Control method of cleaning equipment, cleaning equipment and readable storage medium

Abstract

The invention relates to a control method of cleaning equipment, the cleaning equipment and a computer readable storage medium. The method comprises the steps that obstacle information on a working face can be accurately and timely acquired through a detection system, and when a target obstacle is recognized, a shielding piece can be timely controlled to be switched to a shielding state, so that closing of an opening of a containing cavity is achieved, and the working efficiency is improved. Water in the rotary wet-type cleaning piece rotatably arranged in the containing cavity is prevented from being scattered on the working face, the cleaning effect is prevented from being affected, and the cleaning quality is improved; the shielding piece of the cleaning equipment can comprise the shielding state and the avoiding state, switching between the shielding state and the avoiding state is carried out in time based on the detected obstacle information, and the use scene of the cleaning equipment is expanded.

Description

Technical Field

[0001] The present application relates to the technical field of cleaning equipment, and particularly to a control method for a cleaning equipment, a cleaning equipment, and a computer-readable storage medium. Background Art

[0002] A wet cleaning module is provided at the bottom of the cleaning equipment. The wet cleaning module has a disc-shaped cleaning module, which is composed of two disc-shaped cleaning cloths arranged at the bottom of the cleaning equipment. There is a gap between the two disc-shaped cleaning cloths. During the cleaning process, this gap will form an area where the floor is not mopped, affecting the cleaning effect of the cleaning equipment. Based on this, a linear drum-type cleaning module and a crawler-type cleaning module have emerged. Due to the linear design, the defect of the area where the floor is not mopped is avoided. The above-mentioned drum-type cleaning module and crawler-type cleaning module include a linear cleaning member (cleaning cloth), and the cleaning equipment can use the cleaning member to clean the ground.

[0003] The drum-type or crawler-type cleaning module in the traditional technology also includes a clean water replenishing system and a sewage collection system. The clean water replenishing system includes a clean water tank and a clean water replenishing pipeline. The clean water tank is arranged inside the cleaning equipment. One end of the clean water replenishing pipeline is located on the cleaning member, and the other end is connected to the clean water tank. The clean water in the clean water tank is sprayed onto the cleaning member through the clean water replenishing pipeline to clean the cleaning member. The sewage collection system includes a sewage tank and a sewage collection pipeline. The sewage tank is arranged inside the cleaning equipment. One end of the sewage collection pipeline is located on the cleaning member, and the other end is connected to the sewage tank. The sewage collection system is used to scrape the sewage on the cleaning member and then collect the sewage into the cleaning equipment through the sewage collection pipeline by using the negative pressure principle.

[0004] However, although the above-mentioned clean water replenishing system and sewage collection system can clean the cleaning member and collect sewage in real time during the operation of the cleaning equipment, the cleaning member will always have a high water content. Also, since the side of the cleaning member facing the ground is always located at the opening of the receiving cavity, when the water content of the cleaning member is high, the water in the cleaning member is likely to spill onto the working surface of the cleaning equipment, resulting in a poor cleaning effect. Summary of the Invention

[0005] Based on this, it is necessary to provide a control method for a cleaning equipment, a cleaning equipment, and a computer-readable storage medium that can avoid the water in the rotary wet cleaning member from spilling and improve the cleaning effect in view of the above technical problems.

[0006] In a first aspect, the present application provides a control method for a cleaning device, which is applied to a cleaning device, wherein the cleaning device comprises a body, a detection system, a rotary wet cleaning member, and a shielding mechanism, wherein the shielding mechanism comprises a shielding member, a receiving cavity is provided at the bottom of the body, the rotary wet cleaning member is rotatably provided in the receiving cavity, and the shielding member is movably provided at an opening of the receiving cavity;

[0007] The method comprises:

[0008] During the movement of the cleaning device, obtaining obstacle information through the detection system;

[0009] If it is determined that the obstacle indicated by the obstacle information is a target obstacle, controlling the shielding member of the cleaning device to be in a shielding state to close the opening of the receiving cavity;

[0010] If it is determined that the obstacle indicated by the obstacle information is not the target obstacle, controlling the shielding member to be in an avoidance state to open the opening of the receiving cavity;

[0011] Wherein, the target obstacle is a target carpet, the surface of the target carpet has a fine hair-like structure, and the maximum distance between the fine hair-like structure and the surface of the target carpet is greater than the minimum distance between the rotary wet cleaning element and the surface of the target carpet.

[0012] In one of the embodiments, a comb tooth structure is provided on a side of the shielding member facing away from the rotary wet cleaning member, and a minimum distance between the comb tooth structure and the surface of the target carpet is smaller than a maximum distance between the fine hair structure and the surface of the target carpet. During the movement of the cleaning device, the comb tooth structure interferes with the fine hair structure so that the fine hair structure on the target obstacle can be combed by using the comb tooth structure.

[0013] In a second aspect, the present application provides a control method for a cleaning device, which is applied to a cleaning device, wherein the cleaning device comprises a body, a detection system, a rotary wet cleaning member, and a shielding mechanism, wherein the shielding mechanism comprises a shielding member, a receiving cavity is provided at the bottom of the body, the rotary wet cleaning member is rotatably provided in the receiving cavity, and the shielding member is movably provided at an opening of the receiving cavity;

[0014] The method comprises:

[0015] During the movement of the cleaning device, obtaining obstacle information through the detection system;

[0016] If it is determined that the obstacle indicated by the obstacle information is the target obstacle, control the shielding member of the cleaning device to be in a shielding state to close the opening of the receiving cavity;

[0017] If it is determined that the obstacle indicated by the obstacle information is not the target obstacle, control the shielding member to be in an avoidance state to open the opening of the receiving cavity;

[0018] Wherein, the target obstacle protrudes from the working surface where the cleaning device is located, and the height by which the target obstacle protrudes from the working surface is less than or equal to the maximum obstacle-crossing height of the cleaning device.

[0019] In a third aspect, the present application provides a control method for a cleaning device, which is applied to a cleaning device. The cleaning device includes a body, a detection system, a rotary wet cleaning member, and a shielding mechanism. The shielding mechanism includes a shielding member. A receiving cavity is provided at the bottom of the body. The rotary wet cleaning member is rotatably arranged in the receiving cavity, and the shielding member is movably arranged at the opening of the receiving cavity;

[0020] The method includes:

[0021] During the movement of the cleaning device, obtain obstacle information through the detection system;

[0022] If it is determined that the obstacle indicated by the obstacle information is the target obstacle, control the shielding member of the cleaning device to be in a shielding state to close the opening of the receiving cavity;

[0023] If it is determined that the obstacle indicated by the obstacle information is not the target obstacle, control the shielding member to be in an avoidance state to open the opening of the receiving cavity;

[0024] Wherein, the target obstacle is a flexible obstacle, and the flexible obstacle at least includes a flexible part, and the flexible part is a flexible linear structure.

[0025] In a fourth aspect, the present application provides a control method for a cleaning device, which is applied to a cleaning device. The cleaning device includes a body, a detection system, a rotary wet cleaning member, and a shielding mechanism. The shielding mechanism includes a shielding member. A receiving cavity is provided at the bottom of the body. The rotary wet cleaning member is rotatably arranged in the receiving cavity, and the shielding member is movably arranged at the opening of the receiving cavity;

[0026] The method includes:

[0027] During the movement of the cleaning device, obtain obstacle information through the detection system;

[0028] If it is determined that the obstacle indicated by the obstacle information is the target obstacle, control the shielding member of the cleaning device to be in a shielding state to close the opening of the receiving cavity;

[0029] If it is determined that the obstacle indicated by the obstacle information is not the target obstacle, control the shielding member to be in an avoidance state to open the opening of the receiving cavity;

[0030] Wherein, the target obstacle is a solid obstacle of a dangerous type, and the dangerous type includes one or more of paper, contaminants, hard objects, and sharp objects.

[0031] In one embodiment, after it is determined that the obstacle indicated by the obstacle information is the target obstacle, the method further includes:

[0032] Controlling the cleaning device to perform an obstacle avoidance action, and the obstacle avoidance action includes one or more of the following situations:

[0033] The cleaning device turns around at the edge of the target obstacle;

[0034] The cleaning device bypasses at the edge of the target obstacle;

[0035] The cleaning device retreats and turns;

[0036] The cleaning device performs edge cleaning along the edge of the target obstacle.

[0037] In one embodiment, the method further includes:

[0038] If the distance between the cleaning device and the target obstacle and / or the base station is less than or equal to a preset distance threshold, then during the movement of the cleaning device in the direction of the target obstacle, control the cleaning device to travel at a reduced speed.

[0039] In a fifth aspect, the present application provides a control method for a cleaning device, which is applied to a cleaning device. The cleaning device is communicatively connected to a base station. The base station is provided with a receiving cavity for accommodating the cleaning device. A cleaning tray is provided at the bottom of the receiving cavity. The cleaning tray has a cleaning groove. The cleaning tray is connected to a guiding plate. The guiding plate extends in a direction away from the base station. The cleaning device can move into the receiving cavity through the guiding plate; the cleaning device includes a body, a detection system, a rotary wet cleaning member, and a shielding mechanism. The shielding mechanism includes a shielding member. A receiving cavity is provided at the bottom of the body. The rotary wet cleaning member is rotatably disposed in the receiving cavity. The shielding member is movably disposed at the opening of the receiving cavity;

[0040] The method includes:

[0041] During the movement of the cleaning device, if it is determined that the cleaning device currently meets the conditions for returning to the base station, the base station information is obtained through the detection system, and the cleaning device is controlled to return to the base station based on the base station information;

[0042] When the cleaning device passes through the guide plate and moves to the accommodating chamber, controlling the shielding member of the cleaning device to be in a shielding state to close the opening of the accommodating chamber;

[0043] When it is determined that the cleaning device returns to the parking position of the base station, the shielding member is controlled to be in an evasive state, and the opening of the receiving cavity is opened so that the rotary wet cleaning member corresponds to the cleaning tank.

[0044] In one embodiment, the method further comprises:

[0045] When the rotary wet cleaning element needs to be cleaned, or when the remaining power of the cleaning device is lower than a preset power threshold, or when the cleaning device completes the cleaning task, it is determined that the cleaning device currently meets the return to base station condition.

[0046] In one embodiment, the method further comprises:

[0047] When the cleaning device departs from the base station, controlling the shielding member of the cleaning device to be in a shielding state to close the opening of the receiving cavity;

[0048] When the cleaning device passes through the guide plate and leaves the base station, the state of the shielding member is determined based on real-time cleaning requirement information.

[0049] In a sixth aspect, the present application provides a control method for a cleaning device, which is applied to a cleaning device, wherein the cleaning device comprises a body, a detection system, a rotary wet cleaning member, and a shielding mechanism, wherein the shielding mechanism comprises a shielding member, a receiving cavity is provided at the bottom of the body, the rotary wet cleaning member is rotatably provided in the receiving cavity, and the shielding member is movably provided at an opening of the receiving cavity;

[0050] The method comprises:

[0051] If it is determined that the cleaning device is in a sweeping working mode during the movement, controlling the shielding member of the cleaning device to be in a shielding state to close the opening of the receiving cavity;

[0052] If it is determined that the cleaning device is in a mopping mode or a sweeping and mopping mode during movement, the shielding member is controlled to be in an evasive state to open the opening of the receiving cavity;

[0053] Among them, the floor sweeping working mode is that the cleaning device only performs floor sweeping work and does not perform mopping work; the mopping working mode is that the cleaning device only performs mopping work and does not perform floor sweeping work; the simultaneous floor sweeping and mopping working mode is that the cleaning device performs floor sweeping work and mopping work simultaneously.

