Cleaning method and cleaning device

Abstract

The invention provides a cleaning method and a cleaning device.The cleaning method comprises the steps that based on the initial pose of a cleaning device located in a to-be-cleaned area, the cleaning device is controlled to move along a preset route so as to clean the to-be-cleaned area; the cleaning device comprises a first cleaning part and a second cleaning part. The cleaning device is controlled to move back and forth in the to-be-cleaned area in the preset direction to form a plurality of strip-shaped cleaning areas extending in the first direction, and each strip-shaped cleaning area comprises a first sub-area wiped by the first cleaning part and a second sub-area wiped by the second cleaning part; the center line of the first sub-region and the center line of the second sub-region are spaced apart from each other in the second direction. The adjacent strip-shaped cleaning areas deviate from each other in the second direction, and the first sub-area in the previous strip-shaped cleaning area is at least partially overlapped with the second sub-area in the next strip-shaped cleaning area. By repeatedly cleaning the to-be-cleaned area for multiple times, the cleaning coverage rate of the to-be-cleaned area can be increased, and the cleaning effect is improved.

Description

Technical Field

[0001] At least one embodiment of the present disclosure relates to a cleaning method and a cleaning device. Background Art

[0002] With the advent of the era of artificial intelligence, intelligence has also become a development trend in the home appliance industry. For example, cleaning robots such as sweepers and window cleaners can free users' hands and make home cleaning more convenient and efficient. In order to improve the cleaning effect, cleaning coverage and cleaning strength are important reference indicators for the continuous development and progress of cleaning robots. Summary of the invention

[0003] At least one embodiment of the present disclosure provides a cleaning method, comprising: based on an initial position of a cleaning device located in an area to be cleaned, controlling the cleaning device to move along a preset route to clean the area to be cleaned; wherein the cleaning device comprises a first cleaning portion and a second cleaning portion connected to each other; controlling the cleaning device to reciprocate along a preset direction in the area to be cleaned to form a plurality of strip-shaped cleaning areas extending along the first direction, and each strip-shaped cleaning area comprises a first sub-area wiped by the first cleaning portion and a second sub-area wiped by the second cleaning portion, and the preset direction is parallel to the first direction; a center line of the first sub-area along the first direction and a center line of the second sub-area along the first direction are spaced from each other in a second direction intersecting the first direction; wherein adjacent strip-shaped cleaning areas among the plurality of strip-shaped cleaning areas are offset from each other in the second direction, and the first sub-area in the previous strip-shaped cleaning area at least partially overlaps with the second sub-area in the next strip-shaped cleaning area.

[0004] For example, according to an embodiment of the present disclosure, the second sub-region in the previous strip-shaped cleaning region and the first sub-region in the next strip-shaped cleaning region are spaced apart from each other in the second direction.

[0005] For example, according to an embodiment of the present disclosure, the second sub-area in the previous strip-shaped cleaning area and the first sub-area in the subsequent strip-shaped cleaning area are respectively located on the opposite sides of the first sub-area in the previous strip-shaped cleaning area in the second direction; or the second sub-area in the previous strip-shaped cleaning area and the first sub-area in the subsequent strip-shaped cleaning area are respectively located on the opposite sides of the second sub-area in the subsequent strip-shaped cleaning area in the second direction.

[0006] For example, according to an embodiment of the present disclosure, the outer contour of the first cleaning portion is circular, and the outer contour of the second cleaning portion is square.

[0007] For example, according to an embodiment of the present disclosure, the first cleaning portion includes a water applying member, and the second cleaning portion includes a wiping member.

[0008] For example, according to an embodiment of the present disclosure, both the first cleaning portion and the second cleaning portion include a water applying component.

[0009] For example, according to an embodiment of the present disclosure, the first cleaning section includes a rotating driving section that can rotate relative to the area to be cleaned, and the second cleaning section includes a linear driving section configured to drive the second cleaning section to move along the extension direction of each strip-shaped cleaning area, and the rotating driving section and the linear driving section are configured to drive the cleaning device to move along the extension direction of each strip-shaped cleaning area or to rotate around the center of the first cleaning section; the extension direction of each strip-shaped cleaning area intersects with the center connecting line direction.

[0010] For example, according to an embodiment of the present disclosure, the method further includes: based on the initial posture, controlling the cleaning device to rotate to a preset posture; controlling the cleaning device to move along a third direction opposite to the second direction until reaching a first boundary of the area to be cleaned.

[0011] For example, according to an embodiment of the present disclosure, when the cleaning device is in the preset posture, the center line direction is parallel to the first boundary.

[0012] For example, according to an embodiment of the present disclosure, the area to be cleaned includes a plane having a preset angle with a horizontal plane.

[0013] For example, according to an embodiment of the present disclosure, the third direction is a direction away from the bottom of the area to be cleaned.

[0014] For example, according to an embodiment of the present disclosure, the method also includes: controlling the second cleaning part to rotate with the center of the first cleaning part as the rotation center, in a direction away from the first boundary until the direction of the center line is parallel to the second direction; controlling the cleaning device to move along the first direction until it reaches the second boundary of the area to be cleaned.

[0015] For example, according to an embodiment of the present disclosure, the method further includes: controlling the cleaning device to move along a fourth direction until it reaches a third boundary of the area to be cleaned; wherein the fourth direction is opposite to the first direction, and the third boundary and the second boundary are opposite to each other in the first direction.

[0016] For example, according to an embodiment of the present disclosure, the method also includes: controlling the second cleaning part to rotate with the center of the first cleaning part as the rotation center, in a direction away from the third boundary until the direction of the center line is parallel to the extension direction of the strip cleaning area; controlling the cleaning device to move a first preset distance along the second direction; the first preset distance is greater than or equal to the difference between the rotation radius of the cleaning device and the radius of the first cleaning part; controlling the second cleaning part to rotate with the center of the first cleaning part as the rotation center, in a direction close to the first boundary until the direction of the center line is parallel to the second direction.

[0017] For example, according to an embodiment of the present disclosure, controlling the cleaning device to reciprocate along a first direction in the area to be cleaned to form a plurality of strip-shaped cleaning areas extending along the first direction includes: controlling the cleaning device to move back and forth between the second boundary and the third boundary to clean each strip-shaped cleaning area.

[0018] For example, according to an embodiment of the present disclosure, the method also includes: when the cleaning device reaches one of the second boundary and the third boundary, controlling the cleaning device to rotate until the direction of the center line is parallel to the extension direction of each strip cleaning area; controlling the cleaning device to move along the second direction; controlling the cleaning device to reverse until the direction of the center line is parallel to the second direction.

[0019] For example, according to an embodiment of the present disclosure, if the distance between the cleaning device and the fourth boundary of the area to be cleaned is greater than or equal to the second preset distance, the cleaning device is controlled to move along the second direction by the second preset distance; if the distance between the cleaning device and the fourth boundary is less than the second preset distance, the cleaning device is controlled to move along the second direction until it reaches the fourth boundary; wherein the fourth boundary and the first boundary are opposite to each other in the second direction.

[0020] For example, according to an embodiment of the present disclosure, the second preset distance is less than or equal to the radius of the first cleaning portion.

[0021] For example, according to an embodiment of the present disclosure, the method further includes: when all of the strip-shaped cleaning areas cover the area to be cleaned, controlling the cleaning device to return to the preset position.

[0022] At least one embodiment of the present disclosure provides a cleaning device, comprising a first cleaning section, a second cleaning section, and a control device for controlling the first cleaning section and the second cleaning section, the control device comprising a processor and a memory, the memory storing instructions for execution by the processor, the instructions causing the cleaning device to execute the above-mentioned cleaning method when executed by the processor. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings of the embodiments will be briefly introduced below. Obviously, the drawings in the following description only relate to some embodiments of the present disclosure, but are not intended to limit the present disclosure.

[0024] Figure 1A A simplified schematic diagram of a cleaning device provided by at least one embodiment of the present disclosure.

[0025] Figure 1B A schematic diagram of wiping of a cleaning device provided by at least one embodiment of the present disclosure.

[0026] Figure 2A A schematic diagram of the motion trajectory of a cleaning device provided by at least one embodiment of the present disclosure.

[0027] FIG. 2B to FIG. 2D for Figure 2B Schematic diagram of a partial trajectory of the motion trajectory diagram shown.

[0028] Figure 3 A flow chart of a cleaning method provided by at least one embodiment of the present disclosure.

