Surface cleaning device and operation method thereof

Abstract

According to the surface cleaning device and the operation method thereof, by adjusting the posture of the surface cleaning device, the surface cleaning device is changed from the initial position to the position in which the movement direction is perpendicular to the second boundary, finally the surface cleaning device is controlled to move to the third boundary in the fourth direction, and the fourth direction is opposite to the third direction; and calculating the distance between the second boundary and the third boundary, wherein the distance between the second boundary and the third boundary is the movement distance of the surface cleaning device and the length of the surface cleaning device in the third direction. After the size of the surface cleaning device is measured, the cleaning strategy including the moving speed of the surface cleaning device, the spraying frequency of the cleaning liquid and the like can be adjusted according to the size, cleaning of the surface to be cleaned is completed synchronously, and then better cleaning experience is obtained.

Description

Technical Field

[0001] This application relates to the field of cleaning technology, and particularly to a surface cleaning device and an operation method thereof. Background Art

[0002] A surface cleaning device is a household appliance that can provide a cleaning function, such as a self-moving surface cleaning device like a window cleaning robot or a floor cleaning robot. A cleaning unit is usually provided at the bottom of the surface cleaning device. When the surface cleaning device moves on the surface to be cleaned, the cleaning unit wipes the surface to be cleaned, thereby achieving the cleaning effect on the surface to be cleaned.

[0003] In order to obtain a better cleaning effect, before performing a cleaning operation, a surface cleaning device usually needs to detect the boundary and size of the surface to be cleaned. After obtaining the boundary and size of the surface to be cleaned, cleaning path planning and speed planning are performed based on the boundary and size, and then the cleaning operation is performed according to the planned cleaning path, thereby improving the cleaning efficiency.

[0004] In the prior art, a surface cleaning device usually detects the boundary through a sensor. Specifically, sensors are installed on the front side and / or the rear side of the surface cleaning device. During the process of detecting the boundary, the surface cleaning device is controlled to walk in each direction respectively. When the surface cleaning device walks to the boundary position, the sensor can detect the boundary signal, and thus the position of the boundary can be determined. However, this process of detecting the boundary takes a long time, affecting the cleaning efficiency and user experience of the surface cleaning device. In addition, the size of the surface cleaning device is not measured, and a better cleaning strategy cannot be obtained according to the size during path planning, resulting in low cleaning efficiency. Summary of the Invention

[0005] In view of this, this application provides an operation method for a surface cleaning device to facilitate solving the problem of low cleaning efficiency in the prior art.

[0006] In a first aspect, an embodiment of this application provides an operation method for a surface cleaning device. The surface cleaning device is used to clean a surface to be cleaned. The surface to be cleaned includes a first boundary, a second boundary, a third boundary, and a fourth boundary. The first boundary and the fourth boundary are parallel, and the second boundary and the third boundary are respectively vertically connected between the first boundary and the fourth boundary. The method is characterized by including:

[0007] Step S1, controlling the surface cleaning device to move from an initial position in a first direction until the first boundary is sensed, and recording a first distance between the initial position and the first boundary. Controlling the surface cleaning device to move a first safe distance in a second direction, where the second direction is opposite to the first direction;

[0008] Step S2, control the surface cleaning device to move in the third direction until it senses the second boundary, record the second distance between the initial position and the second boundary, and control the surface cleaning device to move in the fourth direction to a second safe distance, where the third direction is perpendicular to the first direction;

[0009] Step S3, control the surface cleaning device to rotate around its own center by a first angle and approach the first boundary or the second boundary. According to whether the surface cleaning device senses the first boundary or the second boundary, control the surface cleaning device to rotate around its own center in the opposite direction and continue to move along the first boundary or the second boundary. When the angle between the surface cleaning device and the first boundary or the second boundary is less than a first set value, control the surface cleaning device to rotate around its own center in the opposite direction to a second angle and approach the second boundary or the first boundary. According to whether the surface cleaning device senses the second boundary or the first boundary, control the surface cleaning device to rotate around its own center until its moving direction is perpendicular to the second boundary. Finally, control the surface cleaning device to move in the fourth direction to the third boundary, where the fourth direction is opposite to the third direction, and calculate the distance between the second boundary and the third boundary;

[0010] Step S4, control the surface cleaning device to move in a direction parallel to the first boundary or the second boundary and change rows when it senses any boundary;

[0011] Step S5, according to the surface cleaning device sensing the fourth boundary, control the surface cleaning device to rotate around its own center by a third angle and move in a direction away from the fourth boundary according to the third angle. When the distance between the surface cleaning device and the fourth boundary is greater than or equal to a second set value, control the surface cleaning device to rotate around its own center to move in a direction parallel to the third direction;

[0012] Step S6, control the surface cleaning device to return to the initial position.