[0054] In a seventh aspect, the present application provides a control method for a cleaning device, which is applied to a cleaning device. The cleaning device includes a body, a detection system, a rotary wet cleaning member, and an occlusion mechanism. The occlusion mechanism includes an occlusion member. A receiving cavity is provided at the bottom of the body. The rotary wet cleaning member is rotatably disposed in the receiving cavity, and the occlusion member is movably disposed at an opening of the receiving cavity;

[0055] The method includes:

[0056] During the movement of the cleaning device, if it is determined that the cleaning device is in an occlusion area, control the occlusion member of the cleaning device to be in an occlusion state to close the opening of the receiving cavity; and / or;

[0057] During the movement of the cleaning device, if it is determined that the cleaning device is in a non-occlusion area, control the occlusion member of the cleaning device to be in an avoidance state to open the opening of the receiving cavity;

[0058] Among them, the occlusion area and / or the non-occlusion area are configured by the user through a mobile terminal.

[0059] In one embodiment, the method further includes:

[0060] A display area configuration interface, and the area configuration interface displays the working area of the cleaning device;

[0061] In response to the user's division operation on the working area, obtain the occlusion area and / or non-occlusion area corresponding to the working area.

[0062] In an eighth aspect, the present application provides a cleaning device, including:

[0063] A body, and a receiving cavity is provided at the bottom of the body;

[0064] A detection system, which is disposed on the body and is used to obtain obstacle information and / or base station information;

[0065] A rotary wet cleaning member, which is rotatably disposed in the receiving cavity and is used to clean the working surface of the cleaning device;

[0066] The shielding mechanism includes a shielding member and a driving component. The shielding member is movably arranged at the opening of the receiving cavity through the driving of the driving component. The shielding member includes a shielding state for closing the opening of the receiving cavity and an avoidance state for opening the opening of the receiving cavity;

[0067] The control module is used to execute the method described in the above embodiments.

[0068] In one embodiment, the detection system includes one or more of a monocular vision sensor, a binocular vision sensor, a trinocular vision sensor, a lidar, a line laser sensor, a surface laser sensor, a Dtof sensor, an Itof sensor, and an ultrasonic sensor.

[0069] In one embodiment, a comb tooth structure is arranged on the surface of the shielding member facing away from the rotary wet cleaning member. The comb tooth structure is used for cleaning impurities in the carpet on the working surface, and / or for combing the fine hair-like structures on the surface of the carpet, and / or for enhancing the strength of the shielding member.

[0070] In a ninth aspect, the present application provides a control device for a cleaning device, which is applied to a cleaning device. The cleaning device includes a body, a detection system, a rotary wet cleaning member, and a shielding mechanism. The shielding mechanism includes a shielding member. A receiving cavity is arranged at the bottom of the body. The rotary wet cleaning member is rotatably arranged in the receiving cavity. The shielding member is movably arranged at the opening of the receiving cavity;

[0071] The device includes:

[0072] The first acquisition module is used to acquire obstacle information through the detection system during the movement of the cleaning device;

[0073] The first control module is used to control the shielding member of the cleaning device to be in the shielding state to close the opening of the receiving cavity if it is determined that the obstacle indicated by the obstacle information is a target obstacle;

[0074] The second control module is used to control the shielding member to be in the avoidance state to open the opening of the receiving cavity if it is determined that the obstacle indicated by the obstacle information is not a target obstacle;

[0075] Wherein, the target obstacle is a target carpet, and the surface of the target carpet has fine hair-like structures, and the maximum distance between the fine hair-like structures and the surface of the target carpet is greater than the minimum distance between the rotary wet cleaning member and the surface of the target carpet.

[0076] In one embodiment, a comb tooth structure is provided on a side of the shielding member facing away from the rotary wet cleaning member. The minimum distance between the comb tooth structure and the surface of the target carpet is less than the maximum distance between the slender hair-like structure and the surface of the target carpet. During the movement of the cleaning device, the comb tooth structure and the slender hair-like structure interfere with each other to comb the slender hair-like structure on the target obstacle by using the comb tooth structure.

[0077] In a tenth aspect, an embodiment of the present application further provides a control device for a cleaning device, which is applied to the cleaning device. The cleaning device includes a body, a detection system, a rotary wet cleaning member, and a shielding mechanism. The shielding mechanism includes a shielding member. A receiving cavity is provided at the bottom of the body. The rotary wet cleaning member is rotatably disposed in the receiving cavity, and the shielding member is movably disposed at an opening of the receiving cavity;

[0078] The device includes:

[0079] A second acquisition module, configured to acquire obstacle information through the detection system during the movement of the cleaning device;

[0080] A third control module, configured to control the shielding member of the cleaning device to be in a shielding state to close the opening of the receiving cavity if it is determined that the obstacle indicated by the obstacle information is a target obstacle;

[0081] A fourth control module, configured to control the shielding member to be in an avoidance state to open the opening of the receiving cavity if it is determined that the obstacle indicated by the obstacle information is not a target obstacle;

[0082] Wherein, the target obstacle protrudes from the working surface where the cleaning device is located, and the height by which the target obstacle protrudes from the working surface is less than or equal to the maximum obstacle-crossing height of the cleaning device.

[0083] In an eleventh aspect, an embodiment of the present application further provides a control device for a cleaning device, which is applied to the cleaning device. The cleaning device includes a body, a detection system, a rotary wet cleaning member, and a shielding mechanism. The shielding mechanism includes a shielding member. A receiving cavity is provided at the bottom of the body. The rotary wet cleaning member is rotatably disposed in the receiving cavity, and the shielding member is movably disposed at an opening of the receiving cavity;

[0084] The device includes:

[0085] A third acquisition module, configured to acquire obstacle information through the detection system during the movement of the cleaning device;

[0086] The fifth control module is configured to control the shielding member of the cleaning device to be in a shielding state to close the opening of the receiving cavity if it is determined that the obstacle indicated by the obstacle information is a target obstacle;

[0087] The sixth control module is configured to control the shielding member to be in an avoidance state to open the opening of the receiving cavity if it is determined that the obstacle indicated by the obstacle information is not a target obstacle;

[0088] Wherein, the target obstacle is a flexible obstacle, and the flexible obstacle at least includes a flexible part, and the flexible part is a linear structure with flexibility.

[0089] In a twelfth aspect, an embodiment of the present application further provides a control device for a cleaning device, which is applied to a cleaning device. The cleaning device includes a body, a detection system, a rotary wet cleaning member, and a shielding mechanism. The shielding mechanism includes a shielding member. A receiving cavity is provided at the bottom of the body, the rotary wet cleaning member is rotatably arranged in the receiving cavity, and the shielding member is movably arranged at the opening of the receiving cavity;

[0090] The device includes:

[0091] The fourth acquisition module is configured to acquire obstacle information through the detection system during the movement of the cleaning device;

[0092] The seventh control module is configured to control the shielding member of the cleaning device to be in a shielding state to close the opening of the receiving cavity if it is determined that the obstacle indicated by the obstacle information is a target obstacle;

[0093] The eighth control module is configured to control the shielding member to be in an avoidance state to open the opening of the receiving cavity if it is determined that the obstacle indicated by the obstacle information is not a target obstacle;

[0094] Wherein, the target obstacle is a solid obstacle of a dangerous type, and the dangerous type includes one or more of paper, pollutants, hard objects, and sharp objects.

[0095] In one embodiment, after it is determined that the obstacle indicated by the obstacle information is a target obstacle, the device further includes:

[0096] An obstacle avoidance module is configured to control the cleaning device to perform an obstacle avoidance action, and the obstacle avoidance action includes one or more of the following situations:

[0097] The cleaning device turns around at the edge of the target obstacle;

[0098] The cleaning device bypasses at the edge of the target obstacle;

[0099] The cleaning device moves backward and turns;

[0100] The cleaning device performs edge cleaning along the edge of the target obstacle.

[0101] In one embodiment, the apparatus further comprises:

[0102] A deceleration module is used to control the cleaning device to decelerate during the movement of the cleaning device toward the target obstacle if the distance between the cleaning device and the target obstacle and / or the base station is less than or equal to a preset distance threshold.

[0103] In a thirteenth aspect, an embodiment of the present application further provides a control device for a cleaning device, which is applied to a cleaning device, wherein the cleaning device is communicatively connected to a base station, the base station is provided with a receiving chamber for accommodating the cleaning device, a cleaning disc is provided at the bottom of the receiving chamber, the cleaning disc has a cleaning groove, the cleaning disc is connected with a guide plate, the guide plate extends in a direction away from the base station, and the cleaning device can be moved into the receiving chamber through the guide plate; the cleaning device comprises a body, a detection system, a rotary wet cleaning member and a shielding mechanism, the shielding mechanism comprises a shielding member, a receiving chamber is provided at the bottom of the body, the rotary wet cleaning member is rotatably arranged in the receiving chamber, and the shielding member is movably arranged at the opening of the receiving chamber;

[0104] The device comprises:

[0105] A first determination module is used to, during the movement of the cleaning device, if it is determined that the cleaning device currently meets the conditions for returning to the base station, obtain base station information through the detection system, and control the cleaning device to return to the base station based on the base station information;

[0106] a ninth control module, configured to control the shielding member of the cleaning device to be in a shielding state so as to close the opening of the receiving chamber when the cleaning device passes through the guide plate and moves to the receiving chamber;

[0107] The tenth control module is used to control the shielding member to be in an evasive state and open the opening of the receiving cavity when it is determined that the cleaning device returns to the parking position of the base station, so that the rotary wet cleaning member corresponds to the cleaning tank.

[0108] In one embodiment, the apparatus further comprises:

[0109] A condition determination module, configured to determine that the current cleaning device meets the condition of returning to the base station when the rotary wet cleaning part needs to be cleaned, or when the remaining power of the cleaning device is lower than a preset power threshold, or when the cleaning device completes a cleaning task.

[0110] In one embodiment, the device further includes:

[0111] A departure module, configured to control the shielding part of the cleaning device to be in a shielding state to close the opening of the receiving cavity when the cleaning device departs from the base station;

[0112] A state determination module, configured to determine the state of the shielding part based on real-time cleaning requirement information when the cleaning device leaves the base station through the guiding plate.

[0113] In a fourteenth aspect, an embodiment of the present application further provides a control device for a cleaning device, which is applied to a cleaning device. The cleaning device includes a body, a detection system, a rotary wet cleaning part, and a shielding mechanism. The shielding mechanism includes a shielding part. A receiving cavity is provided at the bottom of the body. The rotary wet cleaning part is rotatably arranged in the receiving cavity, and the shielding part is movably arranged at the opening of the receiving cavity;

[0114] The device includes:

[0115] A second determination module, configured to control the shielding part of the cleaning device to be in a shielding state to close the opening of the receiving cavity if it is determined that the cleaning device is in a floor cleaning working mode during movement;

[0116] A third determination module, configured to control the shielding part to be in an avoidance state to open the opening of the receiving cavity if it is determined that the cleaning device is in a mopping working mode or a mopping while sweeping working mode during movement;

[0117] Wherein, the floor cleaning working mode means that the cleaning device only performs floor cleaning work and does not perform mopping work; the mopping working mode means that the cleaning device only performs mopping work and does not perform floor cleaning work; the mopping while sweeping working mode means that the cleaning device simultaneously performs floor cleaning work and mopping work.

