Cleaning equipment, calibration method of cleaning equipment and storage medium

Abstract

The invention relates to the technical field of cleaning equipment, and provides cleaning equipment, a calibration method of the cleaning equipment and a storage medium so as to calibrate the slightly-worn cleaning equipment. When the equipment body is in the horizontal state, the cleaning equipment controls lifting of the universal wheels through the processor, when the lifting height of the universal wheels exceeds a detection limit value, the cleaning equipment controls lifting of the first walking wheels and the second walking wheels through the processor, and when the equipment body is in the horizontal state again, the cleaning equipment controls lifting of the second walking wheels. The cleaning equipment determines parameters of the universal wheel, the first walking wheel and the second walking wheel through the processor.

Description

Technical Field

[0001] The present application relates to the technical field of cleaning equipment, and in particular to a cleaning equipment, a calibration method for a cleaning equipment, and a storage medium. Background Art

[0002] Cleaning equipment with liftable universal wheels and liftable travel wheels can be raised and lowered by servos to overcome obstacles according to the terrain environment, but wear caused by bumps or heavy pressure will affect the obstacle-crossing ability of the cleaning equipment.

[0003] When cleaning equipment is worn, it is expensive and time-consuming to return it to the manufacturer for repair. In practice, minor wear does not require a return to the manufacturer for repair, and normal function can be restored by recalibration.

[0004] How to restore the normal function of cleaning equipment with slight wear by calibrating the universal wheels and travel wheels without returning to the factory has become a technical problem that needs to be solved urgently. Summary of the Invention

[0005] To solve the above problems, the present application provides a cleaning device, a calibration method for a cleaning device, and a storage medium to calibrate a slightly worn cleaning device, thereby restoring the slightly worn cleaning device to normal function at minimal cost.

[0006] This application adopts the following technical solutions:

[0007] In a first aspect, the present application provides a cleaning device, comprising: a device body; a universal wheel connected to the device body; a first travel wheel connected to the device body; a second travel wheel connected to the device body; and a processor communicatively connected to the universal wheel, the first travel wheel, and the second travel wheel;

[0008] When the device body is in a horizontal state, the cleaning device controls the lifting of the universal wheels through the processor.

[0009] When the lifting height of the universal wheel exceeds the detection limit, the cleaning device controls the lifting of the first and second travel wheels through the processor, and

[0010] When the device body is in a horizontal state again, the cleaning device determines the parameters of the universal wheel, the first travel wheel and the second travel wheel through the processor.

[0011] In a second aspect, the present application provides a method for calibrating a cleaning device, comprising:

[0012] When the device is in a horizontal state, control the lifting of the universal wheel.

[0013] When the lifting height of the universal wheel exceeds the detection limit, the control is to lift the first and second travel wheels, and

[0014] When the device body is in a horizontal state again, the parameters of the universal wheel, the first running wheel and the second running wheel are determined.

[0015] In a third aspect, the present application provides a computer-readable storage medium storing a computer program, which implements the steps of the above-mentioned cleaning equipment calibration method when instructed by a processor.

[0016] At least one of the above technical solutions adopted in this application can achieve the following beneficial effects:

[0017] The present application provides a cleaning device, comprising: a device body, a universal wheel, connected to the device body; a first running wheel, connected to the device body; a second running wheel, connected to the device body; and a processor, communicatively connecting the universal wheel, the first running wheel and the second running wheel; when the device body is in a horizontal state, the cleaning device controls the lifting of the universal wheel through the processor, when the lifting height of the universal wheel exceeds the detection limit, the cleaning device controls the lifting of the first running wheel and the second running wheel through the processor, and when the device body is in a horizontal state again, the cleaning device determines the parameters of the universal wheel, the first running wheel and the second running wheel through the processor. The cleaning device provided by the present application can restore the normal function of the cleaning device directly through calibration without returning the universal wheel and / or the first running wheel and / or the second running wheel to the factory for repair when the universal wheel and / or the first running wheel and / or the second running wheel are slightly worn; it avoids the waste of resources caused by replacing parts when the cleaning device is slightly worn; compared with returning the cleaning device to the factory for repair, it saves transportation costs, labor costs and time costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0019] Figure 1 A bottom view of a cleaning device according to one embodiment of the present application is shown;

[0020] Figure 2 A schematic diagram showing the connection relationship of a cleaning device according to an embodiment of the present application;