[0029] Figure 4 for Figure 3 Flowchart of step S180 in the flowchart shown. DETAILED DESCRIPTION

[0030] In order to make the purpose, technical solution and advantages of the embodiments of the present disclosure clearer, the technical solution of the embodiments of the present disclosure will be clearly and completely described below in conjunction with the drawings of the embodiments of the present disclosure. Obviously, the described embodiments are part of the embodiments of the present disclosure, rather than all of the embodiments. Based on the described embodiments of the present disclosure, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present disclosure.

[0031] Unless otherwise defined, the technical terms or scientific terms used in the present disclosure should be understood by people with ordinary skills in the field to which the present disclosure belongs. The words "first", "second" and similar words used in the present disclosure do not indicate any order, quantity or importance, but are only used to distinguish different components. The words "include" or "comprise" and similar words mean that the elements or objects appearing before the word cover the elements or objects listed after the word and their equivalents, without excluding other elements or objects.

[0032] The features such as "vertical", "parallel" and "same" used in the embodiments of the present disclosure include the features such as "vertical", "parallel" and "same" in a strict sense, as well as the cases where "approximately vertical", "approximately parallel" and "approximately the same" contain certain errors, taking into account the errors associated with the measurement and the measurement of specific quantities (that is, the limitations of the measurement system), and are expressed within the acceptable deviation range for a specific value determined by ordinary technicians in this field. The "center" in the embodiments of the present disclosure can include a position strictly located at the geometric center and a position approximately centered within a small area around the geometric center. For example, "approximately" can mean within one or more standard deviations, or within 10% or 5% of the value.

[0033] With the advent of the era of artificial intelligence, intelligence has also become a development trend in the home appliance industry. When cleaning and repairing windows, exterior walls or floors of buildings or structures, cleaning devices such as window cleaning robots and sweeping robots have been widely used. When cleaning the area to be cleaned, the cleaning device can drive the rag at the bottom of the body to move while moving forward, thereby wiping off the dirt.

[0034] Taking the window cleaning robot in the cleaning device as an example, the window cleaning robot can be roughly divided into two categories, one is the crawler-type square disc window cleaning machine, and the other is the double suction cup rotating disc window cleaning machine. In the research, the inventor of the present application found that although the square disc window cleaning machine can wipe the corners of the window more comprehensively, the wiping force is small and the cleaning effect is poor. In contrast, although the disc window cleaning machine has a strong wiping force, the wiping range is relatively limited.

[0035] At least one embodiment of the present disclosure provides a cleaning method, comprising: based on the initial position of the cleaning device located in the area to be cleaned, controlling the cleaning device to move along a preset route to clean the area to be cleaned; wherein the cleaning device comprises a first cleaning portion and a second cleaning portion connected to each other; controlling the cleaning device to move back and forth in the area to be cleaned along a preset direction to form a plurality of strip-shaped cleaning areas extending along a first direction, and each strip-shaped cleaning area comprises a first sub-area wiped by the first cleaning portion and a second sub-area wiped by the second cleaning portion, and the preset direction is parallel to the first direction; a center line of the first sub-area along the first direction and a center line of the second sub-area along the first direction are spaced from each other in a second direction intersecting the first direction; adjacent strip-shaped cleaning areas in the plurality of strip-shaped cleaning areas are offset from each other in the second direction, and a first sub-area in a previous strip-shaped cleaning area at least partially overlaps with a second sub-area in a subsequent strip-shaped cleaning area.

[0036] At least one embodiment of the present disclosure provides a cleaning method, in which the cleaning device moves along a preset route and reciprocates in a preset direction in the area to be cleaned to clean, thereby forming a plurality of strip-shaped cleaning areas extending in the first direction during the cleaning process. The area cleaned and wiped by the first cleaning unit is the first sub-area, and the area cleaned by the second cleaning unit is the second sub-area. The first sub-area and the second sub-area are spaced apart, so that the areas cleaned by the first cleaning unit and the second cleaning unit at least partially do not overlap. The cleaning device moves along the second direction during the cleaning process to clean the area to be cleaned, so that two adjacent strip-shaped cleaning areas are offset in the second direction. The previous strip-shaped cleaning area refers to the strip-shaped cleaning area formed by the cleaning device wiping first. In the strip-shaped cleaning area formed by wiping first, the area wiped by the first cleaning unit forms the first sub-area. The first sub-area overlaps at least partially with the second sub-area in the next strip-shaped cleaning area, that is, the second cleaning unit will wipe the area wiped by the first cleaning unit in the previous strip-shaped cleaning area again. In this way, multiple repeated cleaning of the area to be cleaned can be achieved, the cleaning coverage of the area to be cleaned is improved, and the area to be cleaned after multiple wiping is also cleaner.

[0037] The cleaning method and the cleaning device are described below with reference to the accompanying drawings and through some embodiments.

[0038] Figure 1A A simplified schematic diagram of a cleaning device 100 provided in accordance with at least one embodiment of the present disclosure. Figure 1B A schematic diagram of wiping of a cleaning device provided by at least one embodiment of the present disclosure.

[0039] refer to Figure 1A and Figure 1B , a cleaning method provided by at least one embodiment of the present disclosure includes controlling the cleaning device 100 to move along a preset route to clean the area 200 to be cleaned based on the initial position of the cleaning device 100 located in the area 200 to be cleaned. For example, the area 200 to be cleaned is a plane area or an area approximately flat that needs to be cleaned. For example, the area 200 to be cleaned is one of the surface of a window, the surface of a wall, and the ground. For example, the outer shape of the area 200 to be cleaned is a regular shape or an irregular shape. For example, the regular shape is a rectangle. Of course, the outer shape of the area 200 to be cleaned can also be other shapes, which are not limited here.

[0040] For example, the initial position refers to the position and posture of the cleaning device 100 when the user places the cleaning device 100 in the area to be cleaned 200. For example, in combination with some embodiments described later, the position of the cleaning device 100 can be determined based on its two-dimensional coordinates in the area to be cleaned 200. For example, the posture of the cleaning device 100 can be determined based on the center connection direction l of the first cleaning part 110 and the second cleaning part 120. For example, the center connection direction l is the connection direction of the center p of the first cleaning part 110 and the center q of the second cleaning part 120.

[0041] For example, the preset route refers to the route that the cleaning device 100 gradually forms based on the preset instructions during the process of cleaning the area to be cleaned 200. Of course, the preset route can also be the route that the cleaning device 100 plans based on its own posture and the boundary contour of the area to be cleaned 200 after the cleaning device 100 is placed in the area to be cleaned 200. In addition, the preset route can also be a route set by the user according to actual needs, which is not limited here.

[0042] like Figure 1A As shown, the cleaning device 100 includes a first cleaning unit 110 and a second cleaning unit 120 connected to each other. For example, the housing of the first cleaning unit 110 is directly connected to the housing of the second cleaning unit 120. For example, the first cleaning unit 110 and the second cleaning unit 120 are separated from each other, and the two are indirectly connected by means of other components. For example, Figure 1A As shown, the outer contour of the first cleaning part 110 is circular, and the outer contour of the second cleaning part 120 is square. For example, the outer contour of the second cleaning part 120 is square. In other examples, the outer contour of the first cleaning part can also be set to be square, and the outer contour of the second cleaning part can be set to be circular. Of course, the outer contour of the first cleaning part and the outer contour of the second cleaning part can also be set to other shapes, and the present disclosure is not limited to this.

[0043] like Figure 1B As shown, the cleaning device 100 is controlled to move back and forth in a preset direction in the area to be cleaned 200 to form a plurality of strip-shaped cleaning areas Z extending along the first direction x1. The preset direction is parallel to the first direction x1. For example, when the cleaning device 100 moves along a preset route for cleaning, the preset route includes a plurality of straight motion routes extending along the first direction x1, and the cleaning device 100 reciprocates along the straight motion route, thereby forming a plurality of strip-shaped cleaning areas Z in the process of cleaning the area to be cleaned 200.

[0044] For example, the linear motion route intersects with the center line direction l of the first cleaning portion 110 and the second cleaning portion 120. For example, the linear motion route is perpendicular to the center line direction l of the first cleaning portion 110 and the second cleaning portion 120. The center line direction l refers to the extending direction of the line between the center p of the first cleaning portion 110 and the center q of the second cleaning portion 120. For example, the center line direction l is parallel to the longitudinal direction of the cleaning device 100.