[0013] In a possible implementation, step S6 is repeated at least once.

[0014] In a possible implementation, step S6, controlling the surface cleaning device to return to the initial position includes:

[0015] Step S61, control the surface cleaning device to move away from the fourth boundary;

[0016] Step S62, control the surface cleaning device to move in the first direction;

[0017] Step S63: Control the surface cleaning device to move the first distance in the second direction according to the first boundary sensed by the surface cleaning device;

[0018] Step S64: Control the surface cleaning device to move in the third direction;

[0019] Step S65: Control the surface cleaning device to move the second distance in the fourth direction according to the second boundary sensed by the surface cleaning device.

[0020] In a possible implementation, the second set value is 0.1 cm - 3 cm.

[0021] In a possible implementation, before step S1, it further includes:

[0022] Detect the angle of the surface cleaning device;

[0023] According to the angle between the surface cleaning device and the first direction in the first quadrant and the second quadrant, control the surface cleaning device to rotate counterclockwise until the angle between it and the first direction is 0;

[0024] According to the angle between the surface cleaning device and the first direction in the third quadrant and the fourth quadrant, control the surface cleaning device to rotate clockwise until the angle between it and the first direction is 0.

[0025] In a possible implementation, the first angle is 30° to 60°, the first set value is 5° to 20°, and the second angle is -10° to -30°.

[0026] In a possible implementation, step S61 includes:

[0027] Step S611: Control the surface cleaning device to rotate to the fourth angle with its own center as the center of the circle;

[0028] Step S612: Control the surface cleaning device to move the third distance away from the fourth boundary according to the fourth angle;

[0029] Step S613: After the surface cleaning device moves the third distance, control the surface cleaning device to rotate in the opposite direction to the fifth angle with its own center as the center of the circle;

[0030] Step S614: Control the surface cleaning device to move the fourth distance away from the fourth boundary according to the fifth angle.

[0031] In a possible implementation, the fourth angle is -10° to -30°, and the third distance is 40 - 50 cm.

[0032] In a possible implementation, the fifth angle is 10° to 30°, and the fourth distance is 15 - 40 cm.

[0033] In a second aspect, an embodiment of the present application provides a surface cleaning device, which includes:

[0034] A processor;

[0035] A memory;

[0036] And one or more computer programs, the one or more computer programs are stored in the memory, and the one or more computer programs include instructions that, when executed by the processor, cause the surface cleaning device to execute the method described in any item of the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings required to be used in the embodiments. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0038] Figure 1 It is a schematic structural diagram of a surface cleaning device provided by an embodiment of the present application;

[0039] Figure 2 It is a schematic structural diagram of another surface cleaning device provided by an embodiment of the present application;

[0040] Figure 3 Provided by an embodiment of the present application Figure 2 A walking schematic diagram of the surface cleaning device shown;

[0041] Figure 4 It is a schematic diagram of an application scenario provided by an embodiment of the present application;

[0042] Figure 5 It is a schematic diagram of another application scenario provided by an embodiment of the present application;

[0043] Figure 6 It is a schematic flowchart of a cleaning method of a surface cleaning device provided by an embodiment of the present application;

[0044] Figure 7 It is a schematic diagram of the surface cleaning device provided by the embodiment of the present application when executing step S1;

[0045] Figure 8 It is a schematic diagram of the surface cleaning device provided by the embodiment of the present application when executing step S2;

[0046] Figure 9 Schematic diagram of the surface cleaning device according to the embodiment of the present application when performing step S3;

[0047] Figure 10 Schematic diagram of the surface cleaning device according to the embodiment of the present application when performing step S4;

[0048] Figure 11 Schematic diagram of the surface cleaning device according to the embodiment of the present application when performing step S5;

[0049] Figure 12 Schematic diagram of the surface cleaning device according to the embodiment of the present application when performing step S61;

[0050] Figure 13 Schematic diagram of the surface cleaning device according to the embodiment of the present application when returning to the initial position.