[0021] Figure 3 A schematic diagram showing the connection relationship of a cleaning device according to another embodiment of the present application;

[0022] Figure 4 A schematic diagram showing a cleaning device according to an embodiment of the present application in an environmental space;

[0023] Figure 5 A first perspective view of a cleaning device according to an embodiment of the present application is shown;

[0024] Figure 6 A second perspective view of a cleaning device according to an embodiment of the present application is shown;

[0025] Figure 7 A schematic flow chart showing a method for calibrating a cleaning device according to an embodiment of the present application;

[0026] Figure 8 A schematic flow chart showing a method for calibrating a cleaning device according to another embodiment of the present application;

[0027] Figure 9 A schematic flow chart showing a calibration method for a cleaning device according to yet another embodiment of the present application is shown. DETAILED DESCRIPTION

[0028] To make the purpose, technical solutions, and advantages of this application more clear, the technical solutions of this application will be clearly and completely described below in conjunction with the specific embodiments of this application and the corresponding drawings. Obviously, the embodiments described are only part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0029] The concept of this application is to design cleaning equipment with liftable universal wheels and liftable running wheels, which can be raised and lowered by a servo control to overcome obstacles according to the terrain. However, wear caused by bumps or heavy pressure can affect the cleaning equipment's ability to overcome obstacles. Once worn, the cleaning equipment needs to be returned to the manufacturer for repair, which is costly and time-consuming. Therefore, this application proposes a method for after-sales recalibration at the customer's location in the event of minor wear, restoring the slightly worn cleaning equipment to normal function at minimal cost.

[0030] In this application, the cleaning device is equipped with sensors, cameras, gyroscopes, drives, and other intelligent modules commonly found in existing cleaning devices (including cleaning robots), thereby realizing functions commonly found in existing cleaning devices, such as sensing the surrounding environment, driving the cleaning device to move, and interacting with maps. This will not be described in detail in the embodiments of this application.

[0031] The present application is described in detail below through specific embodiments.

[0032] In one embodiment, Figure 1 A bottom view of a cleaning device according to an embodiment of the present application is shown. Figure 2 The figure shows a schematic diagram of the connection relationship of the cleaning equipment proposed in one embodiment of the present application. Figure 1 and Figure 2As shown, the cleaning device includes: a device body 1, a universal wheel 3, a first running wheel 4, a second running wheel 5, and a processor 10.

[0033] Reference Figure 1 As shown, Figure 1 A circular device body 1 is used as an illustration, but this embodiment does not limit the shape of the device body 1. In addition to the circle, rectangles or other irregular shapes may also be included.

[0034] exist Figure 1 In the embodiment, the universal wheel 3 is connected to the device body 1. The universal wheel 3 can be arranged on the central axis of the device body 1 and close to the front side of the device body 1.

[0035] exist Figure 1 In the embodiment, the first running wheel 4 is connected to the device body 1, and the second running wheel 5 is connected to the device body 1. The first running wheel 4 and the second running wheel 5 can be symmetrically arranged with respect to the central axis of the device body 1 and close to the rear side of the device body 1.

[0036] The universal wheel 3 can be controlled by the processor 10. The processor 10 can control the universal wheel 3 by controlling the drive motor of the universal wheel 3. The speed of the drive motor can be controlled by the duty cycle of the PWM (pulse width modulation) signal, thereby controlling the behavior of the universal wheel 3. The duty cycle is a parameter that describes the characteristics of a pulse signal. In PWM, the duty cycle refers to the ratio of the high-level time to the total cycle time. The behavior of the first running wheel 4 can be controlled by the processor 10, and the behavior of the second running wheel 5 can be controlled by the processor 10. The principles are the same and will not be repeated here.

[0037] The processor 10 can be disposed inside the device body 1 and is respectively connected to the universal wheel 3, the first travel wheel 4, and the second travel wheel 5. The processor 10 is a processing unit for the calibration process of the cleaning device.

[0038] When the device body 1 is in a horizontal state, the cleaning device controls the lifting of the universal wheel 3 through the processor 10 .

[0039] In order to calibrate the universal wheel 3, the first running wheel 4, and the second running wheel 5, the device body 1 must first be level. Whether the device body 1 is level can be determined by, but is not limited to, sensors, cameras, gyroscopes, and other intelligent modules installed in the cleaning device.