[0118] In a fifteenth aspect, an embodiment of the present application further provides a control device for a cleaning device, which is applied to a cleaning device. The cleaning device includes a body, a detection system, a rotary wet cleaning part, and a shielding mechanism. The shielding mechanism includes a shielding part. A receiving cavity is provided at the bottom of the body. The rotary wet cleaning part is rotatably arranged in the receiving cavity, and the shielding part is movably arranged at the opening of the receiving cavity;

[0119] The device includes:

[0120] A fourth determination module, configured to, during the movement of the cleaning device, if it is determined that the cleaning device is in an occlusion area, control the occlusion member of the cleaning device to be in an occlusion state to close the opening of the accommodation cavity; and / or;

[0121] A fifth determination module, configured to, during the movement of the cleaning device, if it is determined that the cleaning device is in a non-occlusion area, control the occlusion member of the cleaning device to be in an avoidance state to open the opening of the accommodation cavity;

[0122] Wherein, the occlusion area and / or the non-occlusion area are configured by the user through a mobile terminal.

[0123] In one embodiment, the device further includes:

[0124] A display module, configured to display a region configuration interface, where the region configuration interface displays the working area of the cleaning device; in response to a division operation of the user on the working area, obtain the occlusion area and / or the non-occlusion area corresponding to the working area.

[0125] In a sixteenth aspect, the present application provides a cleaning device, including a memory and a processor, where the memory stores a computer program, and when the processor executes the computer program, the steps of the method described in the above embodiment are implemented.

[0126] In a seventeenth aspect, the present application further provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the steps in the embodiments of the present application are implemented.

[0127] For the control method of the above cleaning device, the cleaning device, and the computer-readable storage medium, wherein, the method includes, during the movement of the cleaning device, obtaining obstacle information through a detection system; if it is determined that the obstacle indicated by the obstacle information is a target obstacle, controlling the occlusion member of the cleaning device to be in an occlusion state to close the opening of the accommodation cavity; if it is determined that the obstacle indicated by the obstacle information is not a target obstacle, controlling the occlusion member to be in an avoidance state to open the opening of the accommodation cavity; wherein, the target obstacle is a target carpet, the surface of the target carpet has a fine hair-like structure, and the maximum distance between the fine hair-like structure and the surface of the target carpet is greater than the minimum distance between the rotary wet cleaning member and the surface of the target carpet.

[0128] By adopting the method in the embodiment of the present application, the obstacle information on the working surface can be accurately and timely obtained through the detection system, and when the target obstacle is recognized, the shielding member can be timely controlled to switch to the shielding state, so as to close the opening of the receiving cavity, avoid the water in the rotatable rotary wet cleaning member in the receiving cavity from spilling onto the working surface, avoid affecting the cleaning effect, and improve the cleaning quality; the shielding member of the cleaning device can include a shielding state and an avoidance state, and can be timely switched between the shielding state and the avoidance state based on the detected obstacle information, expanding the usage scenarios of the cleaning device; when multiple types of target obstacles are detected, the opening of the receiving cavity can be timely closed, avoiding flexible obstacles and the like from entering the interior of the receiving cavity, isolating the working surface from the rotary wet cleaning member, avoiding damage to the cleaning device and damage to the user's items, and improving the user experience. Description of the Drawings

[0129] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the following will briefly introduce the drawings required to be used in the description of the embodiments of the present application or related technologies. Obviously, the following drawings are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other related drawings can also be obtained based on these drawings.

[0130] Figure 1 Schematic diagram of a cleaning device in an embodiment;

[0131] Figure 2 Schematic flow chart of the control method of a cleaning device in an embodiment;

[0132] Figure 3 Schematic flow chart of the control method of a cleaning device in an embodiment;

[0133] Figure 4 Schematic flow chart of the control method of a cleaning device in an embodiment;

[0134] Figure 5 Schematic flow chart of the control method of a cleaning device in an embodiment;

[0135] Figure 6 Schematic diagram of the structure of the base station corresponding to a cleaning device in an embodiment;

[0136] Figure 7 Schematic flow chart of the control method of a cleaning device in an embodiment;

[0137] Figure 8 Schematic flow chart of the switching shielding member module in the control method of a cleaning device in an embodiment;

[0138] Figure 9Schematic flow chart of the control method of the cleaning device in an embodiment;

[0139] Figure 10 Schematic diagram of the cleaning device in an occluded state in an embodiment;

[0140] Figure 11 Schematic diagram of the detection system in the cleaning device in an embodiment;

[0141] Figure 12 Schematic diagram of the detection system in the cleaning device in another embodiment;

[0142] Figure 13 Internal structure diagram of a computer device in an embodiment. Detailed implementation manners

[0143] In order to make the objectives, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application, and are not used to limit the present application.

[0144] The control method of the cleaning device provided by the embodiment of the present application can be applied to a cleaning device as Figure 1 shown. Among them, the cleaning device includes a body, a detection system, a rotary wet cleaning member and an occlusion mechanism. The occlusion mechanism includes an occlusion member. A receiving cavity is provided at the bottom of the body. The rotary wet cleaning member is rotatably provided in the receiving cavity. The occlusion member is movably provided at the opening of the receiving cavity; the cleaning device can also be communicatively connected to a base station.

[0145] During the working process of the cleaning device, for example, during the process of the cleaning device cleaning the carpet, since the fluff on the surface of the carpet extends upward, when the cleaning device passes over the carpet, the cleaning member of the cleaning device will contact the fluff on the carpet. Since the cleaning member is connected to the sewage collection pipeline and the clean water replenishment pipeline, the water content of the cleaning member itself is relatively high. When the cleaning member contacts the fluff on the carpet, it will contaminate the carpet, resulting in the cleaning effect of the cleaning device being affected.

[0146] Then, the cleaning device in the embodiment of the present application can be used to execute the control method of the cleaning device in the embodiment of the present application. The cleaning device includes a body, a detection system, a rotary wet cleaning member, and a shielding mechanism. A receiving cavity is provided at the bottom of the body, and the rotary wet cleaning member is rotatably provided in the receiving cavity. The detection system is provided on the body and is used to obtain obstacle information of obstacles on the working surface of the cleaning device. For example, it can obtain image information and / or three-dimensional information of the obstacles. The shielding mechanism includes a shielding member, and the shielding member is movably provided at the opening of the receiving cavity. The shielding member has a shielding state and an avoidance state in the working state. The shielding structure may further include a driving component, and the driving component can be used to drive the shielding component to move. Correspondingly, when the shielding member is in the avoidance state, the opening of the receiving cavity is in an open state; when the shielding member is in the shielding state, the opening of the receiving cavity is in a closed state.

[0147] In an exemplary embodiment, a control method for a cleaning device is provided. Taking the cleaning device in Figure 1 as an example for illustration, the cleaning device includes a body 1003, a detection system (not shown in the figure and will be described later), a rotary wet cleaning member, a shielding mechanism 1001, and a dry cleaning module 1006. The shielding mechanism 1001 includes a shielding member. A receiving cavity 1004 is provided at the bottom of the body, and the rotary wet cleaning member is rotatably disposed in the receiving cavity 1004. The shielding member is movably provided at the opening of the receiving cavity 1004. Among them, the cleaning device may further include a comb tooth structure 1002.

[0148] As Figure 2 shown, the steps in the embodiment of the present application include the following steps 202 to 206. Among them:

[0149] Step 202, during the movement of the cleaning device, obtain obstacle information through the detection system.

[0150] Among them, the movement process of the cleaning device may be the movement process or the traveling process of the cleaning device in the working area (or the working surface). The obstacle information may be the information of the obstacles detected by the cleaning device through the detection system in the working area. For example, it may include image information of the obstacles and / or three-dimensional information of the obstacles. The three-dimensional information may be position coordinate information, position information, etc. of the obstacles. The cleaning device may be a cleaning robot, etc.

[0151] Specifically, during the movement of the cleaning device, the obstacle information can be collected through a detection system provided on the body of the cleaning device. The obstacle information can be the image information and / or three-dimensional information of the obstacles within the working area of the cleaning device. The detection system can include one or more of a monocular vision sensor, a binocular vision sensor, a trinocular vision sensor, a lidar, a line laser sensor, a surface laser sensor, a Dtof sensor, an Itof sensor, and an ultrasonic sensor. The specific type of the detection system is not limited in this embodiment, and those skilled in the art can specifically determine it based on the actual application scenario.

[0152] Step 204, if it is determined that the obstacle indicated by the obstacle information is a target obstacle, then control the shielding member of the cleaning device to be in a shielding state to close the opening of the receiving cavity.

[0153] Among them, a shielding mechanism is provided on the cleaning device, and the shielding structure includes a shielding member and a driving component. The shielding member can include two states, for example, a shielding state and an avoidance state, and the shielding member can be switched between the shielding state and the avoidance state. When the shielding member is in the avoidance state, the opening of the receiving cavity is in an open state; when the shielding member is in the shielding state, the opening of the receiving cavity is in a closed state.

[0154] Specifically, if it is determined that the obstacle within the working area indicated by the obstacle information is a target obstacle, then the shielding member of the cleaning device can be controlled to be in a shielding state so that the opening of the receiving cavity is in a closed state, that is, to close the opening of the receiving cavity.

[0155] Among them, the target obstacle is a target carpet, and the surface of the target carpet has a delicate hair-like structure. The maximum distance between the delicate hair-like structure and the surface of the target carpet is greater than the minimum distance between the rotary wet cleaning member and the surface of the target carpet. The delicate hair-like structure on the surface of the target carpet can be fluff, fine hair, long hair, cotton hair, soft hair, fuzz, silk hair, plush, etc.; the maximum distance between the delicate hair-like structure and the surface of the target carpet is also the longest length of the delicate hair-like structure. For example, it can be the length of the fluff on the carpet; the rotary wet cleaning member is a structure rotatably provided in the receiving cavity. That is to say, if it is determined that the obstacle indicated by the obstacle information is a carpet with a delicate hair-like structure on its surface and the maximum distance between the delicate hair-like structure and the surface of the target carpet is greater than the minimum distance between the rotary wet cleaning member and the surface of the target carpet, it can be determined that the obstacle indicated by the obstacle information is a target carpet.

[0156] In one example, through a detection system, the obstacle information of the cleaning device within the working area is detected or obtained. The obstacle information may be the image information of the obstacle and / or the three-dimensional information of the obstacle. Based on the obstacle information, the type of the obstacle indicated by the obstacle information is determined, that is, the obstacle of the cleaning device within the current working area is determined. If it is determined that the obstacle indicated by the obstacle information is the target obstacle, then the shielding member of the cleaning device can be controlled to be in a shielding state to close the opening of the receiving cavity. For example, a first instruction can be sent to the shielding mechanism, and after receiving the first instruction, the shielding mechanism can drive the shielding member to be in a shielding state.

[0157] Optionally, the shielding member of the cleaning device may currently be in a shielding state. Then, in the case of determining it as the target obstacle, the shielding member can be controlled to remain in the shielding state. For example, the first instruction that can be sent to the shielding member can be a shielding state maintenance instruction. After receiving the shielding state maintenance instruction, the shielding member can continue to maintain the shielding state unchanged.

[0158] Optionally, the shielding member of the cleaning device may currently be in an avoidance state. Then, in the case of determining it as the target obstacle, the shielding member can be controlled to switch from the avoidance state to the shielding state. For example, the first instruction that can be sent to the shielding mechanism can be a state switching instruction, and the state switching instruction can be an instruction to switch to the shielding state. After receiving the state switching instruction, the shielding mechanism can switch the state of the shielding member from the avoidance state to the shielding state to close the opening of the receiving cavity.

[0159] In one example, the cleaning device may further include a control module. In this way, the control module can, through the detection system, detect or obtain the obstacle information of the cleaning device within the working area. The obstacle information may be the image information of the obstacle and / or the three-dimensional information of the obstacle. The control module can, based on the obstacle information, determine the type of the obstacle indicated by the obstacle information, that is, determine the obstacle of the cleaning device within the current working area. If it is determined that the obstacle indicated by the obstacle information is the target obstacle, then the control module can control the shielding member of the cleaning device to be in a shielding state to close the opening of the receiving cavity. Correspondingly, the control module can send a first instruction to the shielding mechanism.