[0045] like Figure 1B As shown, each strip cleaning area Z includes a first sub-area m wiped by the first cleaning part 110 and a second sub-area n wiped by the second cleaning part 120. Taking the first cleaning part 110 as having a circular outer contour and the second cleaning part 120 as having a square outer contour as an example, the area wiped and cleaned by the circular first cleaning part 110 along the straight line motion route is the first sub-area m, and the area wiped and cleaned by the square second cleaning part 120 along the straight line motion route is the second sub-area n. Figure 1B As shown, the center line of the first sub-area m along the first direction x1 and the center line of the second sub-area n along the first direction x1 are spaced from each other in the second direction y2 intersecting the first direction x1. In this way, the area cleaned and wiped by the first cleaning unit 110 and the area cleaned by the second cleaning unit 120 do not overlap at least partially, so that at least partially different areas are cleaned by the first cleaning unit 110 and the second cleaning unit 120. It can be understood that in each strip-shaped cleaning area Z, the first sub-area m formed by wiping the first cleaning unit 110 and the second sub-area n formed by wiping the second cleaning unit 120 may overlap partially or not at all. For example, the angle between the center line direction l and the first direction x1 may be 85° to 95°. For example, the center line direction l may be perpendicular to the first direction x1. For example, when the center line direction l is perpendicular to the first direction x1, the first sub-area m and the second sub-area n in each strip-shaped cleaning area Z do not overlap at all.

[0046] For the convenience of illustration, the orthographic projection of the motion trajectory of the center p of the first cleaning section 110 on the first sub-region m is taken as the center line m' of the first sub-region m, and the orthographic projection of the motion trajectory of the center q of the second cleaning section 120 on the second sub-region n is taken as the center line n' of the second sub-region n.

[0047] like Figure 1BAs shown, in each strip-shaped cleaning area Z, the center line m' of the first sub-area m and the center line n' of the second sub-area n do not overlap and are parallel to each other. It can be understood that when the cleaning device 100 moves along the linear motion route in the preset route, the center line m' of the first sub-area m and the center line n' of the second sub-area n are both parallel to the linear motion route in the preset route. For example, the linear motion route is parallel to at least one boundary of the area to be cleaned 200. In some other examples, there is an angle between the linear motion route and the boundary of the area to be cleaned 200.

[0048] like Figure 1B As shown, the adjacent strip-shaped cleaning areas in the plurality of strip-shaped cleaning areas Z are offset from each other in the second direction y2, and the first sub-area m1 in the previous strip-shaped cleaning area Z1 and the second sub-area n2 in the next strip-shaped cleaning area Z2 at least partially overlap. The cleaning device 100 moves along the second direction y2 during the cleaning process to clean the area 200 to be cleaned, so that the two adjacent strip-shaped cleaning areas Z are offset in the second direction y2. The previous strip-shaped cleaning area Z1 refers to the strip-shaped cleaning area Z2 formed after being wiped by the cleaning device 100. For example, the first sub-area in the previous strip-shaped cleaning area is m1 and the second sub-area is n1, and the first sub-area in the next strip-shaped cleaning area is m2 and the second sub-area is n2. In the previous strip-shaped cleaning area Z1 formed by wiping, the area wiped by the first cleaning unit 110 forms the first sub-area m1 which at least partially overlaps with the second sub-area n2 in the next strip-shaped cleaning area Z2, that is, the second cleaning unit 120 will wipe the area wiped by the first cleaning unit 110 in the previous strip-shaped cleaning area Z1 again. Of course, in some other examples, when the first cleaning portion is square and the second cleaning portion is circular, the square first cleaning portion may wipe first, and then the circular second cleaning portion may wipe again.

[0049] At least one embodiment of the present disclosure provides a cleaning method, when the cleaning device 100 moves along a preset route, the cleaning device 100 reciprocates along the first direction x1 in the area to be cleaned 200 to clean, thereby forming a plurality of strip-shaped cleaning areas Z during the cleaning process. The area cleaned and wiped by the first cleaning unit 110 is the first sub-area m, and the area cleaned by the second cleaning unit 120 is the second sub-area n. The first sub-area m is spaced from the second sub-area n, so that the areas cleaned by the first cleaning unit 110 and the second cleaning unit 120 at least partially do not overlap. During the cleaning process, the cleaning device 100 moves along the second direction y2 to clean the area to be cleaned 200, so that the two adjacent strip-shaped cleaning areas Z are offset in the second direction y2. The previous strip-shaped cleaning area Z1 refers to the strip-shaped cleaning area formed by the cleaning device 100 wiping first. In the previous strip-shaped cleaning area Z1 formed by wiping first, the area wiped by the first cleaning unit 110 forms the first sub-area m1. The first sub-area m1 at least partially overlaps with the second sub-area n2 in the next strip-shaped cleaning area Z2, that is, the second cleaning unit 120 will wipe again the area in the previous strip-shaped cleaning area Z1 that has been wiped by the first cleaning unit 110. In this way, the area to be cleaned 200 can be repeatedly cleaned, the cleaning coverage of the area to be cleaned 200 is improved, and the area to be cleaned 200 after multiple wiping is also cleaner.

[0050] In some examples, the second sub-region in the previous strip-shaped cleaning region and the first sub-region in the next strip-shaped cleaning region are spaced apart from each other in the second direction. Figure 1B , the first sub-region in the previous strip-shaped area is m1 and the second sub-region is n1, and the first sub-region in the next strip-shaped area is m2 and the second sub-region is n2. The second sub-region n1 formed by wiping first and the first sub-region m2 formed by wiping later are spaced in the second direction y2, that is, when the cleaning device 100 deviates along the second direction y2 and wipes to form the next strip-shaped cleaning area Z2, the first cleaning unit 110 will no longer wipe the area in the previous strip-shaped cleaning area Z1 that has been wiped by the second cleaning unit 120. When cleaning and wiping, the second cleaning unit 120 will erase the traces left by the rotational wiping of the first cleaning unit 110. By spacing the second sub-region n1 and the first sub-region m2 in the second direction y2, it is possible to prevent the first cleaning unit 110 from leaving the traces of rotational wiping in the second sub-region n1 again. At the same time, it is also possible to increase the coverage area of ​​the two adjacent strip-shaped cleaning areas Z, thereby improving the wiping and cleaning efficiency of the cleaning device 100.

[0051] refer to Figure 1BIn some examples, the second sub-region n1 in the previous strip-shaped cleaning area Z1 and the first sub-region m2 in the next strip-shaped cleaning area Z2 are respectively located on opposite sides of the first sub-region m1 in the previous strip-shaped cleaning area Z1 in the second direction y2. In this way, the first sub-region m2 formed by the next wiping of the first cleaning unit 110 and the second sub-region n1 formed by the previous wiping of the second cleaning unit 120 do not overlap. It can be understood that the first sub-region m2 and the first sub-region m1 may partially overlap or not overlap at all; the second sub-region n1 and the first sub-region m1 may partially overlap (for example, the center line direction l of the cleaning device 100 intersects and is not perpendicular to the extension direction of the strip-shaped cleaning area Z) or not overlap at all (for example, the center line direction l of the cleaning device 100 is perpendicular to the extension direction of the strip-shaped cleaning area Z).

[0052] refer to Figure 1B In some examples, the second sub-area n1 in the previous strip-shaped cleaning area Z1 and the first sub-area m2 in the next strip-shaped cleaning area Z2 are respectively located on opposite sides of the second sub-area n2 in the next strip-shaped cleaning area Z2 in the second direction y2. In this way, the first sub-area m2 formed by the last wiping of the round disk and the second sub-area n1 formed by the previous wiping of the square disk do not overlap. It can be understood that the first sub-area m2 and the second sub-area n2 may partially overlap or not overlap at all; the second sub-area n1 and the second sub-area n2 may partially overlap (for example, the center line direction l of the cleaning device 100 intersects and is not perpendicular to the extension direction of the strip-shaped cleaning area Z), or may not overlap at all (for example, the center line direction l of the cleaning device 100 is perpendicular to the extension direction of the strip-shaped cleaning area Z).

[0053] It should be noted that Figure 1B It is only schematically shown that when the outer contour of the first cleaning portion is circular and the outer contour of the second cleaning portion is square, wiping cleaning is performed in the area to be cleaned to form the first sub-area and the second sub-area. However, the present disclosure is not limited to this, and the outer contour of the first cleaning portion and the outer contour of the second cleaning portion can also be other shapes.