[0040] When the cleaning device functions normally and the device body 1 is in a horizontal state, the universal wheel 3, the first running wheel 4, and the second running wheel 5 can all be in a fully retracted state, or the universal wheel 3, the first running wheel 4, and the second running wheel 5 can all be raised to the same height. When the universal wheel 3 and / or the first running wheel 4 and / or the second running wheel 5 of the cleaning device are worn, when the device body 1 is in a horizontal state, the universal wheel 3, the first running wheel 4, and the second running wheel 5 can be raised to different heights to make the device body 1 reach a horizontal state. This embodiment does not limit the range of the height to which the universal wheel 3, the first running wheel 4, and the second running wheel 5 can be raised, but it should ensure that the universal wheel 3, the first running wheel 4, and the second running wheel 5 can continue to be raised on the basis that the device body 1 is in a horizontal state.

[0041] This embodiment does not focus on the posture adjustment process of the device body 1 before it is in a horizontal state, that is, the horizontal state of the device body 1 is the initial state for the start of calibration provided in this embodiment.

[0042] When the processor 10 controls the lifting of the universal wheel 3, the universal wheel 3 supports the device body 1 and tilts it upward, that is, the device body 1 assumes an elevation position. The processor 10 controls the lifting of the universal wheel 3 by sending a PWM signal to the drive motor of the universal wheel 3, thereby controlling the speed of the drive motor and thus controlling the behavior of the universal wheel 3.

[0043] After the universal wheel 3 is lifted, the lifting height of the universal wheel 3 can be determined by the intelligent modules such as sensors, cameras, and gyroscopes carried by the cleaning equipment.

[0044] When the cleaning device functions normally, after the processor 10 controls the universal wheel 3 to be raised, the universal wheel 3 should be raised to the desired height corresponding to the control request of the processor 10. However, when the universal wheel 3 of the cleaning device is worn, after the processor 10 controls the universal wheel 3 to be raised, the raising height of the universal wheel 3 often cannot reach the desired height.

[0045] Therefore, it is necessary to determine whether the lifting height of the universal wheel 3 exceeds the detection limit. The detection limit can be determined based on the calibration limit of the universal wheel 3, for example, the detection limit can be 85% of the desired lifting height. For example, if the processor 10 controls the lifting height of the universal wheel 3 to be 1 cm, the detection limit is 8.5 mm.

[0046] When the lifting height of the universal wheel 3 exceeds the detection limit, the cleaning device controls the lifting of the first running wheel 4 and the second running wheel 5 through the processor 10 .

[0047] If it is determined that the lifting height of the universal wheel 3 exceeds the detection limit, it means that the universal wheel 3 is slightly worn and the cleaning device can be restored to normal function through recalibration. At this time, the processor 10 can continue to control the lifting of the first and second running wheels 4, 5 to restore the device body 1 to a horizontal state.

[0048] The processor 10 controls the lifting of the first travel wheel 4 and can control the speed of the drive motor by sending a PWM signal with a duty cycle to the drive motor of the first travel wheel 4, thereby controlling the behavior of the first travel wheel 4. The processor 10 controls the lifting of the second travel wheel 5 and can control the speed of the drive motor by sending a PWM signal with a duty cycle to the drive motor of the second travel wheel 5, thereby controlling the behavior of the second travel wheel 5.

[0049] After the first running wheel 4 and the second running wheel 5 are lifted, it can be determined whether the device body 1 is in a horizontal state again through the intelligent modules such as sensors, cameras, and gyroscopes carried by the cleaning device.

[0050] The height of the device body 1 when it is in the horizontal state again is different from the height of the device body 1 when it is in the horizontal state. The height of the device body 1 when it is in the horizontal state again is higher than the height of the device body 1 when it is in the horizontal state, that is, the device body 1 is lifted by lifting the universal wheel 3, the first running wheel 4 and the second running wheel 5.

[0051] When the device body 1 is in a horizontal state again, the cleaning device determines the parameters of the universal wheel 3 , the first travel wheel 4 and the second travel wheel 5 through the processor 10 .

[0052] If the device body 1 is in a horizontal state again, the lifting height of the universal wheel 3, the first running wheel 4 and the second running wheel 5 can be determined. Based on the lifting height, the control process of lifting the universal wheel 3, the first running wheel 4 and the second running wheel 5 is calibrated.

