspective of the image capture module 80) (such as the corner CN_5 of the front end 21 and the corner CN_6 of the rear end 23) of the same side of the main body 20 Figure 7 The sensor 73A shown in FIG. 1 detects that the distance between the main body 20 and the obstacle is greater than the distance threshold, indicating that the cleaning device 10 is due to the cleaning surface 57 of the main field 50 (such as Fig.17 ) is inclined and slides out of the top boundary or bottom boundary of the main field 50. At this time, the processing module 40 controls the moving module 30 to drive the main body 20 to rotate in a rotation direction by an angle and then move to the top boundary or bottom boundary of the main field 50, and after moving to the top boundary or bottom boundary of the main field 50, controls the moving module 30 to drive the main body 20 to rotate in the opposite rotation direction by the angle and continue to move to the left or right of the main field 50. For example, as Fig.25 As shown, when the front end 21 of the main body 20 of the cleaning device 10 is toward the left of the main field 50, the cleaning device 10 moves toward the left of the main field 50 and slides out of the bottom boundary of the main field 50, the processing module 40 controls the moving module 30 to drive the main body 20 to rotate in a counterclockwise direction by an angle to move toward the bottom boundary of the main field 50 (as shown in FIG. Fig.25 ) until the sensor 73A in the corner CN_5 of the front end 21 and the corner CN_6 of the rear end 23 (as shown in FIG. Figure 7) detects that the distance between the main body 20 and the obstacle is not greater than the distance threshold, indicating that the cleaning device 10 has moved to the bottom boundary of the main field 50. Afterwards, the processing module 40 controls the moving module 30 to drive the main body 20 to rotate clockwise by the angle and continue to move to the left of the main field 50 (as shown in FIG. Fig.25 Path LD2 shown).

[0138] In summary, according to some embodiments, the present invention forms a V-shaped path when performing row-changing cleaning by rotating at the first angle, the second angle, and the third angle, so that the cleaning device does not need to rotate significantly in situ, thereby reducing the occurrence of slippage. Furthermore, since the V-shaped path can reduce the occurrence of slippage, the cleaning device does not need to add a suction cup mechanism or increase the motor torque. In this way, the increase in the size, weight, cost, and power consumption of the cleaning device can be avoided.

[0139] Of course, the present invention may have many other embodiments. Without departing from the spirit and essence of the present invention, those skilled in the art may make various corresponding changes and modifications based on the present invention, but these corresponding changes and modifications should all fall within the scope of protection of the claims attached to the present invention.

Claims

1. A cleaning device, characterized in that: Include: one body; A moving module located in the main body; and A processing module is coupled to the mobile module and is used to: Controlling the moving module to drive the main body to move a distance from a starting boundary of a main field toward a first moving direction; Controlling the moving module to drive the body to rotate in a first rotation direction at a first angle, so as to move a distance in a second movement direction, wherein the first angle is an acute angle; Controlling the moving module to drive the body to rotate by a second angle in a second rotation direction opposite to the first rotation direction, so as to move a distance in a third movement direction; and The moving module is controlled to drive the body to rotate a third angle in the first rotation direction to move to the starting boundary of the main field in the opposite direction of the first movement direction, wherein the third angle is an acute angle and the second angle is the sum of the first angle and the third angle.

2. The cleaning device according to claim 1, characterized in that When the moving module drives the main body to move toward the second moving direction, the processing module determines whether the main body reaches an end boundary of the main field; when it is determined that the main body reaches the end boundary of the main field, the processing module controls the moving module to drive the main body to rotate the first angle in the second rotation direction to move in the opposite direction of the first moving direction to the starting boundary of the main field; when it is not determined that the main body reaches the end boundary of the main field and the distance moved by the main body in the second moving direction reaches a column change threshold, the processing module controls the moving module to drive the main body to rotate the second angle in the second rotation direction to move a distance in the third moving direction.

3. The cleaning device according to claim 2, characterized in that The invention further comprises a sensing module coupled to the processing module, wherein the main field comprises a plurality of sub-fields, each of which comprises a plurality of sub-boundaries; wherein, when the moving module drives the main body to move toward the second moving direction, the processing module detects and determines whether the main body exceeds one of the sub-boundaries of one of the sub-fields through the sensing module; when it is determined that the main body exceeds one of the sub-boundaries of one of the sub-fields, the processing module controls the moving module to drive the main body to move in the opposite direction of the second moving direction to the second moving direction. The processing module controls the mobile module to drive the main body to move in the opposite direction of the second moving direction to the sub-boundary detected again, and continuously controls the mobile module to drive the main body to move a certain distance in the second moving direction, and detects and determines whether the main body exceeds one of the sub-boundaries of one of the sub-fields again through the sensing module; when it is determined again that the main body exceeds one of the sub-boundaries of one of the sub-fields, the processing module controls the mobile module to drive the main body to move in the opposite direction of the second moving direction to the sub-boundary detected again, and determines whether the main body has reached the end boundary of the main field.