[0054] refer to Figure 1AFor example, the first cleaning section 110 includes a rotating driving section 111 that can rotate relative to the area to be cleaned 200, and the rotating driving section 111 can rotate to drive the first cleaning section 110 to rotate, thereby driving the cleaning device 100 to rotate. For example, the rotating driving section 111 is a turntable. For example, the turntable can rotate under the drive of a rotating motor, thereby driving the first cleaning section 110 to rotate. For example, the rotation center of the rotating driving section 111 coincides with the rotation center of the first cleaning section 110. For example, the outer contour of the first cleaning section 110 is a circle, and the rotation center of the first cleaning section 110 is the center of the circle. For example, the second cleaning section 120 includes a linear driving section 121 configured to drive the second cleaning section 120 to move along the extension direction of each strip-shaped cleaning area Z, and the linear driving section 121 can drive the second cleaning section 120 to move in a straight line, thereby driving the cleaning device 100 to move in a straight line. For example, the linear driving section 121 drives the second cleaning section 120 to move in a direction intersecting with the center line direction l. For example, the driving direction of the linear drive unit 121 is perpendicular to the center line direction l. For example, the linear drive unit 121 is a crawler. For example, the crawler can move linearly under the drive of the linear motor, thereby driving the second cleaning unit 120 to move linearly. For example, the forward direction of the crawler is parallel to the extension direction of each strip cleaning area Z. For example, the forward direction of the crawler is perpendicular to the center line direction l of the cleaning device 100. For example, the outer contour of the second cleaning unit 120 is a square.

[0055] For example, the rotary drive unit 111 and the linear drive unit 121 are configured to drive the cleaning device 100 to move along the extension direction of each strip-shaped cleaning area Z or to rotate around the center p of the first cleaning unit 110, and the extension direction of each strip-shaped cleaning area Z intersects with the center connection line direction l. For example, the extension direction of each strip-shaped cleaning area Z is perpendicular to the center connection line direction l. When the cleaning device 100 moves in the area to be cleaned 200 to clean it, the cleaning device 100 moves along a preset route by means of the joint action of the rotary drive unit 111 and the linear drive unit 121. The first cleaning unit 110 drives the cleaning device 100 to rotate around the center of the rotary drive unit 111. On the one hand, the movement direction of the cleaning device 100 can be adjusted, for example, the cleaning device 100 can be turned, and on the other hand, the area to be cleaned 200 can be rotated and wiped by means of the rotation of the first cleaning unit 110. The second cleaning unit 120 drives the cleaning device 100 to move in a straight line. On the one hand, it can drive the cleaning device 100 to move along the extension direction of each strip-shaped cleaning area Z, and on the other hand, it can also wipe the area passed by. For example, by controlling the rotation speed, tilt direction, etc. of the rotation drive unit 111, the cleaning device 100 can be controlled to rotate to adjust the posture or to move in a straight line to perform a cleaning operation. However, the embodiments of the present disclosure are not limited to this. As long as the cleaning device 100 can rotate to adjust the posture and move in a straight line to clean, various control methods can be applied to the cleaning device 100. In addition, the traces left when the first cleaning unit 110 rotates and wipes can be erased by the straight line movement of the second cleaning unit 120, which greatly reduces the traces that may be left after cleaning the area 200 to be cleaned, and the cleaning effect is better.

[0056] For example, when the cleaning device 100 needs to move in a straight line without turning, the tangential speed of the first cleaning part 110 during rotation is the same as the movement speed of the linear drive part 121, and the rotational movement of the first cleaning part 110 is coordinated with the linear movement of the second cleaning part 120, so that the cleaning device 100 can move in a straight line on the linear movement route. For example, when the cleaning device 100 needs to turn, the second cleaning part 120 can be controlled not to drive the cleaning device 100 to move temporarily, and only the first cleaning part 110 controls the cleaning device 100 to rotate.

[0057] In other examples, the first cleaning unit includes a linear drive unit, and the second cleaning unit includes a rotary drive unit. It is understandable that, in the above case, the first cleaning unit can first move in a straight line under the drive of the linear drive unit, and wipe and clean along the straight line, and then the second cleaning unit can rotate and move under the drive of the rotary drive unit, and wipe and clean by rotating. The specific driving methods of the linear drive unit and the rotary drive unit can refer to the above examples, and will not be repeated here. For example, the outer contour of the first cleaning unit can be square. For example, the outer contour of the second cleaning unit can be circular. It is understandable that the present disclosure only schematically shows the outer contour of the first cleaning unit and the outer contour of the second cleaning unit, and the present disclosure is not limited to this.

[0058] refer to Figure 1A For example, the first cleaning part 110 includes a water application part 112. The water application part 112 refers to a part that can apply cleaning liquid to the area to be cleaned 200. The cleaning liquid is, for example, clean water, detergent, etc. For example, the water application part 112 can be a wet wiping cloth. For example, the wiping cloth can be manually wetted by the user. For example, the cleaning device 100 may include a part that can spray cleaning liquid to the water application part 112, such as a nozzle. When the cleaning device 100 is cleaning, the nozzle is controlled to spray cleaning liquid to the water application part 112, so that the wiping cloth changes from a dry state to a wet state, and then the wet wiping cloth wipes the area to be cleaned 200. Of course, the present disclosure is not limited to this, and the water application part can also directly apply cleaning liquid to the area to be cleaned 200, and the second cleaning part 120 wipes and cleans it.

[0059] refer to Figure 1A For example, the second cleaning unit 120 includes a wiping member 122. The wiping member 122 refers to a member capable of wiping the area to be cleaned 200. The wiping member 122 is, for example, a wiping cloth. The wiping cloth is, for example, a dry wiping cloth. For example, the water absorption of the second cleaning unit 120 is stronger than that of the first cleaning unit 110. For example, the wiping cloth of the second cleaning unit 120 can be made of a material with stronger water absorption, so as to better absorb the cleaning liquid of the area to be cleaned 200.

[0060] For example, the water application component 112 is Figure 1A The wiping member 122 is schematically mounted on the bottom surface of the first cleaning portion 110. Figure 1A 110 and the wiping member 122 are schematically installed on the bottom surface of the second cleaning portion 120. For example, the bottom surface of the first cleaning portion 110 and the bottom surface of the second cleaning portion 120 both refer to the side surface of the cleaning device 100 facing the area to be cleaned 200 when in use. Of course, the outer contour shape, size, and installation position of the water application member 112 and the wiping member 122 are not limited thereto, and can also be designed according to actual needs, as long as the area to be cleaned 200 can be cleaned.

[0061] In combination with some of the aforementioned embodiments, the water application component 112 is driven by the first cleaning part 110 to rotate and wipe the area to be cleaned 200, and the wiping component 122 is driven by the second cleaning part 120 to wipe along a straight line. In addition, the water application component 112 wipes the first sub-area m in each strip-shaped cleaning area Z, and the wiping component 122 wipes the second sub-area n in each strip-shaped cleaning area Z. There is a time difference between the water application component 112 and the wiping component 122 wiping the same section in the area to be cleaned 200.

[0062] For example, when the water application member 112 is a wet wiping cloth and the wiping member 122 is a dry wiping cloth, the water application member 112 first wet-wipes the area to be cleaned 200, and then the dry wiping member 122 dry-wipes the wet area.

[0063] It is understandable that the rotating wiping method of the first cleaning part 110 simulates the manual wiping action, and the wiping force on the area to be cleaned 200 is greater, and the cleaning effect is better. Moreover, when the water application part 112 rotates with the first cleaning part 110, the cleaning liquid can be thrown to the surrounding side of the water application part 112 by centrifugal force, so that the cleaning liquid is not limited to the part where the water application part 112 contacts the area to be cleaned 200, saving the amount of cleaning liquid. At the same time, the dry wiping part 122 performs secondary wiping, which can wipe off the cleaning liquid remaining on the area to be cleaned 200.

[0064] For example, the first cleaning part and the second cleaning part both include a water application component. For example, the water application component refers to a component that can apply cleaning liquid to the area to be cleaned. The cleaning liquid is, for example, clean water, detergent, etc. For example, the water application component can be a wet wiping cloth. For example, the wiping cloth can be manually soaked by the user. For example, the cleaning device may include a component that can spray cleaning liquid to the water application component of the first cleaning part and the water application component of the second cleaning part, such as a nozzle. When the cleaning device is cleaning, the nozzle is controlled to spray cleaning liquid to the water application component of the first cleaning part and the water application component of the second cleaning part respectively, so that the wiping cloth of the first cleaning part and the wiping cloth of the second cleaning part are changed from a dry state to a wet state, and then the wet wiping cloth wipes the area to be cleaned. Of course, the present disclosure is not limited to this, and the water application component can also directly apply cleaning liquid to the area to be cleaned, and the first cleaning part and the second cleaning part wipe and clean it respectively.

[0065] It is understandable that by wet wiping the first cleaning unit and the second cleaning unit through the water application component, the stubborn stains in the area to be cleaned can be wiped clean through multiple wet wiping. In addition, the first cleaning unit wipes with greater force through rotation, making it easier to remove heavy stains. After the first cleaning unit wipes, the second cleaning unit moves in a straight line and wet wiping again, which can better erase the rotation wiping marks left by the first cleaning unit and improve the cleanliness of the area to be cleaned.