[0053] In another embodiment, Figure 3 Schematic diagram showing the connection relationship of the cleaning equipment proposed in another embodiment of the present application. Figure 1 and Figure 3 As shown, the cleaning device includes: a device body 1, a line laser 2, a universal wheel 3, a first traveling wheel 4, a second traveling wheel 5, and a processor 10.

[0054] In some cases, the cleaning device further includes a line laser 2. When the cleaning device further includes a line laser 2, the processor 10 is also in communication with the line laser 2.

[0055] exist Figure 1In the embodiment, a line laser 2 is provided on the side wall of the device body 1. The line laser 2 can be provided on the side wall in front of the device body 1 and emits laser light in a forward direction. In this embodiment, the accuracy of the line laser 2 is a prerequisite.

[0056] Figure 4 A schematic diagram of a cleaning device proposed in one embodiment of the present application in an environmental space is shown. Figure 4 As shown, since the line laser 2 sweeps the laser forward, in order to smoothly carry out the subsequent calibration, it is necessary to ensure that the laser emitted by the line laser 2 can be imaged on the ground 6 during the calibration process. Therefore, when the calibration starts, when the device body 1 is in a horizontal state, it is necessary to ensure that there are no obstacles within a certain range around the device body 1. Obstacles can include but are not limited to walls, objects, etc. For example, Figure 4 In the case shown, the line laser 2 faces the wall 7, so Figure 4 Line laser 2 should not be visible from this perspective, but a dashed line is used to illustrate the placement of line laser 2. If there is a wall 7 perpendicular to the ground 6 directly in front of device body 1, the distance between wall 7 and line laser 2 must not be less than a first preset distance. Depending on the actual situation, the first preset distance can be 0.32m.

[0057] To ensure that the subsequent calibration results are as accurate as possible when the device body 1 is in a horizontal state and when the device body 1 is in a horizontal state again, and to improve the calibration accuracy of the universal wheels 3, the first running wheels 4, and the second running wheels 5, the ground 6 within a certain range around the device body 1 must be flat. In actual conditions, at least ensure that there are no visible bumps on the ground 6.

[0058] In addition, before calibration begins, a calibration process for the line laser 2 can be performed. This calibration process generally requires the use of a wall 7 that is perpendicular to the ground 6 and directly in front of the device body 1. At the end of the calibration process, the distance between the device body 1 and the wall 7 is often small. Therefore, in this scenario, before calibration begins, the device body 1 is moved from a position close to the wall 7 until the line laser 2 is at least a first preset distance from the wall 7.

[0059] When the device body 1 is in a horizontal state, the cleaning device obtains the reference information output by the line laser 2 through the processor 10 .

[0060] The device body 1 is in a horizontal state, which is the initial state for the calibration provided in this embodiment. The method for determining whether the device body 1 is in a horizontal state can be the same as that in the above embodiment, and will not be repeated here.

[0061] When the device body 1 is in a horizontal state, the line laser 2 can emit laser light forward and toward the ground, and the laser light can be imaged as a reference line on the ground 6 . Figure 5The first perspective view of the cleaning device proposed in one embodiment of the present application is shown. Figure 5 As shown, when the device body 1 is in a horizontal state, the line 8 is the reference line.

[0062] At this time, the line laser 2 can collect the reference information and output the reference information to the processor 10. Thus, the processor 10 obtains the reference information output by the line laser 2.

[0063] The cleaning device controls the lifting of the universal wheel 3 through the processor 10 .

[0064] When the processor 10 controls the lifting of the universal wheel 3, the universal wheel 3 supports the device body 1 to tilt and lift, that is, the device body 1 is in an elevated position. The processor 10 controls the lifting of the universal wheel 3 by sending a PWM signal to the duty cycle of the drive motor of the universal wheel 3 to control the speed of the drive motor, thereby controlling the behavior of the universal wheel 3.

[0065] The cleaning device obtains the first information output by the line laser 2 through the processor 10 and determines the lifting height of the universal wheel 3 according to the reference information and the first information.

[0066] Figure 6 A second perspective view of a cleaning device according to an embodiment of the present application is shown. Figure 6 As shown, when the universal wheel 3 is raised, the device body 1 is in an elevated position. At this time, the first laser line emitted by the line laser 2 is further away from the device body 1 than the reference line. Line 9 is the first laser line.

[0067] The lifting height of the universal wheel 3 can be calculated based on the first information in combination with the reference information, the size of the device body 1, the positional relationship between the universal wheel 3 and the device body 1, etc.