[0051] Reference numerals:

[0052] 100 - Surface cleaning device, 110 - Adsorption unit, 111 - Air outlet of the adsorption unit, 120 - Traveling unit, 130 - First cleaning unit, 140 - Second cleaning unit, 150 - Link arm, 151 - First pivot, 152 - Second pivot. Detailed description of the specific implementation

[0053] In order to better understand the technical solution of the present application, the embodiments of the present application will be described in detail below with reference to the accompanying drawings.

[0054] It should be clear that the described embodiments are only a part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work belong to the scope of protection of the present application.

[0055] The terms used in the embodiments of the present application are only for the purpose of describing specific embodiments, and are not intended to limit the present application. The singular forms of "a", "the" and "said" used in the embodiments of the present application and the appended claims are also intended to include the plural forms, unless the context clearly indicates otherwise.

[0056] It should be understood that the term " / and / " used herein is only a description of the association relationship of associated objects, indicating that there can be three relationships, for example, A and / or B can represent: A exists alone, A and B exist simultaneously, and B exists alone. In addition, the character " / " herein generally represents an "or" relationship between the associated objects before and after.

[0057] See Figure 4 and Figure 5, which shows a surface to be cleaned, and the periphery of the surface to be cleaned has a boundary. Exemplarily, the boundary may be a raised frame on the surface to be cleaned, or a stepped edge of the surface to be cleaned (for example, the edge of frameless glass).

[0058] The surface cleaning device 100 according to the embodiment of the present application may be a self - moving surface cleaning device 100 such as a window - cleaning robot, a floor - cleaning robot, a mopping robot, or a sweeping and mopping integrated robot.

[0059] The surface to be cleaned according to the embodiment of the present application may be a non - horizontal plane, such as a framed window, a frameless window, or a wall surface, etc.; or a horizontal plane, such as a ground or a desktop, etc. When the surface to be cleaned is a non - horizontal plane, a negative pressure mechanism is further provided on the surface cleaning device 100, and through the negative pressure mechanism, the surface cleaning device 100 can be adsorbed on the surface to be cleaned. When the surface to be cleaned is a horizontal plane, a negative pressure mechanism may or may not be provided on the surface cleaning device 100. Among them, when a negative pressure mechanism is provided on the surface cleaning device 100, the pressure between the surface cleaning device 100 and the surface to be cleaned can be increased through the negative pressure mechanism, so as to increase the frictional force between the surface cleaning device 100 and the surface to be cleaned and improve the cleaning effect.

[0060] Surface cleaning device 100 one:

[0061] See Figure 1 , which is a schematic structural diagram of a surface cleaning device 100 provided by the embodiment of the present application. As Figure 1 shown, the surface cleaning device 100 includes a main body, and an adsorption unit 110 is provided at the bottom of the main body. The adsorption unit 110 can adsorb the surface cleaning device 100 on the surface to be cleaned. Specifically, the adsorption unit 110 may be a cavity provided at the bottom of the main body, and the cavity is used to define a sealed space with the surface to be cleaned (for example, glass). When negative pressure is generated in the sealed space, the surface cleaning device 100 is adsorbed on the surface to be cleaned.

[0062] A walking unit 120 is further provided at the bottom of the main body. The walking unit 120 is used to drive the surface cleaning device 100 to walk on the surface to be cleaned. Specifically, the walking unit 120 may be a wheel - type walking unit or a crawler - type walking unit, etc. It can be understood that a driving unit cooperating with the walking unit 120 should also be provided on the main body, and through the driving unit, the walking unit 120 can be driven to work so as to drive the surface cleaning device 100 to walk on the surface to be cleaned.

[0063] In addition, a cleaning unit (not shown in the figure) is provided at the bottom of the main body. When the surface cleaning device 100 walks on the surface to be cleaned, the surface to be cleaned can be cleaned through the cleaning unit. Specifically, the cleaning unit may be a rotary brush or a wiping unit, etc., and the wiping unit may be a sponge, a cloth, or paper, etc.

[0064] It should be noted that Figure 1 This is only an exemplary description of the surface cleaning device 100 in the embodiments of the present application, and it should not be regarded as a limitation on the protection scope of the present application. For example, in a possible implementation, a vacuum unit is further provided on the main body. The vacuum unit is used to generate a negative pressure in the adsorption unit 110. Specifically, the vacuum unit can be a pump or a fan, etc.