[0066] In combination with the above examples, when the first cleaning part that cleans first is square and the first cleaning part wipes along a straight line, a second wiping can be performed by a circular second cleaning part, and stubborn stains can be further removed by a rotating wiping method. It is understandable that the first cleaning part with a square or circular outer contour can be used for wet wiping or dry wiping. Similarly, the second cleaning part with a circular or square outer contour can be used for wet wiping or dry wiping. As long as cleaning can be achieved by means of different wiping methods of the first cleaning part and the second cleaning part, the present disclosure does not limit this.

[0067] For example, the area to be cleaned 200 includes a plane having a preset angle with the horizontal plane, such as a wall or a window. For example, the preset angle is 30°, 45°, 60°, 75°, 90°, 135°, 150°, etc. Of course, the area to be cleaned 200 may also be a plane parallel to the horizontal plane, such as a horizontal ground, which is not limited here.

[0068] For example, when the area to be cleaned 200 is a wall or a window, since the area to be cleaned 200 has a preset angle with the horizontal plane, when the water application component 112 wipes the area relatively higher than the area to be cleaned 200, the cleaning liquid remaining on the area to be cleaned 200 flows downward under the influence of gravity, and the area relatively lower than the area can be pre-cleaned, and the amount of cleaning liquid can be saved. In addition, it can also avoid that too much cleaning liquid is retained in the area higher than the area, which makes it difficult to wipe the wiping component 122 in the second cleaning part 120.

[0069] For example, the outer contour of the water application component 112 is circular, and the outer contour of the wiping component 122 is square. The water application component 112 with a circular outer contour is conducive to rotating with the rotation of the first cleaning part 110. The wiping component 122 with a square outer contour can make up for the corner areas that are difficult to wipe with the circular water application component 112. In addition, in combination with some of the aforementioned embodiments, the wiping component 122 with a square outer contour can also bring the cleaning liquid left in the area to be cleaned 200 by the circular water application component 112 to the corner areas, further improving the cleaning effect after wiping. For example, the outer contour of the wiping component 122 is a square, and the side length of the outer contour of the wiping component 122 is equal to the diameter size of the water application component 112.

[0070] Figure 2AA schematic diagram of the motion trajectory of a cleaning device provided by at least one embodiment of the present disclosure. FIG. 2B to FIG. 2D for Figure 2A Schematic diagram of a partial trajectory of the motion trajectory diagram shown. Figure 3 A flow chart of a cleaning method provided by at least one embodiment of the present disclosure. Figure 3 Combined with Figure 2A , Figure 2B , for example, the cleaning method further includes step S105: based on the initial posture, controlling the cleaning device 100 to rotate to a preset posture;

[0071] Step S110 : controlling the cleaning device 100 to move along a third direction y1 opposite to the second direction y2 until reaching the first boundary 210 of the area to be cleaned 200 . For example, the third direction y1 is perpendicular to the first boundary 210 .

[0072] In step S105, the preset posture refers to the cleaning device 100 being adjusted to a preset posture by rotating in the initial posture. For example, the area 200 to be cleaned is a window perpendicular to the horizontal plane, and the cleaning device 100 in the preset posture has a center line direction l parallel to the horizontal plane. For example, the cleaning device 100 in the preset posture has a center line direction l perpendicular to the gravity direction. For example, the gravity direction is opposite to the third direction y1. It is understandable that by adjusting the posture of the cleaning device 100 to the center line direction l parallel to the horizontal plane, it is easy to control the subsequent actions of the cleaning device 100, so as to obtain the first boundary 210 of the area 200 to be cleaned parallel to the horizontal plane.

[0073] In step S110, the first boundary 210 refers to a boundary of the area to be cleaned 200 in the third direction y1. For example, the third direction y1 is a direction away from the bottom of the area to be cleaned 200. It can be understood that when there is a preset angle between the area to be cleaned 200 and the horizontal plane, the bottom of the area to be cleaned 200 is also the relatively lower part (for example, it can be Figure 2A 240). Taking the preset angle between the area to be cleaned 200 and the horizontal plane as 90° as an example, the third direction y1 is, for example, an upward direction, and accordingly, the first boundary 210 is the top edge of the area to be cleaned 200. It can be understood that, although the second direction y2 and the third direction y1 are parallel to each other, they point in opposite directions. It should be noted that the first boundary 210 can be a physical boundary, such as a window frame, or a virtual boundary, such as a frameless glass boundary.

[0074] According to step S105 and step S110, the cleaning device 100 can be controlled to adjust its posture from the initial posture and move to the first boundary 210 of the area to be cleaned 200. For example, the outer contour of the first cleaning part 110 in the cleaning device 100 is circular, the outer contour of the second cleaning part 120 is rectangular, and the diameter size of the first cleaning part 110 is equal to the size of the second cleaning part 120 in the direction perpendicular to the center line l. When the outer walls of the first cleaning part 110 and the second cleaning part 120 both reach the first boundary 210, it is determined that the cleaning device 100 reaches the first boundary 210. Of course, the present disclosure is not limited to this. For example, when the cleaning device 100 moves along the third direction y1, any point on the outer wall of the cleaning device 100 reaches the first boundary 210, it is determined that the cleaning device 100 reaches the first boundary 210. For example, a sensor can be set at the edge of the first cleaning part 110 and the second cleaning part 120 to determine whether the cleaning device 100 reaches the first boundary 210.

[0075] refer to Figure 2B and Figure 3 For example, the cleaning method further includes step S120: controlling the second cleaning portion 120 to rotate with the center p of the first cleaning portion 110 as the rotation center, in a direction away from the first boundary 210 until the center line direction l is parallel to the second direction y2;

[0076] Step S130: controlling the cleaning device 100 to move along the first direction x1 until it reaches the second boundary 220 of the area to be cleaned 200. For example, the first direction x1 is perpendicular to the second boundary 220.

[0077] In step S120, the second cleaning part 120 is connected to the first cleaning part 110, and when the first cleaning part 110 rotates, the second cleaning part 120 can be driven by the first cleaning part 110 to rotate. For example, the outer contour of the water application part 112 and the outer contour of the first cleaning part 110 are both circular, and the rotation center is the center of the first cleaning part 110. For example, the outer contour of the area to be cleaned 200 is a rectangle, and the rotation angle is 90°.

[0078] Combined with the content in the aforementioned step S110, after the cleaning device 100 reaches the first boundary 210, by controlling the second cleaning part 120 to rotate in a direction away from the first boundary 210, it can be ensured that the second cleaning part 120 is still in the area to be cleaned 200 after the rotation. In addition, it can also avoid the situation where the cleaning device 100 interferes with the physical first boundary 210 (such as a window frame) or obstacles outside the first boundary 210 (such as the ground) during the rotation process, thereby avoiding interference with the movement route of the cleaning device 100 and preventing the first boundary 210 from getting stuck in the first cleaning part 110 and making it difficult for the cleaning device 100 to continue moving. For example, after the cleaning device 100 completes the rotation action, the center line direction l is perpendicular to the first boundary 210, so as to facilitate the completion of the action in the aforementioned step S130.

[0079] It should also be noted that, in some examples, the outer contour of the first cleaning part 110 is circular, and when the first cleaning part 110 rotates, the distance from the center p of the first cleaning part 110 to the edge of its outer contour is equal everywhere, that is, the rotation radius of the first cleaning part 110 is always consistent. When adjusting the posture of the cleaning device 100, by controlling the first cleaning part 110 to rotate instead of the second cleaning part 120 to rotate, it is possible to avoid the boundary of the area to be cleaned 200 (such as the first boundary 210) from getting stuck in the second cleaning part 120 with a square outer contour. In this way, the cleaning method in the present disclosure is conducive to adjusting the posture of the cleaning device 100.

[0080] In step S130, by controlling the cleaning device 100 to move along the first direction x1, the second boundary 220 of the area to be cleaned 200 can be determined. For example, the second boundary 220 refers to a boundary of the area to be cleaned 200 in the first direction x1. For example, the first direction x1 is a direction parallel to the horizontal plane. It can be understood that the second boundary 220 and the determination of the second boundary 220 can refer to the content of the aforementioned step S110, which will not be repeated here.

[0081] According to step S120 and step S130, the cleaning device 100 can be controlled to determine a corner of the to-be-cleaned area 200 through movement. For example, the cleaning device 100 at least partially abuts against the first boundary 210, and at least partially abuts against the second boundary 220. For example, the first cleaning portion 110 of the cleaning device 100 is relatively above the second cleaning portion 120. In this way, the first cleaning portion 110 can first clean the area in the strip-shaped cleaning area Z that is closest to the first boundary 210.