[0068] When the lifting height of the universal wheel 3 exceeds the detection limit, the cleaning device controls the lifting of the first running wheel 4 and the second running wheel 5 through the processor 10 .

[0069] When the cleaning device functions normally, after the processor 10 controls the universal wheel 3 to be raised, the universal wheel 3 should be raised to the desired height corresponding to the control request of the processor 10. However, when the universal wheel 3 of the cleaning device is worn, after the processor 10 controls the universal wheel 3 to be raised, the raising height of the universal wheel 3 often cannot reach the desired height.

[0070] Therefore, it is necessary to determine whether the lifting height of the universal wheel 3 exceeds the detection limit. The detection limit can be determined based on the calibration limit of the universal wheel 3, for example, the detection limit can be 85% of the desired lifting height. For example, if the processor 10 controls the lifting height of the universal wheel 3 to be 1 cm, the detection limit is 8.5 mm.

[0071] If it is determined that the lifting height of the universal wheel 3 exceeds the detection limit, it means that the universal wheel 3 is slightly worn and can be recalibrated to restore the cleaning device to normal function. At this time, the first and second running wheels 4, 5 can be controlled to be lifted to restore the device body 1 to a horizontal state.

[0072] The processor 10 controls the lifting of the first travel wheel 4 and can control the speed of the drive motor by sending a PWM signal with a duty cycle to the drive motor of the first travel wheel 4, thereby controlling the behavior of the first travel wheel 4. The processor 10 controls the lifting of the second travel wheel 5 and can control the speed of the drive motor by sending a PWM signal with a duty cycle to the drive motor of the second travel wheel 5, thereby controlling the behavior of the second travel wheel 5.

[0073] The cleaning device obtains the second information output by the line laser 2 through the processor 10, and determines that when the device body 1 is in a horizontal state again according to the second information, the parameters of the universal wheel 3, the first travel wheel 4 and the second travel wheel 5 are determined according to the lifting height.

[0074] When the first and second running wheels 4 and 5 are raised, the line laser 2 emits laser light forward, which is imaged as a second laser line on the ground 6. The second laser line is farther away from the device body 1 than the reference line, but closer to the device body 1 than the first laser line.

[0075] The line laser 2 outputs the second information to the processor 10. If the device body 1 is horizontal again, the second laser line should be perpendicular to the central axis of the line laser 2. In other words, the second laser line is parallel to the reference line. If the device body 1 is horizontal again, the elevation heights of the universal wheels 3, the first running wheels 4, and the second running wheels 5 can be determined. Based on this elevation height, calibration is performed in conjunction with the control process for elevating the universal wheels 3, the first running wheels 4, and the second running wheels 5.

[0076] In some optional embodiments, after the above process, the cleaning device controls the universal wheel 3, the first travel wheel 4 and the second travel wheel 5 to descend to the lifting height through the processor 10; the cleaning device obtains the third information output by the line laser 2 through the processor 10, and when it is determined that the device body 1 returns to the horizontal state based on the reference information and the third information when the device body 1 is in the horizontal state, the cleaning device controls the universal wheel 3, the first travel wheel 4 and the second travel wheel 5 to rise to the lifting height through the processor 10; the cleaning device obtains the fourth information output by the line laser 2 through the processor 10, and when it is determined that the device body 1 returns to the horizontal state based on the second information and the fourth information when the device body 1 is in the horizontal state again, it is determined that the calibration is successful.

[0077] After determining the parameters of the universal wheel 3 , the first running wheel 4 , and the second running wheel 5 , the processor 10 checks the accuracy of the calibration result by lowering and raising the device body 1 as a whole.

[0078] First, the processor 10 controls the universal wheel 3, the first running wheel 4, and the second running wheel 5 to descend to the lifting height. When the universal wheel 3, the first running wheel 4, and the second running wheel 5 are accurately calibrated, the device body 1 should return to a horizontal state, that is, return to the initial state. At this time, a judgment can be made by obtaining the third information collected and output by the line laser 2. If the third laser line output by the line laser 2 is consistent with the baseline when the device body 1 is in a horizontal state, the test is passed. If the third laser line output by the line laser 2 is inconsistent with the baseline when the device body 1 is in a horizontal state, the calibration fails.