[0065] Surface cleaning device 100 II:

[0066] Refer to Figure 2 , which is a schematic structural diagram of another surface cleaning device 100 provided by the embodiments of the present application. As Figure 2 shown, the surface cleaning device 100 includes a first cleaning unit 130, the first cleaning unit 130 is used to define a first space with the surface to be cleaned, and when a negative pressure is generated in the first space, the first cleaning unit 130 can be adsorbed on the surface to be cleaned; a second cleaning unit 140, the second cleaning unit 140 is used to define a second space with the surface to be cleaned, and when a negative pressure is generated in the second space, the second cleaning unit 140 can be adsorbed on the surface to be cleaned; a connecting rod arm 150, the first end of the connecting rod arm 150 is connected to the first cleaning unit 130 through a first pivot 151, and the second end of the connecting rod arm 150 is connected to the second cleaning unit 140 through a second pivot 152; a driving unit, which is used to drive the first cleaning unit 130 to rotate relative to the second cleaning unit 140, and drive the second cleaning unit 140 to rotate relative to the first cleaning unit 130, so as to drive the self-propelled cleaning device to walk on the surface to be cleaned. It can be understood that in this embodiment, the first cleaning unit 130 and the second cleaning unit 140 both serve as the walking units of the surface cleaning device 100 at the same time.

[0067] Refer to Figure 3 , which is provided by the embodiments of the present application Figure 2 shown walking schematic diagram of the surface cleaning device 100. As Figure 3 shown, in the initial position, the first cleaning unit 130 is located at position P1, and the second cleaning unit 140 is located at position P2; control the second cleaning unit 140 to remain stationary, and the first cleaning unit 130 rotates relative to the second cleaning unit 140 along direction T1, and the first cleaning unit 130 reaches position P3; control the first cleaning unit 130 to remain stationary, and the second cleaning unit 140 rotates relative to the first cleaning unit 130 along direction T2, and the second cleaning unit 140 reaches position P4. And so on, the first cleaning unit 130 and the second cleaning unit 140 walk alternately to realize the walking of the surface cleaning device 100 on the surface to be cleaned.

[0068] It should be noted that Figure 2This is only an exemplary description of the surface cleaning device 100 in the embodiments of the present application, and it should not be regarded as a limitation on the protection scope of the present application.

[0069] For example, in a possible implementation, the surface cleaning device 100 further includes a vacuum unit for communicating the first space and the second space, so that a negative pressure is generated in the first space and the second space, and then the first cleaning unit 130 and the second cleaning unit 140 are adsorbed on the surface to be cleaned.

[0070] In a possible implementation, the vacuum unit includes a first vacuum device and a second vacuum device. Among them, the first vacuum device is used to communicate with the first space to generate a negative pressure in the first space, and the second vacuum device is used to communicate with the second space to generate a negative pressure in the second space. That is to say, two independent vacuum devices are respectively provided, and the negative pressure states of the first space and the second space are respectively controlled by the two independent vacuum devices.

[0071] In a possible implementation, the vacuum unit includes a first air valve, a second air valve and a third vacuum device. Specifically, the first space is communicated through the first air valve, and the second space is communicated through the second air valve; among them, when the first air valve is opened, the third vacuum device is communicated with the first space to generate a negative pressure in the first space; when the second air valve is opened, the third vacuum device is communicated with the second space to generate a negative pressure in the second space. That is to say, in this implementation, the negative pressure states of the first space and the second space are controlled by one vacuum device.

[0072] The vacuum device involved in the embodiments of the present application can be a vacuum pump or a fan, etc., and the embodiments of the present application do not make specific limitations on this.

[0073] In a possible implementation, the driving unit includes a first driving device and a second driving device. Among them, the first driving device is used to drive the first cleaning unit 130 to rotate relative to the connecting rod arm 150; the second driving device is used to drive the second cleaning unit 140 to rotate relative to the connecting rod arm 150. That is to say, two independent driving devices are respectively provided to independently drive the rotation of the first cleaning unit 130 and the second cleaning unit 140.

[0074] In a possible implementation, the driving unit includes: a first transmission device, a second transmission device, and a third driving device. Specifically, it is connected to the first cleaning unit 130 through the first transmission device, and is configured to drive the first transmission device to drive the first cleaning unit 130 to rotate relative to the link arm 150 through the third driving device; and is connected to the second cleaning unit 140 through the second transmission device, and is configured to drive the second transmission device to drive the second cleaning unit 140 to rotate relative to the link arm 150 through the third driving device. That is to say, in this implementation, one driving device can drive the rotations of the first cleaning unit 130 and the second cleaning unit 140 respectively.