[0082] For example, the cleaning method further includes step S140: controlling the cleaning device 100 to move along the fourth direction x2 until it reaches the third boundary 230 of the area to be cleaned 200; the fourth direction x2 is opposite to the first direction x1, and the third boundary 230 and the second boundary 220 are opposite to each other in the first direction x1. It can be understood that although the fourth direction x2 and the first direction x1 are parallel to each other, they point in opposite directions.

[0083] In the aforementioned step S130, the cleaning device 100 has reached the second boundary 220. In step S140, the third boundary 230 of the area to be cleaned 200 can be determined by controlling the cleaning device 100 to move in the opposite direction. For example, when the outer contour of the area to be cleaned 200 is a rectangle, the second boundary 220 and the third boundary 230 are two opposite sides of the rectangle. It can be understood that the third boundary 230 and the determination of the third boundary 230 can refer to the content of the aforementioned step S110, which will not be repeated here.

[0084] According to step S140, the first cleaning unit 110 in the cleaning device 100 cleans the first row of strip-shaped cleaning areas Z among the plurality of strip-shaped cleaning areas Z in the area to be cleaned 200. For example, the first row of strip-shaped cleaning areas Z is wet-wiped by means of the water application component 112 in the first cleaning unit 110. It should be noted that the "first row" refers to, for example Figure 1B The strip-shaped cleaning area Z shown is parallel to and closest to the first boundary 210. It is understood that a "row" can refer to a "row" in the transverse direction parallel to the first boundary 210, or a "column" in the longitudinal direction parallel to the second boundary 220. Of course, the present disclosure is not limited to Figure 1B The bow-shaped route shown in the figure first cleans the first row, and the first column closer to the second boundary 220 or the third boundary 230 can also be cleaned along the longitudinal direction. For example, the present disclosure can be such that the cleaning device 100 is arranged along the following Figure 1B The cleaning device 100 wipes along the left and right directions (the first direction x1 and the fourth direction x2) shown in the figure to form a strip-shaped cleaning area Z extending laterally, and deviates along the second direction y2, so that the cleaning device 100 wipes along a "Z"-shaped route (for example, refer to Figure 2A For example, the present disclosure may also allow the cleaning device 100 to move in the up-down direction to wipe and form a longitudinally extending strip cleaning area Z, and each time it shifts to the left (or shifts to the right), so that the cleaning device wipes along an "N"-shaped route (not shown in the figure). In addition, the present disclosure may also allow the cleaning device to move along other routes to wipe, as long as it is conducive to wiping by the first cleaning part first and then wiping by the second cleaning part.

[0085] refer to Figure 2C , Figure 2D and Figure 3For example, the cleaning method further includes step S150: controlling the second cleaning portion 120 to rotate with the center p of the first cleaning portion 110 as the rotation center, in a direction away from the third boundary 230 until the center line direction l is parallel to the extension direction of the strip cleaning area Z;

[0086] Step S160: Control the cleaning device 100 to move a first preset distance L1 along a second direction y2, the second direction y2 being opposite to the third direction y1; the first preset distance L1 being greater than or equal to a difference between a rotation radius R of the cleaning device 100 and a radius r of the first cleaning portion 110;

[0087] Step S170 : Control the second cleaning portion 120 to rotate with the center p of the first cleaning portion 110 as the rotation center, toward the first boundary 210 until the center line direction l is parallel to the second direction y2 .

[0088] In step S150, by controlling the second cleaning unit 120 to rotate in a direction away from the third boundary 230, it is possible to ensure that the second cleaning unit 120 remains within the to-be-cleaned area 200 after the rotation. For example, the rotation angle is 90°. In addition, controlling the first cleaning unit 110 to drive the second cleaning unit 120 to rotate away from the third boundary 230 is also beneficial to the posture adjustment of the cleaning device 100. For details, please refer to the content of the aforementioned step S120, which will not be repeated here.

[0089] In step S160, the second direction y2 is, for example, a downward direction. For example, the second direction y2 is a gravity direction. For example, the second direction y2 is parallel to the third boundary 230. For example, the rotation radius R of the cleaning device 100 is a line connecting the center p of the first cleaning portion 110 and the diagonal point of the second cleaning portion 120 away from the first cleaning portion 110. Figure 2C , the first preset distance L1 is greater than or equal to the difference between the rotation radius R of the cleaning device 100 and the radius r of the first cleaning part 110, so that when the cleaning device 100 moves downward and needs to perform the later-described step S170, the cleaning device 100 will not collide with the boundary of the area to be cleaned 200 or obstacles outside the boundary due to rotation. For example, the first preset distance L1 is equal to the difference between the rotation radius R of the cleaning device 100 and the radius r of the first cleaning part 110. In this way, the cleaning device 100 can reduce the missed area when wiping the area to be cleaned 200, and the coverage rate of the wiped and cleaned area is greater, thereby improving the cleaning efficiency of the area to be cleaned 200.

[0090] In step S170, the cleaning device 100 is controlled to rotate again, for example, by 90°. Figure 2DAs shown, the second cleaning section 120 of the cleaning device 100 is located above the first cleaning section 110. In combination with some of the aforementioned embodiments, after the first row of strip-shaped cleaning areas Z are wet-wiped by the water-applying component 112 of the first cleaning section 110 to form a first sub-area, the cleaning device 100 is rotated 180°, so that the second cleaning section 120 including the wiping component 122 is adjusted to the area where the first sub-area is located, and the water-applying component 112 is adjusted to the area offset from the first sub-area in the second direction y2, so as to facilitate the completion of subsequent actions (refer to Figure 1B ) Cleaning action of the cleaning device 100.

[0091] refer to Figure 1B Combined with Figure 3 For example, controlling the cleaning device 100 to reciprocate along the first direction x1 in the area to be cleaned 200 to form a plurality of strip-shaped cleaning areas Z extending along the first direction x1 includes step S180 : controlling the cleaning device 100 to reciprocate between the second boundary 220 and the third boundary 230 to clean the area to be cleaned 200 .

[0092] In step S180, the round trip means that after the cleaning device 100 reaches the second boundary 220, it moves toward the third boundary 230, and after reaching the third boundary 230, it moves toward the second boundary 220. For example, in step S170, the cleaning device 100 is at the third boundary 230, and the cleaning device 100 can be controlled to move along the first direction x1 toward the second boundary 220. In this process, Figure 2D As shown, the second cleaning part 120 of the cleaning device 100 performs dry wiping on the first sub-area m1 in the previous strip-shaped cleaning area Z1, while the first cleaning part 110 performs wet wiping on the first sub-area m2 in the next strip-shaped cleaning area Z2. Similarly, taking the second direction y2 as the downward gravity direction as an example, by the cleaning device 100 going back and forth between the second boundary 220 and the third boundary 230, the first cleaning part 110 can wet-wipe the area relatively lower, and then the second cleaning part 120 relatively higher can dry-wipe the area. On the basis of combining the rotary wiping method with the cleaning liquid of the water-applying part 112, the linearly moving wiping part 122 performs drying treatment, which can not only wipe off the traces left by the rotation, but also make the area to be cleaned 200 dry quickly, thereby improving the cleaning effect. Of course, the first cleaning section 110 and the second cleaning section 120 both capable of wet wiping may be used to repeatedly wet-wipe the cleaning area 200. On the one hand, the rotating first cleaning section 110 may be used to remove heavy stains, and on the other hand, the second cleaning section 120 may wipe away the rotational wiping marks of the first cleaning section 110.

[0093] For example, when the cleaning device 100 moves back and forth between the second boundary 220 and the third boundary 230, the water application component 112 in the first cleaning part 110 applies cleaning liquid to the to-be-cleaned area 200. In this embodiment, during the cleaning process, the water application component 112 in the first cleaning part 110 is located in a relatively lower area, and the cleaning liquid flows downward due to gravity, and will not affect the dry area after being wiped by the wiping component 122 relatively above.

[0094] Figure 4 for Figure 3 The flowchart of step S180 in the flowchart shown in FIG. Figure 2D and Figure 4 , for example, step S180 includes:

[0095] Step S181: the cleaning device 100 reaches one of the second boundary 220 and the third boundary 230, and controls the cleaning device 100 to rotate until the center line direction l is parallel to the extension direction of each strip-shaped cleaning area Z;

[0096] Step S182: controlling the cleaning device 100 to move along the second direction y2;

[0097] Step S183: Control the cleaning device 100 to reverse until the center line direction l is parallel to the second direction y2.