4. The cleaning device according to claim 1, characterized in that When the moving module drives the main body to move in the third moving direction, the processing module determines whether the main body reaches an end boundary of the main field; when it is determined that the main body reaches the end boundary of the main field, the processing module controls the moving module to drive the main body to rotate the third angle in the first rotation direction to move to the starting boundary of the main field in the opposite direction of the first moving direction; when it is not determined that the main body reaches the end boundary of the main field and the distance moved by the main body in the third moving direction reaches a column change threshold, the processing module controls the moving module to drive the main body to rotate the third angle in the first rotation direction to move to the starting boundary of the main field in the opposite direction of the first moving direction.

5. The cleaning device according to claim 4, characterized in that The invention further comprises a sensing module coupled to the processing module, wherein the main field comprises a plurality of sub-fields, each of which comprises a plurality of sub-boundaries; wherein, when the moving module drives the main body to move toward the third moving direction, the processing module detects and determines whether the main body exceeds one of the sub-boundaries of one of the sub-fields through the sensing module; when it is determined that the main body exceeds one of the sub-boundaries of one of the sub-fields, the processing module controls the moving module to drive the main body to move in the opposite direction of the third moving direction to the direction of the sub-boundaries of the sub-fields. The processing module controls the mobile module to drive the main body to move in the opposite direction of the third moving direction to the sub-boundary detected again, and continuously controls the mobile module to drive the main body to move a certain distance in the third moving direction, and detects and determines whether the main body exceeds one of the sub-boundaries of one of the sub-fields again through the sensing module; when it is determined again that the main body exceeds one of the sub-boundaries of one of the sub-fields, the processing module controls the mobile module to drive the main body to move in the opposite direction of the third moving direction to the sub-boundary detected again, and determines whether the main body has reached the end boundary of the main field.

6. The cleaning device according to claim 3 or 5, characterized in that: The sensing module includes a plurality of sensor groups, which are respectively located at different corners of the main body, and each of the sensor groups includes two sensors, which are staggeredly arranged at the corresponding corners; wherein, when the two sensors of the same sensor group both detect that the main body exceeds one of the sub-boundaries of one of the sub-fields, the processing module determines that the main body exceeds the detected sub-boundary.

7. The cleaning device according to claim 1, characterized in that The moving module includes two moving parts, which are respectively located at two sides of the main body. When the moving module drives the main body to rotate, the two moving parts have different rotation speeds.

8. The cleaning device according to claim 1, characterized in that The moving module comprises two moving parts respectively located at two sides of the main body, and when the moving module drives the main body to rotate, the two moving parts respectively have the same rotation speed.

9. The cleaning device according to claim 1, characterized in that: It further comprises an image capture module coupled to the processing module. The processing module controls the image capture module to capture the main field at different times to obtain a plurality of images, and obtains position information of the main body in the main field at different times according to the row and column features presented by the main field in the images.

10. The cleaning device according to claim 9, characterized in that The position information includes an angle information. The processing module controls the image capture module to capture the main field at a first time and a second time to obtain a first image corresponding to the first time and a second image corresponding to the second time among the images. The second time is subsequent to the first time. The processing module obtains an updated angle presented by the posture of the main body in the main field at the second time based on the row and column characteristics of the second image and the angle information corresponding to the first time, as the angle information corresponding to the second time.

11. The cleaning device according to claim 10, characterized in that The processing module obtains an initial angle presented by the posture of the main body in the main field at the first time according to the row and column characteristics of the first image and the moving direction of the main body at the first time, as the angle information corresponding to the first time.

12. The cleaning device according to claim 10, characterized in that The position information further includes displacement information. The processing module rotates the second image according to the angle information corresponding to the second time, and generates an updated row and column number information for the row and column features of the rotated second image according to the row and column features and pixel values ​​thereof and the displacement information corresponding to the first time, as the displacement information corresponding to the second time.

13. The cleaning device according to claim 12, characterized in that The processing module rotates the first image according to the angle information corresponding to the first time, and generates an initial row and column number information for the row and column features of the rotated first image according to the row and column features and pixel values ​​thereof, as the displacement information corresponding to the first time.

14. A cleaning method, characterized in that: Include: Controlling a cleaning device to move a distance from a starting boundary of a main field toward a first moving direction; Controlling the cleaning device to rotate in a first rotation direction at a first angle to move a distance in a second movement direction, wherein the first angle is an acute angle; Controlling the cleaning device to rotate at a second angle in a second rotation direction opposite to the first rotation direction, so as to move a distance in a third movement direction; and The cleaning device is controlled to rotate a third angle in the first rotation direction to move to the starting boundary of the main field in the opposite direction of the first moving direction, wherein the third angle is an acute angle and the second angle is the sum of the first angle and the third angle.

15. The cleaning method according to claim 14, characterized in that: When the cleaning device moves in the second moving direction, determining whether the cleaning device reaches an end boundary of the main field; when determining that the cleaning device reaches the end boundary of the main field, controlling the cleaning device to rotate by the first angle in the second rotation direction to move in the opposite direction of the first moving direction to the starting boundary of the main field; When it is determined that the cleaning device has not reached the end boundary of the main field and the distance moved by the cleaning device in the second moving direction reaches a row-changing threshold, the cleaning device is controlled to rotate the second angle in the second rotating direction to move a distance in the third moving direction.