[0160] Step 206, if it is determined that the obstacle indicated by the obstacle information is not the target obstacle, then control the shielding member to be in an avoidance state to open the opening of the receiving cavity. Wherein, the target obstacle is the target carpet.

[0161] Specifically, through the detection system, the obstacle information of the cleaning device in the working area is detected or obtained. The obstacle information can be the image information of the obstacle and / or the three-dimensional information of the obstacle. Based on the obstacle information, the type of the obstacle indicated by the obstacle information is determined, that is, the obstacle in the current working area of the cleaning device is determined. If it is determined that the obstacle indicated by the obstacle information is not the target obstacle, then the shielding member of the cleaning device can be controlled to be in the avoidance state to open the opening of the receiving cavity. For example, a second instruction can be sent to the shielding member, and after receiving the second instruction, the shielding member can be in the avoidance state.

[0162] Optionally, if the shielding member of the cleaning device is currently in the avoidance state, then in the case of determining it as the target obstacle, the shielding member can be controlled to remain in the avoidance state. For example, the second instruction that can be sent to the shielding mechanism can be an avoidance state maintenance instruction. After receiving the avoidance state maintenance instruction, the shielding mechanism can continue to maintain the avoidance state unchanged.

[0163] Optionally, if the shielding member of the cleaning device is currently in the shielding state, then in the case of determining it as the target obstacle, the shielding member can be controlled to switch from the shielding state to the avoidance state. For example, the second instruction that can be sent to the shielding mechanism can be a state switching instruction, and the state switching instruction can be an instruction to switch to the avoidance state. After receiving the state switching instruction, the shielding mechanism can switch the state of the shielding member from the shielding state to the avoidance state to open the opening of the receiving cavity.

[0164] In one example, the cleaning device may further include a control module. In this way, the control module can detect or obtain the obstacle information of the cleaning device in the working area through the detection system. The obstacle information can be the image information of the obstacle and / or the three-dimensional information of the obstacle. The control module can determine the type of the obstacle indicated by the obstacle information based on the obstacle information, that is, determine the obstacle in the current working area of the cleaning device. If it is determined that the obstacle indicated by the obstacle information is the target obstacle, then the control module can control the shielding member of the cleaning device to be in the avoidance state to close the opening of the receiving cavity. In this way, the control module can send a second instruction to the shielding mechanism, and the shielding mechanism that receives the second instruction can drive the shielding member to be in the avoidance state.

[0165] In the control method of the above cleaning device, the obstacle information on the working surface can be accurately and timely obtained through the detection system, and when the target obstacle is recognized, the shielding member can be timely controlled to switch to the shielding state to close the opening of the receiving cavity, so as to avoid the water in the rotatable rotary wet cleaning member in the receiving cavity from spilling onto the working surface, prevent the cleaning effect from being affected, and improve the cleaning quality; the shielding member of the cleaning device can include a shielding state and an avoidance state, and can be timely switched between the shielding state and the avoidance state based on the detected obstacle information, expanding the usage scenarios of the cleaning device.

[0166] In an exemplary embodiment, a comb structure is provided on the side of the shielding member facing away from the rotary wet cleaning member, and the minimum distance between the comb structure and the surface of the target carpet is less than the maximum distance between the fine hair-like structure and the surface of the target carpet. During the movement of the cleaning device, the comb structure and the fine hair-like structure interfere with each other to comb the fine hair-like structure on the target obstacle by using the comb structure.

[0167] Specifically, the shielding member is movably arranged at the opening of the receiving cavity; the rotary wet cleaning member is rotatably arranged in the receiving cavity; a comb structure is provided on the side of the shielding member facing away from the rotary wet cleaning member; the minimum distance between the comb structure and the surface of the target carpet can be the distance between the farthest end of the comb structure away from the shielding member and the surface of the target carpet when the cleaning device moves to the target obstacle; this minimum distance is less than the maximum distance between the fine hair-like structure of the target carpet and the surface of the target carpet, and the comb structure on the cleaning device and the fine hair-like structure interfere with each other. In this way, during the movement / advancement of the cleaning device, the comb structure on the cleaning device can comb the fine hair-like structure on the target obstacle.

[0168] In this embodiment, through the comb structure provided on the cleaning member, the carpet with fluff can be combed. By setting the size relationship between the minimum distance between the comb structure and the surface of the target carpet and the maximum distance between the fluff on the carpet and the surface of the carpet, the comprehensiveness of the combing of the fluff on the carpet by the comb structure can be ensured and the carpet can be deeply cleaned, the dirt hidden deep in the fibers of the carpet can be removed, efficient cleaning can be achieved, and the combing effect and cleaning effect of the cleaning device on the target carpet can be further improved.

[0169] In an exemplary embodiment, a control method for a cleaning device is provided, and this method is applied to Figure 1Taking the cleaning device as an example for illustration, the cleaning device includes a body, a detection system, a rotary wet cleaning member, and a shielding mechanism. The shielding mechanism includes a shielding member. A receiving cavity is provided at the bottom of the body. The rotary wet cleaning member is rotatably disposed in the receiving cavity. The shielding member is movably disposed at the opening of the receiving cavity;

[0170] As Figure 3 shown, the control method of the cleaning device includes:

[0171] Step 302, during the movement of the cleaning device, obtain obstacle information through the detection system.

[0172] Specifically, the process of obtaining obstacle information in this embodiment is similar to the process of obtaining obstacle information in the above embodiment, and will not be elaborated here.

[0173] Step 304, if it is determined that the obstacle indicated by the obstacle information is a target obstacle, control the shielding member of the cleaning device to be in a shielding state to close the opening of the receiving cavity.

[0174] Among them, the target obstacle protrudes from the working surface where the cleaning device is located, and the height by which the target obstacle protrudes from the working surface is less than or equal to the maximum obstacle-crossing height of the cleaning device. A shielding mechanism is provided on the cleaning device, and the shielding structure includes a shielding member and a driving component. The shielding member can include two states, for example, it can include a shielding state and an avoidance state, and the shielding member can be switched between the shielding state and the avoidance state. When the shielding member is in the avoidance state, the opening of the receiving cavity is in an open state; when the shielding member is in the shielding state, the opening of the receiving cavity is in a closed state.

[0175] Specifically, the target obstacle is located within the working area of the cleaning device, and the target obstacle protrudes from the working surface of the cleaning device. For example, the working surface of the cleaning device can be the ground, then the target obstacle can be an obstacle protruding from the ground, and the maximum protruding height of the obstacle protruding from the ground is less than or equal to the maximum obstacle-crossing height of the cleaning device; among them, the obstacle protruding from the ground can be, for example, a threshold or a step on the working surface, or a plate placed on the working surface of the cleaning device, etc.; the maximum obstacle-crossing height of the cleaning device can be used to describe the maximum height at which the cleaning device can pass through an obstacle without hindrance.

[0176] Optionally, an obstacle crossing structure is also provided at the bottom of the cleaning equipment, and the maximum obstacle crossing height of the cleaning equipment is determined by the obstacle crossing structure. For example, the obstacle crossing structure may be a traveling component, and the traveling component may include a driving wheel, a support unit and an obstacle crossing wheel. The obstacle crossing wheel is provided on the support unit, and the support unit can rotate around the driving wheel to enable the traveling component to switch between a traveling state and an obstacle crossing state, wherein, when the traveling component is in the traveling state, the driving wheel is in contact with the ground to drive the body to move; when the traveling component is in the obstacle crossing state, the support unit drives the obstacle crossing wheel to contact the ground and makes the driving wheel leave the ground, so that the obstacle crossing wheel drives the body to move and completes the obstacle crossing.

[0177] If it is determined that the obstacle in the working area indicated by the obstacle information is an obstacle protruding from the working surface where the cleaning device is located, then the shielding member of the cleaning device can be controlled to be in a shielding state so that the opening of the accommodating cavity is in a closed state, that is, to close the opening of the accommodating cavity.

[0178] Optionally, the shielding member of the cleaning equipment may currently be in a shielding state. In this case, when it is determined to be a target obstacle, the shielding member may be controlled to remain in the shielding state. For example, the first instruction that may be sent to the shielding mechanism may be a shielding state maintaining instruction. After receiving the shielding state maintaining instruction, the shielding mechanism may continue to maintain the shielding state unchanged.

[0179] Optionally, the shielding member of the cleaning equipment may currently be in an avoidance state. Then, when it is determined to be a target obstacle, the shielding member may be controlled to switch from the avoidance state to the blocking state. For example, the first instruction that may be sent to the shielding mechanism may be a state switching instruction, and the state switching instruction may be an instruction to switch to the blocking state. After receiving the state switching instruction, the shielding mechanism may switch the state of the shielding member from the avoidance state to the blocking state to close the opening of the receiving cavity.

[0180] Step 306: If it is determined that the obstacle indicated by the obstacle information is not the target obstacle, the shielding member is controlled to be in an avoidance state to open the opening of the receiving cavity. The target obstacle protrudes from the working surface where the cleaning device is located, and the height of the target obstacle protruding from the working surface is less than or equal to the maximum obstacle crossing height of the cleaning device.

[0181] Specifically, the obstacle information of the cleaning device in the working area is detected or obtained through the detection system; based on the obstacle information, the type of obstacle indicated by the obstacle information is determined, that is, the obstacle of the cleaning device in the current working area is determined; if it is determined that the obstacle indicated by the obstacle information is not the target obstacle, then the shielding member of the cleaning device can be controlled to be in an avoidance state to open the opening of the receiving cavity. For example, a second instruction can be sent to the shielding mechanism, and the shielding mechanism can drive the shielding member to be in an avoidance state after receiving the second instruction.

[0182] Optionally, the shielding member of the cleaning device may currently be in an avoidance state. In this case, when a target obstacle is determined, the shielding member can be controlled to remain in the avoidance state. For example, the second instruction sent to the shielding mechanism can be an avoidance state maintenance instruction. After receiving this avoidance state maintenance instruction, the shielding mechanism can continue to maintain the avoidance state unchanged.

[0183] Optionally, the shielding member of the cleaning device may currently be in a shielding state. In this case, when a target obstacle is determined, the shielding member can be controlled to switch from the shielding state to the avoidance state. For example, the second instruction sent to the shielding mechanism can be a state switching instruction, and this state switching instruction can be an instruction to switch to the avoidance state. After receiving this state switching instruction, the shielding mechanism can switch the state of the shielding member from the shielding state to the avoidance state to open the opening of the receiving cavity.

[0184] In this embodiment, the detection system can comprehensively obtain the obstacle information on the working surface, promptly identify the obstacles protruding from the ground, and during the obstacle crossing process, promptly control the shielding member to switch to the shielding state to close the opening of the receiving cavity. In this way, during the obstacle crossing process of the cleaning device, it can be avoided that the rotary wet cleaning member is scratched by the obstacles protruding from the ground, resulting in the sewage on the rotary wet cleaning member being spilled onto the obstacles protruding from the ground. The sewage spilled onto the obstacles protruding from the ground will flow down their surfaces to the ground, affecting the cleaning effect.

[0185] In an exemplary embodiment, a control method for a cleaning device is provided. Taking the cleaning device applied to Figure 1 as an example for illustration, when applied to a cleaning device, the cleaning device includes a body, a detection system, a rotary wet cleaning member, and a shielding mechanism. The shielding mechanism includes a shielding member. A receiving cavity is provided at the bottom of the body. The rotary wet cleaning member is rotatably arranged in the receiving cavity, and the shielding member is movably arranged at the opening of the receiving cavity;

[0186] As Figure 4 shown, the control method of this cleaning device includes:

[0187] Step 402, during the movement of the cleaning device, obtain obstacle information through the detection system.