[0098] In step S181, when the cleaning device 100 reaches the second boundary 220, the cleaning device 100 is controlled to rotate in a direction away from the second boundary 220, for example, by 90°. When the cleaning device 100 reaches the third boundary 230, the cleaning device 100 is controlled to rotate in a direction away from the third boundary 230, for example, by 90°. In addition, controlling the first cleaning unit 110 to drive the second cleaning unit 120 to rotate away from the second boundary 220 or the third boundary 230 is also beneficial to the posture adjustment of the cleaning device 100. For details, please refer to the content in the aforementioned step S120, which will not be repeated here.

[0099] In step S182 , the second direction y2 is, for example, a downward direction.

[0100] In step S183, when the cleaning device 100 is at the second boundary 220, the cleaning device 100 is controlled to rotate toward the second boundary 220, for example, by 90°. When the cleaning device 100 is at the third boundary 230, the cleaning device 100 is controlled to rotate toward the third boundary 230, for example, by 90°.

[0101] According to step S181, step S182 and step S183, the cleaning device 100 can be made to move along a path similar to the following. Figure 2AThe cleaning device 100 moves along a bow-shaped (or "Z"-shaped) route, thereby achieving comprehensive cleaning of the area to be cleaned 200 by moving back and forth between the second boundary 220 and the third boundary 230, thereby improving the cleaning coverage rate. Of course, the cleaning device 100 can also adaptively adjust the movement route according to the outer contour of the area to be cleaned 200, which is not limited here.

[0102] refer to Figure 2D For example, if the distance between the cleaning device 100 and the fourth boundary 240 of the area to be cleaned 200 is greater than or equal to the second preset distance L2, the cleaning device 100 is controlled to move the second preset distance L2 along the second direction y2; if the distance between the cleaning device 100 and the fourth boundary 240 is less than the second preset distance L2, the cleaning device 100 is controlled to move along the second direction y2 until it reaches the fourth boundary 240; the fourth boundary 240 and the first boundary 210 are opposite to each other in the second direction y2.

[0103] For example, the fourth boundary 240 is the bottom edge of the area to be cleaned 200. The distance between the cleaning device 100 and the fourth boundary 240 is, for example, the distance between the outer contour of the cleaning device 100 and the fourth boundary 240 facing each other. By setting the second preset distance L2, the cleaning device 100 can be controlled to move down the second preset distance L2 each time after reaching the second boundary 220 or the third boundary 230 in the area to be cleaned 200. When the cleaning device 100 moves down, it gradually approaches the fourth boundary 240, that is, approaches the bottom edge. When the distance between the cleaning device 100 and the fourth boundary 240 is not enough to allow the cleaning device 100 to continue to move down the second preset distance L2, the cleaning device 100 is directly controlled to move to the fourth boundary 240.

[0104] For example, the second preset distance L2 is smaller than the radius r of the first cleaning section 110. During the movement of the cleaning device 100 along the bow-shaped route, after each displacement along the second direction y2, there is an overlapping area between the area to be wiped on the straight motion route where the first cleaning section 110 is located and the wiped area in the previous row. It can be understood that the overlapping area after each displacement is the overlapping area between the first sub-area m1 in the previous strip-shaped cleaning area Z1 and the second sub-area n2 in the next strip-shaped cleaning area Z2. In this way, the cleaning device 100 can wipe repeatedly during the cleaning process to improve the cleaning effect.

[0105] For example, the second preset distance L2 is 1 / 3 to 1 of the radius r of the first cleaning portion 110 . For example, the second preset distance L2 may be, but is not limited to, 1 / 3, 1 / 2, 3 / 5, 4 / 5, or 1 of the radius r of the first cleaning portion 110 .

[0106] For example, the second preset distance L2 is equal to the radius r of the first cleaning portion 110. In this way, after the cleaning device 100 deviates along the second direction y2 each time, the first sub-region m2 to be wiped by the first cleaning portion 110 in the next strip-shaped cleaning area Z2 has less overlapping area with the first sub-region m1 wiped in the previous strip-shaped cleaning area Z1, thereby shortening the cleaning route, allowing the cleaning device 100 to complete the cleaning action faster, and improving the cleaning efficiency.

[0107] Reference again Figure 3 For example, the cleaning method further includes step S190: when all strip cleaning areas Z cover the to-be-cleaned area 200, controlling the cleaning device 100 to return to a preset position. By controlling the cleaning device 100 to return to a preset position after cleaning, it is convenient for the user to retrieve the cleaning device 100.

[0108] In step S190, when all the strip-shaped cleaning areas Z cover the area to be cleaned 200, that is, the area wiped and cleaned by the cleaning device 100 has covered the area to be cleaned 200. For example, in combination with some of the aforementioned embodiments and taking the second direction y2 as the downward gravity direction as an example, when the first sub-area m in all the strip-shaped cleaning areas Z covers the area to be cleaned 200, that is, when the first cleaning part 110 in the cleaning device 100 wipes the entire area to be cleaned 200 from top to bottom, it can be determined that the cleaning device 100 has completed the cleaning of the area to be cleaned 200. It can be understood that in order to improve the cleaning efficiency, after the first cleaning part 110 cleans the last row area, the posture of the cleaning device 100 can be no longer adjusted to make the second cleaning part 120 wipe the last row area again. Of course, this solution is not limited to this. If a better cleaning effect is to be achieved, the cleaning device 100 can also be controlled to adjust its posture so that the second cleaning part 120 is below the first cleaning part 110, thereby completing the cleaning of the last row area.

[0109] refer to Figure 2A and Figure 2B For example, referring to the aforementioned step S110, in the process of controlling the cleaning device 100 to determine the first boundary 210, the first movement distance D1 of the cleaning device 100 may also be recorded. For example, referring to the aforementioned step S130, in the process of controlling the cleaning device 100 to determine the second boundary 220, the second movement distance D2 of the cleaning device 100 may also be recorded. For example, referring to the aforementioned step 140, in the process of controlling the cleaning device 100 to determine the third boundary 230, the third movement distance D3 of the cleaning device 100 may also be recorded. It can be understood that when the outer contour of the area to be cleaned 200 is a rectangle, the third movement distance D3 is the side length of the area to be cleaned 200.

[0110] For example, in the process of controlling the cleaning device 100 to return to the preset position, the cleaning device 100 is controlled to adjust its posture and move from the fourth boundary 240 along the third direction y1 to the first boundary 210. It can be understood that after step S190, the cleaning device 100 is located at the fourth boundary 240 and at the second boundary 220 or the third boundary 230. When adjusting the posture of the cleaning device 100, the cleaning device 100 can be controlled to rotate according to the boundary where the cleaning device 100 is located, so that the center line direction l of the cleaning device 100 is parallel to the fourth boundary 240, so that it can move along the third direction y1.

[0111] For example, after the cleaning device 100 reaches the first boundary 210, the coordinate position of the cleaning device 100 in the preset posture is determined according to the first movement distance D1, the second movement distance D2 and the third movement distance D3, so as to control the cleaning device 100 to return to the preset posture. The third movement distance D3 is, for example, the side length of the area to be cleaned 200.

[0112] For example, according to the aforementioned coordinate position, the cleaning device 100 is controlled to move the first movement distance D1 along the second direction y2, and the cleaning device 100 is controlled to rotate until the center line direction l is perpendicular to the first boundary 210. If the cleaning device 100 is at the second boundary 220 at this time, the cleaning device 100 is controlled to move the second movement distance D2 along the fourth direction x2. If the cleaning device 100 is at the third boundary 230 at this time, the cleaning device 100 is controlled to move the difference distance between the third movement distance D3 and the second movement distance D2 along the first direction x1. For example, the cleaning device 100 is controlled to rotate a certain angle, so as to adjust the posture to a preset posture. Of course, the present solution is not limited to this. The cleaning device 100 can also adjust the rotation angle of the cleaning device 100 based on the coordinate position of the preset posture, so as to move directly to the preset position along a straight line, and then adjust the rotation angle to the preset posture to complete the return action.

[0113] refer to Figure 1A The present disclosure also provides a cleaning method, based on the initial position of the cleaning device 100 located in the area to be cleaned 200, controlling the cleaning device 100 to move along a preset route to clean the area to be cleaned 200. The first cleaning part 110 includes a water application component 112. The second cleaning part 120 includes a wiping component 122. The area to be cleaned 200 is wet-wiped by the water application component 112, and then dry-wiped by the wiping component 122, which not only makes it easier to remove dirt in the area to be cleaned 200, but also keeps the area to be cleaned 200 dry after dry wiping.