[0075] The driving device involved in the embodiments of the present application may be a motor or other power devices, and the embodiments of the present application do not make specific limitations thereto.

[0076] In a possible implementation, the first cleaning unit 130 and the second cleaning unit 140 may be made of sponge, cloth, paper, etc. When the first cleaning unit 130 and the second cleaning unit 140 move relative to the surface to be cleaned, they can wipe the surface to be cleaned to remove dust, stains, etc. on the surface to be cleaned.

[0077] In a possible implementation, Figure 1 and Figure 2 The surface cleaning device 100 shown may be a double-sided cleaning device, which includes a main machine and a slave machine. The main machine and the slave machine are magnetically adsorbed on both sides of the surface to be cleaned. It can be understood that when the surface cleaning device 100 is a double-sided cleaning device, an adsorption unit or a space for generating negative pressure may not be provided at the bottom of the surface cleaning device 100.

[0078] It should be noted that Figure 1 and Figure 2 This is only an exemplary description of the surface cleaning device 100 in the embodiments of the present application. The surface cleaning device 100 may also have other product forms, and the embodiments of the present application do not make specific limitations thereto.

[0079] In order to improve the cleaning efficiency, before the surface cleaning device 100 performs a cleaning operation, it is usually necessary to set a cleaning path, and then perform the cleaning operation according to the set cleaning path. Traversal cleaning is a commonly used cleaning method in the prior art. In this method, the set cleaning path traverses the entire surface to be cleaned. For example, the cleaning path is set to a "zigzag" shape, so that the surface cleaning device 100 cleans row by row along the horizontal direction of the surface to be cleaned, as Figure 4 shown; or, the cleaning path is set to an "N" shape, so that the surface cleaning device 100 cleans column by column along the vertical direction of the surface to be cleaned, as Figure 5 shown.

[0080] It is understandable that traversing cleaning is a fast cleaning mode with high cleaning efficiency. However, in actual application scenarios, without obtaining the size of the surface to be cleaned, the best cleaning strategy cannot be planned.

[0081] In view of the above problems, the embodiment of the present application provides a cleaning method for a surface cleaning device 100, which can measure the size of the surface to be cleaned and complete the cleaning synchronously. The following is a detailed description with reference to the accompanying drawings.

[0082] See Figure 4 and Figure 5 , the direction from bottom to top is called the "first direction", the direction from top to bottom is called the "second direction", the direction from right to left is called the "third direction", and the direction from left to right is called the "fourth direction". The surface cleaning device 100 is used to clean the surface to be cleaned, and the surface to be cleaned includes a first boundary, a second boundary, a third boundary, and a fourth boundary. The first boundary and the fourth boundary are parallel, and the second boundary and the third boundary are respectively vertically connected between the first boundary and the fourth boundary. It is understandable that the first direction and the second direction are opposite, and the third direction and the fourth direction are opposite.

[0083] See Figure 6 , which is a schematic flowchart of a cleaning method for a surface cleaning device 100 provided by the embodiment of the present application. This method can be applied to Figure 1 and Figure 2 the surface cleaning device 100 shown in Figure 6 as shown, and mainly includes the following steps.

[0084] See Figure 7 , step S1, control the surface cleaning device 100 to move along the first direction from the initial position until the first boundary is sensed, and record the first distance between the initial position and the first boundary. Control the surface cleaning device 100 to move a first safety distance along the second direction, and the second direction is opposite to the first direction;

[0085] See Figure 8 , step S2, control the surface cleaning device 100 to move along the third direction until the second boundary is sensed, and record the second distance between the initial position and the second boundary. Control the surface cleaning device 100 to move to a second safety distance along the fourth direction, and the third direction is perpendicular to the first direction;

[0086] See Figure 9, step S3, control the surface cleaning device 100 to rotate around its own center to the first angle and approach the first boundary or the second boundary (in the figure, it is shown as approaching the first boundary). According to the surface cleaning device 100 sensing the first boundary or the second boundary, control the surface cleaning device 100 to rotate around its own center in the opposite direction and continue to move along the first boundary or the second boundary. When the angle between the surface cleaning device 100 and the first boundary or the second boundary is less than the first set value, control the surface cleaning device 100 to rotate around its own center in the opposite direction to the second angle and approach the second boundary or the first boundary. According to the surface cleaning device 100 sensing the second boundary or the first boundary, control the surface cleaning device 100 to rotate around its own center until its moving direction is perpendicular to the second boundary. Finally, control the surface cleaning device 100 to move in the fourth direction to the third boundary, where the fourth direction is opposite to the third direction, and calculate the distance between the second boundary and the third boundary;