[0188] Specifically, in this embodiment, the process of obtaining obstacle information is similar to that in the above embodiment and will not be elaborated here.

[0189] Step 404, if it is determined that the obstacle indicated by the obstacle information is a target obstacle, control the shielding member of the cleaning device to be in a shielding state to close the opening of the receiving cavity.

[0190] Among them, the target obstacle is a flexible obstacle, and the flexible obstacle at least includes a flexible part, and the flexible part is a flexible linear structure. For example, it can be shoelaces, electrical wires and cables, charging wires, ropes, optical fibers, hoses, chains, fiber filaments, spring wires, flexible wire harnesses, paper towels, drooping parts of plants, etc. It is impossible to list them all, and they will not be listed one by one in this embodiment.

[0191] Specifically, if it is determined that the obstacle indicated by the obstacle information is a flexible obstacle, that is, a flexible obstacle with a flexible linear structure, then it can be determined that the obstacle indicated by the obstacle information is the target obstacle. In this way, the shielding member of the cleaning device can be controlled to be in a shielding state to close the opening of the receiving cavity.

[0192] In one example, the obstacle information of the cleaning device in the working area is obtained through the detection system, and the obstacle information can be the image information of the obstacle and / or the three-dimensional information of the obstacle; based on the obstacle information, it is determined that the obstacle indicated by the obstacle information is a flexible obstacle with a flexible linear structure, then the shielding member of the cleaning device can be controlled to be in a shielding state to close the opening of the receiving cavity. For example, a first instruction can be sent to the shielding mechanism, and after receiving the first instruction, the shielding mechanism can be in a shielding state.

[0193] Optionally, the shielding member of the cleaning device can currently be in a shielding state. Then, in the case of determining it as the target obstacle, the shielding member can be controlled to remain in the shielding state. For example, the first instruction that can be sent to the shielding mechanism can be a shielding state maintenance instruction. After receiving the shielding state maintenance instruction, the shielding mechanism can continue to maintain the shielding state unchanged.

[0194] Optionally, the shielding member of the cleaning device can currently be in an avoidance state. Then, in the case of determining it as the target obstacle, the shielding member can be controlled to switch from the avoidance state to the shielding state; for example, the first instruction that can be sent to the shielding mechanism can be a state switching instruction, and the state switching instruction can be an instruction to switch to the shielding state; after receiving the state switching instruction, the shielding mechanism can switch the state of the shielding member from the avoidance state to the shielding state to close the opening of the receiving cavity.

[0195] Step 406, if it is determined that the obstacle indicated by the obstacle information is not the target obstacle, then control the shielding member to be in an avoidance state to open the opening of the receiving cavity. Among them, the target obstacle is a flexible obstacle, and the flexible obstacle at least includes a flexible part, and the flexible part is a flexible linear structure.

[0196] Specifically, if it is determined that the obstacle indicated by the obstacle information is not a flexible obstacle, then it can be determined that the obstacle indicated by the obstacle information is not the target obstacle. In this way, the shielding member of the cleaning device can be controlled to be in an avoidance state to open the opening of the receiving cavity.

[0197] In one example, the obstacle information of the cleaning device in the working area is obtained through the detection system. The obstacle information may be the image information of the obstacle and / or the three-dimensional information of the obstacle. Based on the obstacle information, if it is determined that the obstacle indicated by the obstacle information is not a flexible obstacle with a flexible linear structure, the shielding member of the cleaning device can be controlled to be in an avoidance state to open the opening of the receiving cavity. For example, a second instruction can be sent to the shielding mechanism, and after receiving the second instruction, the shielding mechanism can drive the shielding member to be in an avoidance state.

[0198] Optionally, if the shielding member of the cleaning device is currently in an avoidance state, then in the case of determining the target obstacle, the shielding member can be controlled to remain in the avoidance state. For example, the second instruction sent to the shielding mechanism can be an avoidance state maintenance instruction. After receiving the avoidance state maintenance instruction, the shielding mechanism can continue to maintain the avoidance state unchanged.

[0199] Optionally, if the shielding member of the cleaning device is currently in a shielding state, then in the case of determining the target obstacle, the shielding member can be controlled to switch from the shielding state to the avoidance state. For example, the second instruction sent to the shielding mechanism can be a state switching instruction, and the state switching instruction can be an instruction to switch to the avoidance state. After receiving the state switching instruction, the shielding mechanism can switch the state of the shielding member from the shielding state to the avoidance state to open the opening of the receiving cavity.

[0200] In this embodiment, the obstacle information on the working surface can be accurately and timely obtained through the detection system, and when a flexible obstacle is recognized, the shielding member can be timely controlled to switch to the shielding state to close the opening of the receiving cavity, avoiding the flexible obstacle from winding around the rotary wet cleaning member, winding around the cleaning device, or entering the interior of the receiving cavity of the cleaning device, ensuring the normal operation and safety of the device, and protecting the components inside the cleaning device.

[0201] In an exemplary embodiment, a control method for a cleaning device is provided. Taking the cleaning device in Figure 1 as an example for description, the cleaning device includes a body, a detection system, a rotary wet cleaning member, and a shielding mechanism. The shielding mechanism includes a shielding member. A receiving cavity is provided at the bottom of the body. The rotary wet cleaning member is rotatably disposed in the receiving cavity, and the shielding member is movably disposed at the opening of the receiving cavity;

[0202] As Figure 5 shown, the control method of the cleaning device includes:

[0203] Step 502, during the movement of the cleaning device, obtain obstacle information through the detection system.

[0204] Specifically, the process of obtaining obstacle information in this embodiment is similar to the process of obtaining obstacle information in the above embodiment, and will not be repeated here.

[0205] Step 504: If it is determined that the obstacle indicated by the obstacle information is a target obstacle, the shielding member of the cleaning device is controlled to be in a shielding state to close the opening of the receiving cavity.

[0206] Step 506, if it is determined that the obstacle indicated by the obstacle information is not the target obstacle, the shielding member is controlled to be in an avoidance state to open the opening of the receiving cavity; wherein the target obstacle is a dangerous type of obstacle, and the dangerous type includes one or more of paper, pollutants, hard objects, and sharp objects.

[0207] Contaminants may include pet feces, vomit, etc. Hard objects may be objects with hard shells, and sharp objects may have sharp edges or points that can easily pierce, cut or scratch other objects, such as scissors, awls, etc.

[0208] Specifically, the cleaning device can determine the obstacle indicated by the obstacle information. If it is determined that the obstacle indicated by the obstacle information is a dangerous type of solid obstacle, the covering member of the cleaning device can be controlled to be in a covering state to close the opening of the receiving chamber of the cleaning device; if it is determined that the obstacle indicated by the obstacle information is not a dangerous type of obstacle, the covering member of the cleaning device can be controlled to be in an avoidance state to open the opening of the receiving chamber of the cleaning device.

[0209] In one example, the obstacle information of the cleaning equipment in the working area is detected or obtained through the detection system, and the obstacle information may be the image information and / or the three-dimensional information of the obstacle; based on the obstacle information, the type of obstacle indicated by the obstacle information is determined, that is, the obstacle of the cleaning equipment in the current working area is determined; if it is determined that the obstacle indicated by the obstacle information is a solid obstacle of a dangerous type, then a first instruction may be sent to the shielding mechanism, and the shielding mechanism may be in a shielding state after receiving the first instruction. If it is determined that the obstacle indicated by the obstacle information is not a solid obstacle of a dangerous type, then a second instruction may be sent to the shielding mechanism, and the shielding mechanism may drive the shielding member to be in an avoidance state after receiving the second instruction.

[0210] In this embodiment, the obstacle information on the working surface can be accurately and timely obtained through the detection system. When a solid obstacle of a dangerous type is identified, the shielding member can be timely controlled to switch to the shielding state, so as to close the opening of the receiving cavity, avoid the dangerous type of obstacle from soiling the rotary wet cleaning member or other parts of the cleaning device, or the dangerous type of obstacle from winding around the rotary wet cleaning member, winding around the cleaning device or entering the interior of the receiving cavity of the cleaning device, ensure the normal operation and safety level of the device, and protect the components inside the cleaning device.

[0211] In an exemplary embodiment, after determining that the obstacle indicated by the obstacle information is a target obstacle, the control method of the cleaning device further includes:

[0212] Controlling the cleaning device to perform an obstacle avoidance action, and the obstacle avoidance action includes one or more of the following situations:

[0213] The cleaning device makes a U-turn at the edge of the target obstacle;

[0214] The cleaning device detours around the edge of the target obstacle;

[0215] The cleaning device retreats and turns;

[0216] The cleaning device performs edge cleaning along the edge of the target obstacle.

[0217] Wherein, the target obstacle can be one or more of the various target obstacles described in the above embodiments. For example, the target obstacle can include one or more of an obstacle protruding from the working surface where the cleaning device is located, a flexible obstacle, and a solid obstacle of a dangerous type.

[0218] Specifically, after the cleaning device obtains the obstacle information through the detection system, if it is determined that the obstacle indicated by the obstacle information is a target obstacle, the shielding member of the cleaning device is controlled to be in the shielding state, and it is also necessary to control the cleaning device to perform an obstacle avoidance action. For example, the cleaning device can be controlled to make a U-turn at the edge of the target obstacle, or detour, and the cleaning device can also be controlled to perform a turning operation after retreating, or the cleaning device can also be controlled to perform edge cleaning along the edge of the target obstacle, etc.

[0219] Optionally, the cleaning device can determine the edge information of the target obstacle based on the obtained obstacle information, and based on this edge information, perform U-turn operations, detour operations, edge cleaning, etc. in the obstacle avoidance action. For example, it can also control the cleaning device to perform a turning operation after performing a retreat operation according to the requirements of the actual application scenario, etc.

[0220] In this embodiment, through various types of obstacle avoidance actions, it is possible to minimize the risk of collision between the cleaning device and obstacles while ensuring the cleaning effect, protect the cleaning device itself and the items around the cleaning device from damage, control the device to promptly bypass or stay away from dangerous types of solid obstacles / flexible obstacles, prevent the target obstacles from entering the interior of the cleaning device, and ensure the stability and safety of the device operation; it can also enhance the adaptability of the cleaning device to various complex obstacle environments. The cleaning device can operate flexibly in diverse scenarios, promptly and automatically bypass obstacles, and avoid frequent user operations on the cleaning device, improving the user's peace of mind when using the cleaning device and further enhancing the user's satisfaction with the cleaning device.

[0221] In an exemplary embodiment, the control method of the cleaning device further includes:

[0222] If the distance between the cleaning device and the target obstacle and / or the base station is less than or equal to a preset distance threshold, then during the movement of the cleaning device in the direction of the target obstacle, control the cleaning device to decelerate.

[0223] Wherein, the target obstacle can be any one or more of the target obstacles described in the above embodiments. For example, the target obstacle can be a target carpet, a target obstacle protruding from the working surface where the cleaning device is located, a flexible obstacle, a dangerous type of solid obstacle, etc. The cleaning system can include a cleaning device and a base station. The cleaning device can be a cleaning robot, and the base station can be communicatively connected to the cleaning device. The preset distance threshold can be a pre-configured distance threshold, for example, a distance threshold set based on requirements (such as obstacle avoidance requirements).

[0224] Specifically, based on the obstacle information, determine the coordinate information of the target obstacle, and based on this coordinate information and the position information of the cleaning device, obtain the distance between the cleaning device and the target obstacle, and obtain the distance between the cleaning device and the base station, and compare the above distances with the preset distance threshold respectively. If it is determined that the distance between the cleaning device and the target obstacle is less than the preset distance threshold, then during the movement of the cleaning device in the direction of the target obstacle, control the cleaning device to decelerate; and / or, if it is determined that the distance between the cleaning device and the base station is less than the preset distance threshold, then during the movement of the cleaning device in the direction of the base station, control the cleaning device to decelerate.