[0114] For example, the water application component 112 refers to a component that can apply cleaning liquid to the area to be cleaned 200. The cleaning liquid is, for example, clean water, detergent, etc. For example, the water application component 112 can be a wet wiping cloth. The wiping component 122 refers to a component that can wipe the area to be cleaned 200. The wiping component 122 is, for example, a wiping cloth. The wiping cloth is, for example, a dry wiping cloth.

[0115] For example, the outer contour of the first cleaning part 110 is circular, and the outer contour of the second cleaning part 120 is rectangular. For example, the outer contour of the water application part 112 is circular, and the outer contour of the wiping part 122 is rectangular. The rectangular wiping part 122 can wipe the corner area that the circular wiping part 122 cannot reach, thereby improving the cleaning coverage of the area to be cleaned 200.

[0116] For example, the first cleaning section 110 includes a rotating driving section 111 that can rotate relative to the area to be cleaned 200. The rotating driving section 111 can rotate to drive the first cleaning section 110 to rotate, and then drive the cleaning device 100 to rotate. For example, the second cleaning section 120 includes a linear driving section 121 configured to drive the second cleaning section 120 to move in a direction perpendicular to the center line direction l. The linear driving section 121 can drive the second cleaning section 120 to move in a straight line, and then drive the cleaning device 100 to move in a straight line. In this way, when the first cleaning section 110, for example, which is circular, rotates and wipes, it can drive the water application component 112 to simulate the manual wiping action, so that the wiping force is greater. For example, the second cleaning section 120, which is rectangular, moves in a straight line, so that it can drive the wiping component 122 to erase the traces left after the water application component 112 rotates. In addition, when the water application component 112 rotates, the cleaning liquid can splash to the surrounding area, so that the cleaning liquid is not only limited to the part where the water application component 112 contacts the area to be cleaned 200, but can also be used by the second cleaning part 120 to perform re-cleaning using the surrounding cleaning liquid, thereby saving the amount of cleaning liquid.

[0117] refer to Figure 1A At least one embodiment of the present disclosure provides a cleaning device 100, including a first cleaning unit 110, a second cleaning unit 120, and a control device for controlling the first cleaning unit 110 and the second cleaning unit 120. The control device includes a processor and a memory, and the memory stores instructions for execution by the processor. When the instructions are executed by the processor, the cleaning device 100 executes the cleaning method of any of the above embodiments. Since the cleaning device 100 according to the embodiment of the present disclosure is used for the above cleaning method, it also has corresponding beneficial technical effects, which will not be described in detail here.

[0118] There are a few points to note:

[0119] (1) In the drawings of the embodiments of the present disclosure, only the structures related to the embodiments of the present disclosure are involved, and other structures can refer to the general design.

[0120] (2) In the absence of conflict, features in the same embodiment or in different embodiments of the present disclosure may be combined with each other.

[0121] The above description is merely an exemplary embodiment of the present disclosure and is not intended to limit the protection scope of the present disclosure. The protection scope of the present disclosure is determined by the appended claims.

Claims

1. A cleaning method comprising: Based on the initial position of the cleaning device in the area to be cleaned, controlling the cleaning device to move along a preset route to clean the area to be cleaned; Wherein, the cleaning device comprises a first cleaning part and a second cleaning part connected to each other; Controlling the cleaning device to reciprocate in a preset direction in the area to be cleaned to form a plurality of strip-shaped cleaning areas extending along a first direction, each strip-shaped cleaning area including a first sub-area wiped by the first cleaning portion and a second sub-area wiped by the second cleaning portion, the preset direction being parallel to the first direction; a center line of the first sub-area along the first direction and a center line of the second sub-area along the first direction being spaced apart from each other in a second direction intersecting the first direction; Wherein, adjacent strip-shaped cleaning areas among the plurality of strip-shaped cleaning areas are offset from each other in the second direction, and the first sub-area in a preceding strip-shaped cleaning area at least partially overlaps with the second sub-area in a succeeding strip-shaped cleaning area.

2. The method of claim 1, wherein: The second sub-area in the preceding strip-shaped cleaning area and the first sub-area in the succeeding strip-shaped cleaning area are spaced apart from each other in the second direction.

3. The method of claim 1, wherein: The second sub-region in the previous strip-shaped cleaning region and the first sub-region in the next strip-shaped cleaning region are respectively located at two opposite sides of the first sub-region in the previous strip-shaped cleaning region in the second direction; or The second sub-region in the preceding strip-shaped cleaning region and the first sub-region in the succeeding strip-shaped cleaning region are respectively located at two opposite sides of the second sub-region in the succeeding strip-shaped cleaning region in the second direction.

4. The method according to any one of claims 1 to 3, wherein: The outer contour of the first cleaning portion is circular, and the outer contour of the second cleaning portion is square.

5. The method according to any one of claims 1 to 3, wherein: The first cleaning part includes a water applying member, and the second cleaning part includes a wiping member.

6. The method according to any one of claims 1 to 3, wherein: The first cleaning part and the second cleaning part both include a water applying component.

7. The method of claim 6, wherein: The first cleaning section includes a rotation driving section that can rotate relative to the area to be cleaned, and the second cleaning section includes a linear driving section configured to drive the second cleaning section to move along the extension direction of each strip-shaped cleaning area, and the rotation driving section and the linear driving section are configured to drive the cleaning device to move along the extension direction of each strip-shaped cleaning area or to rotate around the center of the first cleaning section; The extending direction of each strip-shaped cleaning area intersects with the center connection line direction.

8. The method of claim 7, further comprising: Based on the initial posture, controlling the cleaning device to rotate to a preset posture; The cleaning device is controlled to move along a third direction opposite to the second direction until it reaches a first boundary of the area to be cleaned.

9. The method of claim 8, wherein: When the cleaning device is in the preset posture, the center line direction is parallel to the first boundary.

10. The method of claim 9, wherein: The area to be cleaned includes a plane having a preset angle with a horizontal plane.

11. The method of claim 10, wherein: The third direction is a direction away from the bottom of the area to be cleaned.

12. The method of claim 8, further comprising: Controlling the second cleaning portion to rotate with the center of the first cleaning portion as the rotation center in a direction away from the first boundary until the center line direction is parallel to the second direction; The cleaning device is controlled to move along a first direction until it reaches a second boundary of the area to be cleaned.

13. The method of claim 12, further comprising: Controlling the cleaning device to move along a fourth direction until it reaches a third boundary of the area to be cleaned; The fourth direction is opposite to the first direction, and the third boundary and the second boundary are opposite to each other in the first direction.

14. The method of claim 13, further comprising: Controlling the second cleaning portion to rotate with the center of the first cleaning portion as the rotation center in a direction away from the third boundary until the center connecting line direction is parallel to the extension direction of the strip-shaped cleaning area; Controlling the cleaning device to move a first preset distance along the second direction; the first preset distance is greater than or equal to the difference between the rotation radius of the cleaning device and the radius of the first cleaning portion; The second cleaning portion is controlled to rotate with the center of the first cleaning portion as the rotation center in a direction close to the first boundary until the center line direction is parallel to the second direction.

15. The method of claim 14, wherein: The controlling the cleaning device to reciprocate along a first direction in the area to be cleaned to form a plurality of strip-shaped cleaning areas extending along the first direction comprises: The cleaning device is controlled to move back and forth between the second boundary and the third boundary to clean each strip-shaped cleaning area.

16. The method of claim 15, further comprising: The cleaning device reaches one of the second boundary and the third boundary, and controls the cleaning device to rotate until the direction of the center line is parallel to the extension direction of each strip-shaped cleaning area; controlling the cleaning device to move along the second direction; The cleaning device is controlled to reverse until the center line direction is parallel to the second direction.

17. The method of claim 16, wherein: If the distance between the cleaning device and the fourth boundary of the area to be cleaned is greater than or equal to a second preset distance, controlling the cleaning device to move along the second direction by the second preset distance; If the distance between the cleaning device and the fourth boundary is less than the second preset distance, controlling the cleaning device to move along the second direction until reaching the fourth boundary; The fourth boundary and the first boundary are opposite to each other in the second direction.

18. The method of claim 17, wherein: The second preset distance is less than or equal to the radius of the first cleaning portion.

19. The method of claim 15, further comprising: When all of the strip-shaped cleaning areas cover the area to be cleaned, the cleaning device is controlled to return to the preset position.

20. A cleaning device, comprising a first cleaning section, a second cleaning section, and a control device for controlling the first cleaning section and the second cleaning section, the control device comprising a processor and a memory, the memory storing instructions for execution by the processor, the instructions, when executed by the processor, causing the cleaning device to execute the cleaning method according to any one of claims 1 to 19.

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