16. The cleaning method according to claim 15, characterized in that: The cleaning device includes a sensing module, the main field includes a plurality of sub-fields, and each of the sub-fields includes a plurality of sub-boundaries; wherein, when the cleaning device moves toward the second moving direction, the sensing module detects and determines whether the cleaning device exceeds one of the sub-boundaries of one of the sub-fields; when it is determined that the cleaning device exceeds one of the sub-boundaries of one of the sub-fields, the cleaning device is controlled to move in the opposite direction of the second moving direction to within the detected sub-boundary, and the cleaning device is continuously controlled to move a certain distance in the second moving direction, and the sensing module detects and determines again whether the cleaning device exceeds one of the sub-boundaries of one of the sub-fields; when it is determined again that the cleaning device exceeds one of the sub-boundaries of one of the sub-fields, the cleaning device is controlled to move in the opposite direction of the second moving direction to within the sub-boundary detected again, and it is determined that the cleaning device has reached the end boundary of the main field.

17. The cleaning method according to claim 14, characterized in that: When the cleaning device moves in the third moving direction, determining whether the cleaning device reaches an end boundary of the main field; when determining that the cleaning device reaches the end boundary of the main field, controlling the cleaning device to rotate by the third angle in the first rotating direction to move in the opposite direction of the first moving direction to the starting boundary of the main field; When it is determined that the cleaning device has not reached the end boundary of the main field and the distance moved by the cleaning device in the third moving direction reaches a row-changing threshold, the cleaning device is controlled to rotate the third angle in the first rotating direction to move in the opposite direction of the first moving direction to the starting boundary of the main field.

18. The cleaning method according to claim 17, characterized in that: The cleaning device comprises a sensing module, the main field comprises a plurality of sub-fields, each of the sub-fields comprises a plurality of sub-boundaries; wherein, when the cleaning device moves in the third moving direction, the sensing module detects and determines whether the cleaning device exceeds one of the sub-boundaries of one of the sub-fields; when it is determined that the cleaning device exceeds one of the sub-boundaries of one of the sub-fields, the cleaning device is controlled to move in the opposite direction of the third moving direction to within the detected sub-boundary, The cleaning device is then controlled to move a certain distance in the third moving direction, and the sensing module is used to detect and determine whether the cleaning device exceeds one of the sub-boundaries of one of the sub-fields. When it is determined again that the cleaning device exceeds one of the sub-boundaries of one of the sub-fields, the moving module is controlled to drive the cleaning device to move in the opposite direction of the third moving direction to within the sub-boundary detected again, and it is determined that the cleaning device has reached the end boundary of the main field.

19. The cleaning method according to claim 16 or 18, characterized in that: The cleaning device further includes a main body, the sensing module includes a plurality of sensor groups, which are respectively located at different corners of the main body, and each of the sensor groups includes two sensors, which are staggeredly arranged at the corresponding corners; wherein, when the two sensors of the same sensor group both detect that the main body exceeds one of the sub-boundaries of one of the sub-fields, it is determined that the cleaning device exceeds the detected sub-boundary.

20. The cleaning method according to claim 14, characterized in that: The cleaning device comprises a main body and two moving parts. The two moving parts are respectively located at two sides of the main body. When the cleaning device rotates, the two moving parts have different rotation speeds.

21. The cleaning method according to claim 14, characterized in that: The cleaning device comprises a main body and two moving parts. The two moving parts are respectively located at two sides of the main body. When the cleaning device rotates, the two moving parts respectively have the same rotation speed.

22. The cleaning method according to claim 14, characterized in that: The cleaning device includes an image capture module; wherein the cleaning method further includes controlling the image capture module to capture the main field at different times to obtain multiple images, and obtaining position information of the cleaning device in the main field at different times based on the row and column characteristics presented by the main field in the images.

23. The cleaning method according to claim 22, characterized in that: The position information includes angle information; wherein, the image capture module is controlled to capture the main field at a first time and a second time to obtain a first image corresponding to the first time and a second image corresponding to the second time among the images, and according to the row and column characteristics of the second image and the angle information corresponding to the first time, an updated angle presented by the position of the cleaning device in the main field at the second time is obtained as the angle information corresponding to the second time, wherein the second time is subsequent to the first time.

24. The cleaning method according to claim 23, characterized in that: According to the row and column characteristics of the first image and the moving direction of the cleaning device at the first time, an initial angle presented by the position of the cleaning device in the main field at the first time is obtained as the angle information corresponding to the first time.

25. The cleaning method according to claim 23, characterized in that: The position information further includes displacement information; wherein, the second image is rotated according to the angle information corresponding to the second time, and based on the row and column characteristics of the rotated second image and its pixel values ​​and the displacement information corresponding to the first time, an updated row and column numbering information is generated for the row and column characteristics of the rotated second image to serve as the displacement information corresponding to the second time.

26. The cleaning method according to claim 25, characterized in that The first image is rotated according to the angle information corresponding to the first time, and an initial row and column number information is generated for the row and column features of the rotated first image according to the row and column features and pixel values ​​thereof, so as to serve as the displacement information corresponding to the first time.

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