[0225] The specific deceleration process can be determined based on the actual application scenario, and this embodiment does not limit it.

[0226] In this embodiment, by determining the distance between the cleaning device and the target obstacle and / or the base station, the cleaning device can sense the relative state between itself and the position to which it is to return in real time. Controlling the cleaning device to decelerate in advance can reduce the collision risk between the cleaning device and the target obstacle and / or the base station, protect the cleaning device, the base station, and the obstacle from damage, delay the service life of the device, and can also accurately control the movement of the cleaning device to accurately reach the base station. Decelerating in advance can also enable the cleaning device to operate in a more energy-efficient manner and reduce device energy consumption; timely controlling the cleaning device to decelerate can also extend the duration for the cleaning device to obtain obstacle information through the detection system, so that more accurate and comprehensive obstacle information can be obtained.

[0227] In an exemplary embodiment, a control method for a cleaning device is provided. Taking the cleaning device applied to Figure 1 as an example for illustration, the cleaning device is communicatively connected to the base station 600. As Figure 6 shown, it can be a schematic diagram of the base station 600. The base station 600 is provided with a receiving cavity 602 for accommodating the cleaning device. A cleaning tray 603 is provided at the bottom of the receiving cavity 602. A cleaning groove 601 is provided on the cleaning tray 603. The cleaning tray 603 is connected to a guiding plate 604. The guiding plate 604 extends in a direction away from the base station 600. The cleaning device can move into the receiving cavity 602 through the guiding plate 604; the cleaning device includes a body, a detection system, a rotary wet cleaning member, and a shielding mechanism. The shielding mechanism includes a shielding member. A receiving cavity is provided at the bottom of the body. The rotary wet cleaning member is rotatably provided in the receiving cavity. The shielding member is movably provided at the opening of the receiving cavity.

[0228] As Figure 7 shown, the control method of the cleaning device includes:

[0229] Step 702, during the movement of the cleaning device, if it is determined that the current cleaning device meets the condition for returning to the base station, obtain the base station information through the detection system, and control the cleaning device to return to the base station based on the base station information.

[0230] Specifically, during the movement of the cleaning device within the working area or during the progress in the working area, the cleaning device can real-time determine whether it currently meets the condition for returning to the base station. For example, it can be determined whether the cleaning device meets the condition for returning to the base station based on one or more of the remaining battery power information of the cleaning device, the completion status of the current cleaning task, and the degree of dirt of the cleaning member in the cleaning device; the base station herein can be the base station of the cleaning device, for example, it can be a base station communicatively connected to the cleaning device, which is a supporting device that provides multiple functions such as charging, cleaning, and storage for the cleaning device. The base station information herein can be the current position information of the base station.

[0231] In one example, after determining that the conditions for returning to the base station are currently met, the cleaning device can obtain base station information through a detection system and obtain the current location of the base station represented by the base station information. Based on the current location of the base station, the cleaning device can perform an action of returning to the base station, that is, based on the base station information, control the cleaning device to return to the base station.

[0232] Step 704 , when the cleaning device passes through the guide plate and moves to the receiving chamber, the shielding member of the cleaning device is controlled to be in a shielding state to close the opening of the receiving chamber.

[0233] The base station is provided with a receiving cavity for receiving the cleaning equipment, a cleaning plate is provided at the bottom of the receiving cavity, a cleaning groove is provided on the cleaning plate, a guide plate is connected to the cleaning plate, the guide plate extends away from the base station, and the cleaning equipment can be moved into the receiving cavity through the guide plate. The guide plate can be a slope-shaped structure;

[0234] Specifically, when the cleaning device returns to the base station, that is, moves to the accommodating cavity through the guide plate connected to the base station, the shielding member of the cleaning device can be controlled to be in a shielding state to close the opening of the accommodating cavity.

[0235] Step 706, when it is determined that the cleaning device returns to the parking position of the base station, the shielding member is controlled to be in an evasive state, and the opening of the receiving cavity is opened so that the rotary wet cleaning member corresponds to the cleaning tank.

[0236] Specifically, the cleaning equipment returns to the accommodating chamber of the base station through the guide plate. After determining that the cleaning equipment has returned to the parking position in the accommodating chamber of the base station, the shielding member of the cleaning equipment can be controlled to be in an avoidance state to open the opening of the accommodating chamber, so that the rotary wet cleaning station inside the accommodating chamber corresponds to the cleaning tank in the base station. In this way, the cleaning tank can clearly open the rotary wet cleaning member.

[0237] In this embodiment, by timely closing the opening of the receiving chamber of the cleaning equipment during the process of returning to the base station, it is possible to prevent the rotary wet cleaning component from being scratched by the guide plate, which would cause the dirty water on the rotary wet cleaning component to fall on the guide plate. The dirty water that falls on the guide plate will flow to the ground along the slope of the guide plate, affecting the cleaning effect. After reaching the receiving chamber of the base station, the opening of the receiving chamber is opened in time, so that it can correspond to the cleaning tank in the base station in time, thereby improving the cleaning efficiency of the rotary wet cleaning component in the cleaning equipment. The entire process is automated to avoid user operation, thereby improving user experience and the intelligence of the equipment.

[0238] In an exemplary embodiment, the control method of the cleaning device includes:

[0239] When the rotary wet cleaning part needs to be cleaned, or when the remaining power of the cleaning device is lower than a preset power threshold, or when the cleaning device completes a cleaning task, it is determined that the current cleaning device meets the condition for returning to the base station.

[0240] Specifically, the degree of dirt of the rotary wet cleaning part can be obtained. If it is determined that the degree of dirt is a degree of dirt that needs to be cleaned, then it can be determined that the rotary wet cleaning part needs to be cleaned, that is, the current cleaning device meets the condition for returning to the base station; obtain the real-time remaining power of the cleaning device and compare it with the preset power threshold configured in advance. If the real-time remaining power is less than or equal to the preset power threshold, it can be determined that the current cleaning device meets the condition for returning to the base station; the completion status of the cleaning task of the current cleaning device can be obtained. If it is determined that the cleaning task is in a completed state, then it can be determined that the current cleaning device meets the condition for returning to the base station.

[0241] In this embodiment, by judging whether the device meets the condition for returning to the base station in multiple ways, the power of the cleaning device can be saved and the overall cleaning efficiency can be improved. By judging whether the condition for returning to the base station is met by one or more of the multiple ways, mutual verification can be carried out to improve the accuracy of judgment; it can also avoid excessive wear or failure of the device caused by continuous operation without timely returning to the base station, and improve the service life and reliability of the device.

[0242] In an exemplary embodiment, the control method of the cleaning device includes:

[0243] When the cleaning device departs from the base station, control the shielding member of the cleaning device to be in a shielding state to close the opening of the receiving cavity; when the cleaning device leaves the base station through the guiding plate, determine the state of the shielding member based on the real-time cleaning demand information.

[0244] Specifically, the cleaning device can depart from the base station when it needs to perform a cleaning task; in this way, when the cleaning device departs from the base station, that is, when it leaves the base station from the receiving cavity of the base station through the guiding plate, the shielding member of the cleaning device can be controlled to be in a shielding state to close the opening of the receiving cavity; after the cleaning device leaves the base station, it can be determined whether it is necessary to control the shielding state of the cleaning member to switch to an avoidance state based on the real-time cleaning demand information; the real-time cleaning demand information can be user demand or the demand of the real-time working scenario of the cleaning device.

[0245] In this embodiment, by timely closing the opening of the receiving chamber of the cleaning equipment when leaving the base station, it is possible to avoid the rotary wet cleaning component being scratched by the guide plate, which would cause the dirty water on the rotary wet cleaning component to fall on the guide plate. The dirty water that falls on the guide plate will flow to the ground along the slope of the guide plate, affecting the cleaning effect; by timely opening the opening of the receiving chamber based on real-time cleaning needs after leaving the base station, the speed of responding to the user's cleaning needs can be improved, the entire process can be automated, user operation can be avoided, and the user experience and the intelligence of the equipment can be improved.

[0246] In an exemplary embodiment, a control method for a cleaning device is provided, wherein the method is applied to Figure 1 The cleaning device in the embodiment is used as an example to illustrate that the cleaning device includes a body, a detection system, a rotary wet cleaning member and a shielding mechanism. The shielding mechanism includes a shielding member. A receiving cavity is provided at the bottom of the body. The rotary wet cleaning member is rotatably provided in the receiving cavity. The shielding member is movably provided at the opening of the receiving cavity.

[0247] like Figure 8 As shown, the control method of the cleaning device includes:

[0248] Step 802: If it is determined that the cleaning device is in a sweeping working mode during the moving process, the shielding member of the cleaning device is controlled to be in a shielding state to close the opening of the receiving cavity.

[0249] Specifically, during the working process or movement of the cleaning device, if it is determined that the working mode of the cleaning device is a sweeping working mode, the covering member of the cleaning device can be controlled to be in a covering state to close the opening of the receiving cavity to prevent water in the rotating wet cleaning member of the cleaning device from spilling onto the working surface.

[0250] Step 804: if it is determined that the cleaning device is in the mopping mode or the sweeping-and-mopping mode during the moving process, the shielding member is controlled to be in an evasive state to open the opening of the receiving cavity.

[0251] Among them, the sweeping working mode is that the cleaning device only performs sweeping work and does not perform mopping work; the mopping working mode is that the cleaning device only performs mopping work and does not perform sweeping work; the sweeping and mopping working mode is that the cleaning device performs sweeping work and mopping work at the same time.

[0252] Specifically, if it is determined that the cleaning device is in a mopping mode or a sweeping and mopping mode during movement, the shielding member can be controlled to be in an avoidance state to open the opening of the receiving chamber, so that the rotating wet cleaning member in the receiving chamber can clean the work surface.

[0253] In this embodiment, the state of the opening of the receiving chamber is flexibly adjusted by the working mode of the cleaning device, and the opening of the receiving chamber is adapted to the working mode of the cleaning device. Closing the opening in time can keep the working area dry after cleaning, and at the same time can prevent the dirty water on the rotary wet cleaning element from spilling onto the ground, thereby ensuring the cleanliness of the ground. Opening the opening in time can improve the cleaning effect of the mopping mode.

[0254] In an exemplary embodiment, a control method for a cleaning device is provided, wherein the method is applied to Figure 1 The cleaning device in the example is described, the cleaning device includes a body, a detection system, a rotary wet cleaning member and a shielding mechanism, the shielding mechanism includes a shielding member, a receiving cavity is provided at the bottom of the body, the rotary wet cleaning member is rotatably provided in the receiving cavity, and the shielding member is movably provided at the opening of the receiving cavity;

[0255] like Figure 9 As shown, the control method of the cleaning device includes:

[0256] Step 902, during the movement of the cleaning device, if it is determined that the cleaning device is in the shielding area, the shielding member of the cleaning device is controlled to be in a shielding state to close the opening of the receiving cavity. And / or;

[0257] Step 904: during the movement of the cleaning device, if it is determined that the cleaning device is in a non-shielding area, the shielding member of the cleaning device is controlled to be in a evasive state to open the opening of the receiving cavity.

[0258] The blocking area and / or non-blocking area is configured by the user through the mobile terminal.

[0259] Specifically, during the operation of the cleaning device, or during the movement of the cleaning device, the area where the cleaning device is currently located can be determined. If it is determined that the cleaning device is currently in a pre-configured shielding area, the shielding member of the cleaning device can be controlled to be in a shielding state to close the opening of the accommodating cavity; optionally, the specific control process can be that a first instruction is sent to the shielding mechanism through the control module of the cleaning device, and the shielding mechanism can be in a shielding state after receiving the first instruction; if it is determined that the area where the cleaning device is currently located is a pre-configured non-shielding area, the shielding member of the cleaning device can be controlled to be in an avoidance state to open the opening of the accommodating cavity; optionally, the specific control process can be that a second instruction is sent to the shielding mechanism through the control module of the cleaning device, and the shielding mechanism can be in an avoidance state after receiving the second instruction.