[0087] See Figure 10 , step S4, control the surface cleaning device 100 to move in a direction parallel to the first boundary or the second boundary and change lines when sensing any boundary;

[0088] See Figure 11 , step S5, according to the surface cleaning device 100 sensing the fourth boundary, control the surface cleaning device 100 to rotate around its own center to the third angle and move in a direction away from the fourth boundary according to the third angle. When the distance between the surface cleaning device 100 and the fourth boundary is greater than or equal to the second set value, control the surface cleaning device 100 to rotate around its own center to move in a direction parallel to the third direction;

[0089] Step S6, control the surface cleaning device 100 to return to the initial position.

[0090] By adjusting the posture of the surface cleaning device 100, making it change from the initial position to the state where its moving direction is perpendicular to the second boundary, and finally controlling the surface cleaning device 100 to move in the fourth direction to the third boundary, where the fourth direction is opposite to the third direction, calculate the distance between the second boundary and the third boundary. The distance between the second boundary and the third boundary is the distance that the surface cleaning device 100 moves and the length of the surface cleaning device 100 in the third direction. After measuring the size of the surface cleaning device 100, the cleaning strategy can be adjusted according to the size, including the moving speed of the surface cleaning device 100, the frequency of spraying cleaning liquid, etc., to synchronously complete the cleaning of the surface to be cleaned, and thus obtain a better cleaning experience.

[0091] Through step S5, the surface cleaning device 100 is kept away from the fourth boundary and the distance between them is greater than or equal to the second set value, avoiding interference between the surface cleaning device 100 and the fourth boundary, and avoiding wear on the fourth boundary or falling from the fourth boundary.

[0092] In one embodiment, step S6 is repeated at least once. By step S6, the surface cleaning device 100 can quickly move away from the fourth boundary and move closer to the center of the surface to be cleaned.

[0093] In one embodiment, step S6 of controlling the surface cleaning device 100 to return to the initial position includes:

[0094] Step S61 of controlling the surface cleaning device 100 to move away from the fourth boundary;

[0095] Step S62 of controlling the surface cleaning device 100 to move in the first direction;

[0096] Step S63 of controlling the surface cleaning device 100 to move a first distance in the second direction according to the surface cleaning device 100 sensing the first boundary;

[0097] Step S64 of controlling the surface cleaning device 100 to move in the third direction;

[0098] See Figure 13 , step S65 of controlling the surface cleaning device 100 to move a second distance in the fourth direction according to the surface cleaning device 100 sensing the second boundary. According to the recorded first distance and second distance, the surface cleaning device 100 can be controlled to return to the initial position, which is convenient for the user to take. According to the final position where the surface cleaning device 100 stays, it can also be determined whether the cleaning work of the surface to be cleaned is completed.

[0099] In one embodiment, the second set value is 0.1 cm - 3 cm. Further, the second set value is 1 cm.

[0100] In one embodiment, before step S1, it further includes:

[0101] Detecting the angle of the surface cleaning device 100;

[0102] According to the included angle between the surface cleaning device 100 and the first direction being in the first quadrant and the second quadrant, controlling the surface cleaning device 100 to rotate counterclockwise until the included angle with the first direction is 0;

[0103] According to the angle between the surface cleaning device 100 and the first direction being in the third quadrant or the fourth quadrant, control the surface cleaning device 100 to rotate clockwise until the angle between it and the first direction is 0. When the user uses the surface cleaning device 100, they will place it on the surface to be cleaned at an arbitrary angle. To improve the cleaning efficiency, it is necessary for the surface cleaning device 100 to complete the attitude adjustment at the fastest speed so that it can quickly start cleaning the surface to be cleaned. Therefore, by determining which quadrant the angle between the surface cleaning device 100 and the first direction is in, and then controlling the surface cleaning device 100 to rotate clockwise or counterclockwise by the minimum rotation angle until the angle between it and the first direction is 0.