[0260] It should be noted that one or more of step 802 and step 804 may be executed based on actual application scenarios, and this embodiment does not limit the execution order and execution scope.

[0261] In this embodiment, by switching or controlling the state of the shielding member based on the area where the cleaning equipment is detected in real time, the adaptability of the shielding member to the actual application scenario can be improved, adapting to the needs of different scenarios and diversified cleaning tasks, and improving the cleaning effect.

[0262] In an exemplary embodiment, the control method of the cleaning device includes: displaying an area configuration interface, which displays the working area of ​​the cleaning device; in response to the user's operation of dividing the working area, obtaining the obstructed area and / or non-obstructed area corresponding to the working area.

[0263] Specifically, a region configuration interface can be displayed on the display module of the terminal device, and the region configuration interface can display the working area of ​​the cleaning device obtained by the detection system; the user of the cleaning device can perform a division operation on the region configuration interface, and the terminal device responds to the user's division operation and region identification operation to determine the blocked area and the non-blocked area in the working area. The terminal device can be a mobile phone, computer, tablet, etc., which is installed with an application corresponding to the cleaning device.

[0264] Optionally, the area configuration interface displays an occlusion interface option and a non-occlusion interface option; in response to the user's triggering operation on the occlusion interface, the terminal device can determine that the area currently selected by the user is the occlusion area, so that in response to the user's area selection operation, the area corresponding to the area selection operation is determined as the occlusion area, and correspondingly, the area in the working area other than the occlusion area is the non-occlusion area. The division operation of the working area can be the user's area selection operation.

[0265] Optionally, a prompt message is displayed on the area configuration interface, and the prompt message may be, please configure the blocking interface; thus, the user may perform an area selection operation on the area configuration interface based on the prompt message, and the terminal device may respond to the user's area selection operation and determine that the area corresponding to the area selection operation is a blocking area, and correspondingly, the area in the working area other than the blocking area is a non-blocking area. The division operation of the working area may be the user's area selection operation.

[0266] That is to say, the user can customize the shielding area and non-shielded area in the terminal. In the shielding area, the cleaning robot controls the shielding member to the shielding state to close the opening of the receiving cavity. In the non-shielded area, the cleaning robot controls the shielding member to the avoidance state to open the opening of the receiving cavity.

[0267] In this embodiment, a variety of blocking area configuration operations are provided to ensure the convenience of the user in configuring the blocking area and / or non-blocking area.

[0268] In the control method of the cleaning device provided in the present embodiment, the cleaning device can be a cleaning robot; a shielding member is provided in a receiving chamber of the cleaning device that receives a rotating wet cleaning member, and the shielding member can make the opening of the receiving chamber have two states, open and closed. When the working state of the cleaning robot is not a mopping state, when the cleaning robot passes a carpet, when the cleaning robot passes an obstacle protruding from the ground (the working surface of the cleaning robot), when the cleaning robot passes a flexible obstacle, and when the cleaning robot passes a dangerous type of obstacle, the shielding member closes the opening of the receiving chamber, thereby isolating the rotating wet cleaning member from the working surface of the cleaning robot, avoiding water in the cleaning member with a high water content from spilling and affecting the cleaning effect of the cleaning device, and also avoiding the cleaning device from rolling ground objects into the receiving chamber when it is in a rotating state at work, thereby increasing the service life of the cleaning robot, avoiding damage to the user's belongings, and improving the user's experience and satisfaction with the cleaning device.

[0269] In this embodiment, when the cleaning device passes by the target carpet, that is, when passing by a carpet with fluff, the shielding member can be timely controlled to be in a shielding state, closing the opening of the receiving chamber, avoiding the contact between the rotary wet cleaning member and the fluff on the carpet, avoiding contamination of the carpet, and improving the cleaning effect; when the cleaning robot passes by a flexible obstacle, the shielding member can be timely controlled to be in a shielding state, closing the opening of the receiving chamber, avoiding the rotary cleaning member from winding the flexible obstacle into the interior of the fuselage during rotation, causing damage to the cleaning robot, thereby increasing the service life of the cleaning robot, avoiding damage to the user's belongings, and improving the user experience and satisfaction with the cleaning device; when the cleaning robot needs to return to the base station for charging or cleaning, the shielding member can be timely controlled to be in a shielding state, avoiding contact between the cleaning member and the guide plate of the base station, avoiding water on the cleaning member from being scraped off by the guide plate and spilling onto the guide plate of the base station, thereby improving the cleaning effect.

[0270] It should be understood that, although the various steps in the flowcharts involved in the above-mentioned embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-mentioned embodiments can include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0271] Based on the same inventive concept, Figure 1As shown in the figure, an embodiment of the present application provides a cleaning device, which includes:

[0272] A body with a receiving cavity provided at the bottom of the body.

[0273] A detection system provided on the body for obtaining obstacle information and / or base station information.

[0274] A rotary wet cleaning member rotatably provided in the receiving cavity for cleaning the working surface of the cleaning device. The rotary wet cleaning member includes a fixed end and a rotatable end, and the fixed end can be fixed at a fixed position on the inner wall of the receiving cavity.

[0275] A shielding mechanism including a shielding member and a driving assembly. The shielding member is movably provided at the opening of the receiving cavity through the driving of the driving assembly. The shielding member includes a shielding state for closing the opening of the receiving cavity and an avoidance state for opening the opening of the receiving cavity.

[0276] A control module for executing the method described in any one of the following embodiments. The specific execution process of the method will be described in detail in the subsequent embodiments and will not be elaborated here.

[0277] Optionally, as Figure 1 shown, it can be a schematic structural diagram of the shielding member in the cleaning device in the shielding state. Figure 1 It can be a schematic structural diagram seen from the bottom of the cleaning device looking up, that is, a bottom view; the cleaning device includes a shielding mechanism 1001, a comb tooth structure 1002, a body 1003, and a receiving cavity 1004. At this time, the shielding member in the shielding mechanism 1001 is in the shielding state, and the opening of the receiving cavity 1004 is in the closed state; the rotary wet cleaning member is located in the receiving cavity 1004 and is not shown in the figure.

[0278] Optionally, as Figure 10 shown, it can be a schematic structural diagram of the shielding member in the cleaning device in the avoidance state. Figure 10 It can be a schematic structural diagram seen from the bottom of the cleaning device looking up, that is, a bottom view; the cleaning device includes a body 1003, a receiving cavity 1004, a rotary wet cleaning member 1005, and a dry cleaning module 1006. At this time, the shielding member in the shielding mechanism 1001 is in the shielding state, and the opening of the receiving cavity 1004 is in the open state; the rotary wet cleaning member 1005 is located in the receiving cavity 1004. The dry cleaning module 1006 includes a rolling brush, and a rolling brush cavity is provided at the bottom of the body 1003, and the rolling brush is rotatably provided in the rolling brush cavity.

[0279] In an exemplary embodiment, the detection system includes one or more of a monocular vision sensor, a binocular vision sensor, a trinocular vision sensor, a lidar, a line laser sensor, a surface laser sensor, a Dtof sensor, an Itof sensor, and an ultrasonic sensor.

[0280] Optionally, as Figure 11 shown, it may be a schematic diagram of a cleaning device, and the detection system in the cleaning device may be a lidar 1101 and a line laser 1102.

[0281] Optionally, as Figure 12 shown, it may be a schematic diagram of another cleaning device, and the detection system in the cleaning device may be a lidar 1201 and a camera 1202.

[0282] In this embodiment, obstacle information is obtained through multiple detection systems to ensure the comprehensiveness of the obtained obstacle information, providing a reliable and accurate data basis for subsequent determination of whether the indicated obstacle is the target obstacle.

[0283] In an exemplary embodiment, a comb-like structure is provided on a side of the shielding member facing away from the rotary wet cleaning member. The comb-like structure is used for cleaning impurities in the carpet on the working surface, and / or combing the fine hair-like structures on the surface of the carpet, and / or enhancing the strength of the shielding member.

[0284] In this embodiment, a comb-like structure may be provided on a side of the shielding member facing away from the rotary wet cleaning member. On the one hand, the comb-like structure can comb out the garbage in the carpet for cleaning by the dry cleaning module. On the other hand, it can comb the fluff on the surface of the carpet to smooth the fluff on the surface of the carpet. On the other hand, it acts as a reinforcing rib to increase the strength of the shielding member and improve the service life.

[0285] A control device for a cleaning device for implementing the control method of the cleaning device involved above is also provided. The solution provided by this device to solve the problem is similar to the solution described in the above method. Therefore, the specific limitations in one or more embodiments of the control device for the cleaning device provided below can refer to the limitations on the control method of the cleaning device above, and will not be elaborated here.

[0286] In an exemplary embodiment, a state switching device for a cleaning device is provided, which is applied to a cleaning device. The cleaning device includes a body, a detection system, a rotary wet cleaning member, and a shielding mechanism. The shielding mechanism includes a shielding member. A receiving cavity is provided at the bottom of the body. The rotary wet cleaning member is rotatably arranged in the receiving cavity. The shielding member is movably arranged at the opening of the receiving cavity;

[0287] The device includes:

[0288] A first acquisition module, configured to acquire obstacle information through the detection system during the movement of the cleaning device;

[0289] A first control module, configured to control the shielding member of the cleaning device to be in a shielding state to close the opening of the receiving cavity if it is determined that the obstacle indicated by the obstacle information is a target obstacle;

[0290] A second control module, configured to control the shielding member to be in an avoidance state to open the opening of the receiving cavity if it is determined that the obstacle indicated by the obstacle information is not a target obstacle;

[0291] Wherein, the target obstacle is a target carpet, the surface of the target carpet has a fine hair-like structure, and the maximum distance between the fine hair-like structure and the surface of the target carpet is greater than the minimum distance between the rotary wet cleaning member and the surface of the target carpet.

[0292] In one embodiment, a comb structure is provided on a surface of the shielding member facing away from the rotary wet cleaning member, and the minimum distance between the comb structure and the surface of the target carpet is less than the maximum distance between the fine hair-like structure and the surface of the target carpet. During the movement of the cleaning device, the comb structure and the fine hair-like structure interfere with each other to comb the fine hair-like structure on the target obstacle by using the comb structure.

[0293] Each module in the control device of the above cleaning device can be implemented in whole or in part by software, hardware, and their combination. The above modules can be embedded in or independent of a processor in a computer device in the form of hardware, or stored in a memory in a computer device in the form of software, so as to be called by the processor to execute the operations corresponding to the above modules.

[0294] In an exemplary embodiment, a computer device is provided. The computer device can be a terminal, or run the method executed by the control module in the cleaning device, and its internal structure diagram can be as Figure 13As shown in the figure. The computer device includes a processor, a memory, an input / output interface, a communication interface, a display unit, and an input device. Among them, the processor, the memory, and the input / output interface are connected through a system bus, and the communication interface, the display unit, and the input device are connected to the system bus through the input / output interface. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The input / output interface of the computer device is used to exchange information between the processor and external devices. The communication interface of the computer device is used to communicate with external terminals in a wired or wireless manner, and the wireless manner can be implemented through WIFI, a mobile cellular network, near field communication (NFC), or other technologies. The computer program, when executed by the processor, implements a control method for a cleaning device. The display unit of the computer device is used to form a visually visible picture, which can be a display screen, a projection device, or a virtual reality imaging device. The display screen can be a liquid crystal display screen or an electronic ink display screen. The input device of the computer device can be a touch layer covering the display screen, or a button, a trackball, or a touchpad provided on the computer device housing, or an external keyboard, a touchpad, or a mouse, etc.