[0104] In one embodiment, the first angle is 30° to 60°, the first set value is 5° to 20°, and the second angle is -10° to -30°. Among the angles defined in the embodiments of the present application, the fourth direction is 0°, and the angle gradually increases in the counterclockwise direction and gradually decreases in the clockwise direction.

[0105] In one embodiment, refer to Figure 12 , step S61 includes:

[0106] Step S611, control the surface cleaning device 100 to rotate by a fourth angle with its own center as the center of the circle;

[0107] Step S612, control the surface cleaning device 100 to move a third distance in a direction away from the fourth boundary according to the fourth angle;

[0108] Step S613, according to the surface cleaning device 100 moving the third distance, control the surface cleaning device 100 to rotate in the opposite direction by a fifth angle with its own center as the center of the circle;

[0109] Step S614, control the surface cleaning device 100 to move a fourth distance in a direction away from the fourth boundary according to the fifth angle.

[0110] In one embodiment, -10° to -30°, the third distance is 40 - 50 cm.

[0111] In one embodiment, the fifth angle is 10° to 30°, and the fourth distance is 15 - 40 cm.

[0112] The embodiments of the present application provide a surface cleaning device 100, including:

[0113] A processor;

[0114] A memory;

[0115] and one or more computer programs, the one or more computer programs being stored in a memory, the one or more computer programs including instructions that, when executed by a processor, cause the surface cleaning device 100 to perform the methods in the above technical solutions.

[0116] In a specific implementation, an embodiment of the present application further provides a surface cleaning device 100, the surface cleaning device 100 including a processor; a memory; and a computer program, wherein the computer program is stored in the memory, the computer program including instructions that, when executed by the processor, cause the surface cleaning device 100 to perform some or all of the steps in the above method embodiments.

[0117] In a specific implementation, the present application further provides a computer storage medium, wherein the computer storage medium can store a program that, when executed, can include some or all of the steps in the embodiments provided by the present application. The storage medium can be a magnetic disk, an optical disk, a read-only memory (abbreviation: ROM), a random access memory (abbreviation: RAM), or the like.

[0118] In a specific implementation, an embodiment of the present application further provides a computer program product, the computer program product including executable instructions that, when executed on a computer, cause the computer to perform some or all of the steps in the above method embodiments.

[0119] In the embodiments of the present application, "at least one" means one or more, and "a plurality" means two or more. "And / or" describes the association relationship of associated objects, indicating that three relationships can exist. For example, A and / or B can represent the case of A existing alone, A and B existing simultaneously, and B existing alone. Where A and B can be singular or plural. The character " / " generally represents an "or" relationship between the associated objects before and after. "At least one of the following" and its similar expressions refer to any combination of these items, including any combination of single items or plural items. For example, at least one of a, b, and c can represent: a, b, c, a - b, a - c, b - c, or a - b - c, where a, b, and c can be single or multiple.

[0120] Those of ordinary skill in the art can realize that the various units and algorithm steps described in the embodiments disclosed herein can be implemented by a combination of electronic hardware, computer software, and electronic hardware. Whether these functions are executed in a hardware or software manner depends on the specific application and design constraints of the technical solution. A professional technician can use different methods to implement the described functions for each specific application, but such an implementation should not be considered to exceed the scope of the present invention.

[0121] Those skilled in the art can clearly understand that for the convenience and conciseness of description, the specific working processes of the systems, devices, and units described above can refer to the corresponding processes in the foregoing method embodiments and will not be elaborated herein.

[0122] In several embodiments provided by the present invention, if any function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art or a part of this technical solution can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The foregoing storage medium includes: various media that can store program codes, such as USB flash drives, mobile hard disks, read-only memories (ROM), random access memories (RAM), magnetic disks, or optical discs.

[0123] The above is only the specific implementation manner of this application. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed in this application, and all should be covered by the protection scope of this application. The protection scope of this application shall be subject to the protection scope of the claims.