[0295] Those skilled in the art can understand that Figure 13 the structure shown in the figure is only a block diagram of some structures related to the solution of this application, and does not constitute a limitation on the computer device to which the solution of this application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine some components, or have different component arrangements.

[0296] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps in the embodiments of this application.

[0297] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data for analysis, stored data, displayed data, etc.) involved in this application are all information and data that have been authorized by the user or fully authorized by all parties, and the collection, use, and processing of relevant data need to comply with relevant regulations.

[0298] Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be completed by instructing relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above methods. Among them, any reference to a memory, database, or other medium used in the embodiments provided in this application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc. The databases involved in the embodiments provided in this application can include at least one of relational databases and non-relational databases. Non-relational databases can include distributed databases based on blockchain, etc., without limitation. The processors involved in the embodiments provided in this application can be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, data processing logics based on quantum computing, artificial intelligence (AI) processors, etc., without limitation.

[0299] The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope recorded in this application.

[0300] The above-described embodiments merely represent several implementation manners of the present application. The description thereof is relatively specific and detailed, but it should not be construed as a limitation to the patent scope of the present application. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present application, several modifications and improvements can still be made, and these all fall within the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the appended claims.

Claims

1. A control method for a cleaning device, characterized in that, Applied to a cleaning device, the cleaning device comprises a body, a detection system, a rotary wet cleaning member and a shielding mechanism, the shielding mechanism comprises a shielding member, a receiving cavity is provided at the bottom of the body, the rotary wet cleaning member is rotatably provided in the receiving cavity, and the shielding member is movably provided at the opening of the receiving cavity; The method comprises: During the movement of the cleaning device, obtaining obstacle information through the detection system; If it is determined that the obstacle indicated by the obstacle information is a target obstacle, controlling the shielding member of the cleaning device to be in a shielding state to close the opening of the receiving cavity; If it is determined that the obstacle indicated by the obstacle information is not the target obstacle, controlling the shielding member to be in an avoidance state to open the opening of the receiving cavity; Wherein, the target obstacle is a target carpet, the surface of the target carpet has a fine hair-like structure, and the maximum distance between the fine hair-like structure and the surface of the target carpet is greater than the minimum distance between the rotary wet cleaning element and the surface of the target carpet.

2. The method according to claim 1, characterized in that A comb tooth structure is provided on a side of the shielding member facing away from the rotary wet cleaning member, and the minimum distance between the comb tooth structure and the surface of the target carpet is smaller than the maximum distance between the fine hair-like structure and the surface of the target carpet. During the movement of the cleaning device, the comb tooth structure interferes with the fine hair-like structure so that the fine hair-like structure on the target obstacle can be combed by using the comb tooth structure.

3. A control method for a cleaning device, characterized in that, Applied to a cleaning device, the cleaning device comprises a body, a detection system, a rotary wet cleaning member and a shielding mechanism, the shielding mechanism comprises a shielding member, a receiving cavity is provided at the bottom of the body, the rotary wet cleaning member is rotatably provided in the receiving cavity, and the shielding member is movably provided at the opening of the receiving cavity; The method comprises: During the movement of the cleaning device, obtaining obstacle information through the detection system; If it is determined that the obstacle indicated by the obstacle information is a target obstacle, controlling the shielding member of the cleaning device to be in a shielding state to close the opening of the receiving cavity; If it is determined that the obstacle indicated by the obstacle information is not the target obstacle, controlling the shielding member to be in an avoidance state to open the opening of the receiving cavity; Wherein, the target obstacle protrudes from the working surface where the cleaning device is located, and the height of the target obstacle protruding from the working surface is less than or equal to the maximum obstacle-crossing height of the cleaning device.

4. A control method for a cleaning device, characterized in that, Applied to a cleaning device, the cleaning device comprises a body, a detection system, a rotary wet cleaning member and a shielding mechanism, the shielding mechanism comprises a shielding member, a receiving cavity is provided at the bottom of the body, the rotary wet cleaning member is rotatably provided in the receiving cavity, and the shielding member is movably provided at the opening of the receiving cavity; The method comprises: During the movement of the cleaning device, obtaining obstacle information through the detection system; If it is determined that the obstacle indicated by the obstacle information is a target obstacle, control the shielding member of the cleaning device to be in a shielding state to close the opening of the receiving cavity; If it is determined that the obstacle indicated by the obstacle information is not a target obstacle, control the shielding member to be in an avoidance state to open the opening of the receiving cavity; Wherein, the target obstacle is a flexible obstacle, and the flexible obstacle at least includes a flexible part, and the flexible part is a linear structure with flexibility.

5. A control method for a cleaning device, characterized in that, Applied to a cleaning device, the cleaning device includes a body, a detection system, a rotary wet cleaning member and a shielding mechanism, the shielding mechanism includes a shielding member, a receiving cavity is provided at the bottom of the body, the rotary wet cleaning member is rotatably arranged in the receiving cavity, and the shielding member is movably arranged at the opening of the receiving cavity; The method includes: During the movement of the cleaning device, obtain obstacle information through the detection system; If it is determined that the obstacle indicated by the obstacle information is a target obstacle, control the shielding member of the cleaning device to be in a shielding state to close the opening of the receiving cavity; If it is determined that the obstacle indicated by the obstacle information is not a target obstacle, control the shielding member to be in an avoidance state to open the opening of the receiving cavity; Wherein, the target obstacle is an obstacle of a dangerous type, and the dangerous type includes one or more of paper, contaminants, hard objects, and sharp objects.

6. The method according to claim 4 or 5, characterized in that, After it is determined that the obstacle indicated by the obstacle information is a target obstacle, the method further includes: Controlling the cleaning device to perform an obstacle avoidance action, and the obstacle avoidance action includes one or more of the following situations: The cleaning device turns around at the edge of the target obstacle; The cleaning device bypasses at the edge of the target obstacle; The cleaning device retreats and turns; The cleaning device performs edge cleaning along the edge of the target obstacle.

7. The method according to any one of claims 1-5, characterized in that The method further includes: If the distance between the cleaning device and the target obstacle and / or the base station is less than or equal to a preset distance threshold, during the movement of the cleaning device in the direction of the target obstacle, control the cleaning device to travel at a reduced speed.

8. A control method for a cleaning device, characterized in that, Applied to a cleaning device, the cleaning device is communicatively connected to a base station, the base station is provided with a receiving cavity for accommodating the cleaning device, a cleaning tray is provided at the bottom of the receiving cavity, a cleaning groove is provided on the cleaning tray, the cleaning tray is connected with a guiding plate, the guiding plate extends in a direction away from the base station, and the cleaning device can move into the receiving cavity through the guiding plate; the cleaning device includes a body, a detection system, a rotary wet cleaning member and a shielding mechanism, the shielding mechanism includes a shielding member, a receiving cavity is provided at the bottom of the body, the rotary wet cleaning member is rotatably arranged in the receiving cavity, and the shielding member is movably arranged at the opening of the receiving cavity; The method includes: During the movement of the cleaning device, if it is determined that the cleaning device currently meets the conditions for returning to the base station, the base station information is obtained through the detection system, and the cleaning device is controlled to return to the base station based on the base station information; When the cleaning device passes through the guide plate and moves to the accommodating chamber, controlling the shielding member of the cleaning device to be in a shielding state to close the opening of the accommodating chamber; When it is determined that the cleaning device returns to the parking position of the base station, the shielding member is controlled to be in an evasive state, and the opening of the receiving cavity is opened so that the rotary wet cleaning member corresponds to the cleaning tank.

9. The method according to claim 8, wherein The method further comprises: When the rotary wet cleaning element needs to be cleaned, or when the remaining power of the cleaning device is lower than a preset power threshold, or when the cleaning device completes the cleaning task, it is determined that the cleaning device currently meets the return to base station condition.

10. The method according to claim 8, characterized in that, The method further comprises: When the cleaning device departs from the base station, controlling the shielding member of the cleaning device to be in a shielding state to close the opening of the receiving cavity; When the cleaning device passes through the guide plate and leaves the base station, the state of the shielding member is determined based on real-time cleaning requirement information.

11. A control method for a cleaning device, characterized in that, Applied to a cleaning device, the cleaning device comprises a body, a detection system, a rotary wet cleaning member and a shielding mechanism, the shielding mechanism comprises a shielding member, a receiving cavity is provided at the bottom of the body, the rotary wet cleaning member is rotatably provided in the receiving cavity, and the shielding member is movably provided at the opening of the receiving cavity; The method comprises: If it is determined that the cleaning device is in a sweeping working mode during the movement, controlling the shielding member of the cleaning device to be in a shielding state to close the opening of the receiving cavity; If it is determined that the cleaning device is in a mopping mode or a sweeping and mopping mode during movement, the shielding member is controlled to be in an evasive state to open the opening of the receiving cavity; Among them, the sweeping working mode is that the cleaning device only performs sweeping work and does not perform mopping work; the mopping working mode is that the cleaning device only performs mopping work and does not perform sweeping work; the sweeping and mopping working mode is that the cleaning device performs sweeping work and mopping work at the same time.

12. A control method for a cleaning device, characterized in that, Applied to a cleaning device, the cleaning device comprises a body, a detection system, a rotary wet cleaning member and a shielding mechanism, the shielding mechanism comprises a shielding member, a receiving cavity is provided at the bottom of the body, the rotary wet cleaning member is rotatably provided in the receiving cavity, and the shielding member is movably provided at the opening of the receiving cavity; The method comprises: During the movement of the cleaning device, if it is determined that the cleaning device is in a shielding area, controlling the shielding member of the cleaning device to be in a shielding state to close the opening of the receiving cavity; and / or; During the movement of the cleaning device, if it is determined that the cleaning device is in a non-shielding area, controlling the shielding member of the cleaning device to be in a evasive state to open the opening of the receiving chamber; Wherein, the occlusion area and / or the non-occlusion area are configured by the user through a mobile terminal.

13. The method according to claim 12, wherein The method further includes: Displaying an area configuration interface, the area configuration interface displaying the working area of the cleaning device; In response to the user's partitioning operation on the working area, obtaining the occlusion area and / or the non-occlusion area corresponding to the working area.

14. A cleaning device, characterized in that, Including: A body, a receiving cavity is provided at the bottom of the body; A detection system, provided on the body, for obtaining obstacle information and / or base station information; A rotary wet cleaning member, rotatably provided in the receiving cavity, for cleaning the working surface of the cleaning device; An occlusion mechanism, including an occlusion member and a driving component, the occlusion member is movably provided at the opening of the receiving cavity through the driving of the driving component, and the occlusion member includes an occlusion state for closing the opening of the receiving cavity and an avoidance state for opening the opening of the receiving cavity; A control module, for executing the method according to any one of the above claims 1-13.

15. The cleaning device according to claim 14, characterized in that, The detection system includes one or more of a monocular vision sensor, a binocular vision sensor, a trinocular vision sensor, a lidar, a line laser sensor, a surface laser sensor, a Dtof sensor, an Itof sensor, and an ultrasonic sensor.

16. The cleaning device according to claim 14, wherein A comb structure is provided on the surface of the occlusion member facing away from the rotary wet cleaning member, and the comb structure is used for cleaning impurities in the carpet on the working surface, and / or for combing the fine hair-like structures on the surface of the carpet, and / or for enhancing the strength of the occlusion member.

17. A cleaning device, comprising a memory and a processor, the memory storing a computer program, characterized in that, When the processor executes the computer program, the steps of the method according to any one of claims 1 to 13 are implemented.

18. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, the steps of the method according to any one of claims 1 to 13 are implemented.

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