Claims

1. A method for operating a surface cleaning device, wherein the surface cleaning device is used to clean a surface to be cleaned, wherein the surface to be cleaned comprises a first boundary, a second boundary, a third boundary and a fourth boundary, wherein the first boundary and the fourth boundary are parallel, and the second boundary and the third boundary are respectively vertically connected between the first boundary and the fourth boundary, wherein: include: Step S1, controlling the surface cleaning device to move from an initial position along a first direction until the first boundary is sensed, and recording a first distance between the initial position and the first boundary, and controlling the surface cleaning device to move along a second direction by a first safety distance, the second direction being opposite to the first direction; Step S2, controlling the surface cleaning device to move along a third direction until the second boundary is sensed, and recording a second distance between the initial position and the second boundary, and controlling the surface cleaning device to move along a fourth direction to a second safety distance, wherein the third direction is perpendicular to the first direction; Step S3, controlling the surface cleaning device to rotate to a first angle with its own center as the center and approaching the first boundary or the second boundary; controlling the surface cleaning device to rotate in the opposite direction with its own center as the center and continue to run along the first boundary or the second boundary according to the surface cleaning device sensing the first boundary or the second boundary; when the angle between the surface cleaning device and the first boundary or the second boundary is less than a first set value, controlling the surface cleaning device to rotate in the opposite direction with its own center as the center and approaching the second boundary or the first boundary; controlling the surface cleaning device to rotate with its own center as the center until its movement direction is perpendicular to the second boundary according to the surface cleaning device sensing the second boundary or the first boundary; finally controlling the surface cleaning device to move to a third boundary along a fourth direction, wherein the fourth direction is opposite to the third direction, and calculating the distance between the second boundary and the third boundary; Step S4, controlling the surface cleaning device to move in a direction parallel to the first boundary or the second boundary and changing lines when sensing either boundary; Step S5, according to the surface cleaning device sensing the fourth boundary, controlling the surface cleaning device to rotate to a third angle with its own center as the center and move in a direction away from the fourth boundary according to the third angle, and according to the surface cleaning device moving to a distance between the surface cleaning device and the fourth boundary being greater than or equal to a second set value, controlling the surface cleaning device to rotate to move in a direction parallel to the third direction with its own center as the center; Step S6, controlling the surface cleaning device to return to the initial position.

2. The method for operating a surface cleaning device according to claim 1, characterized in that: The step S6 is repeated at least once.

3. The method for operating a surface cleaning device according to claim 1, characterized in that: The step S6, controlling the surface cleaning device to return to the initial position comprises: Step S61, controlling the surface cleaning device to move away from the fourth boundary; Step S62, controlling the surface cleaning device to move along the first direction; Step S63, controlling the surface cleaning device to move the first distance along the second direction according to the surface cleaning device sensing the first boundary; Step S64, controlling the surface cleaning device to move along the third direction; Step S65 , controlling the surface cleaning device to move the second distance along the fourth direction according to the surface cleaning device sensing the second boundary.

4. The method for operating a surface cleaning device according to claim 1, characterized in that: The second set value is 0.1 cm-3 cm.

5. The method for operating a surface cleaning device according to claim 1, characterized in that: Before step S1, the method further includes: detecting an angle of the surface cleaning device; According to the angle between the surface cleaning device and the first direction in the first quadrant and the second quadrant, controlling the surface cleaning device to rotate counterclockwise until the angle between the surface cleaning device and the first direction is 0; According to the included angle between the surface cleaning device and the first direction being in the third quadrant and the fourth quadrant, the surface cleaning device is controlled to rotate clockwise until the included angle between the surface cleaning device and the first direction is 0.

6. The method for operating a surface cleaning device according to claim 5, characterized in that: The first angle is 30° to 60°, the first setting value is 5° to 20°, and the second angle is -10° to -30°.

7. The method for operating a surface cleaning device according to claim 3, characterized in that: The step S61 comprises: Step S611, controlling the surface cleaning device to rotate to a fourth angle with its own center as the center of the circle; Step S612, controlling the surface cleaning device to move a third distance in a direction away from the fourth boundary according to the fourth angle; Step S613, after the surface cleaning device moves the third distance, controlling the surface cleaning device to rotate in the opposite direction to a fifth angle with its own center as the center of the circle; Step S614: Control the surface cleaning device to move a fourth distance in a direction away from the fourth boundary at the fifth angle.

8. The method for operating a surface cleaning device according to claim 7, characterized in that: The fourth angle is -10° to -30°, and the third distance is 40-50 cm.

9. The method for operating a surface cleaning device according to claim 7, characterized in that: The fifth angle is 10° to 30°, and the fourth distance is 15-40 cm.

10. A surface cleaning device, characterized in that: include: processor; Memory; and one or more computer programs stored in the memory, the one or more computer programs comprising instructions which, when executed by the processor, cause the surface cleaning apparatus to perform the method of any one of claims 1-9.

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