[0079] If the previous step passes the test, the processor 10 controls the universal wheel 3, the first running wheel 4 and the second running wheel 5 to lift to the lifting height. When the universal wheel 3, the first running wheel 4 and the second running wheel 5 are accurately calibrated, the device body 1 should return to a horizontal state again. At this time, it can be judged by obtaining the fourth information output by the line laser 2. If the fourth laser line output by the line laser 2 is consistent with the second laser line when the device body 1 is in a horizontal state again, the test is passed. If the fourth laser line output by the line laser 2 is inconsistent with the second laser line when the device body 1 is in a horizontal state again, the calibration fails.

[0080] Reference Figure 1 、 Figures 3 to 6 As shown, the cleaning equipment is calibrated through the following process.

[0081] When the device body 1 is in a horizontal state, the cleaning device obtains the reference information output by the line laser 2 through the processor 10 .

[0082] The horizontal state is used as the initial state for calibration of the cleaning device. When the device body 1 is in the horizontal state, the line laser 2 collects reference information and outputs the reference information to the processor 10.

[0083] Combine Figure 5 In the first perspective view of the cleaning device shown, the reference line is perpendicular to the central axis of the line laser 2. The reference information may include, but is not limited to: the distance between the reference line and the line laser 2, the length of the reference line, the angle between the reference line and the central axis of the line laser 2, etc.

[0084] The cleaning device sends a first driving signal to the universal wheel 3 through the processor 10, so that the universal wheel 3 is lifted according to the first driving signal.

[0085] The universal wheel 3 can be controlled by the processor 10, and the processor 10 can control the universal wheel 3 by controlling the drive motor of the universal wheel 3. The speed of the drive motor can be controlled by the duty cycle of the PWM (pulse width modulation) signal, thereby controlling the behavior of the universal wheel 3. The duty cycle is a parameter that describes the characteristics of a pulse signal. In PWM, the duty cycle refers to the ratio of the high level time to the entire cycle time. The drive signal that controls the universal wheel 3 can be the duty cycle of the speed of the drive motor that controls the universal wheel 3. When the cleaning equipment leaves the factory, there may be a correspondence table between the duty cycle and the behavior of the universal wheel 3. For example: Duty cycle A corresponds to the universal wheel 3 lifting a, duty cycle B corresponds to the universal wheel 3 lowering b, and so on.

[0086] When the cleaning device is functioning properly, the above table of correspondence between duty cycle and the behavior of caster 3 is accurate. That is, when the processor 10 sends a first drive signal to the drive motor of caster 3, caster 3 should be raised to the desired height corresponding to the first drive signal. For example, if the processor 10 sends a first drive signal to caster 3 corresponding to a desired height of 1 cm, caster 3 should be raised by 1 cm.

[0087] However, in reality, if the universal wheel 3 is worn due to frequent extension and retraction, the above-mentioned correspondence table between the duty cycle and the behavior of the universal wheel 3 will deviate from the actual situation. In other words, when the processor 10 sends the first drive signal to the universal wheel 3, the lifting height of the universal wheel 3 is not the expected lifting height. For example, if the processor 10 sends the first drive signal to the universal wheel 3 corresponding to the expected lifting height of 1 cm, the lifting height of the universal wheel 3 is 9.5 mm.

[0088] The cleaning device obtains the first information output by the line laser 2 through the processor 10 and determines the initial lifting height of the universal wheel 3 according to the reference information and the first information.

[0089] After the universal wheel 3 is lifted, the line laser 2 collects and outputs the first information. The first information may include, but is not limited to: the distance between the first laser line and the line laser 2, the length of the first laser line, the angle between the first laser line and the axis of the line laser 2, etc. Since the universal wheel 3 is lifted, the device body 1 is in an elevation position, so the first laser line is further away from the line laser 2 than the baseline. Figure 6 As shown, the first laser line should be further away from the device body 1 than the reference line. The initial lifting height of the universal wheel 3 can be calculated based on the distance the first laser line moves from the reference line, the size of the device body 1, the positional relationship between the universal wheel 3 and the device body 1, etc.

[0090] When the initial lifting height exceeds the detection limit, the cleaning device determines through the processor 10 that the lifting height of the universal wheel 3 exceeds the detection limit.

[0091] The detection limit may be 85% of the desired lift height. If the initial lift height exceeds 85% of the desired lift height, the detection limit is exceeded; if the initial lift height does not exceed 85% of the desired lift height, the detection limit is not exceeded.

[0092] When the initial lifting height does not exceed the detection limit, the cleaning device gradually controls the universal wheel 3 through the processor 10 according to the initial lifting height and the detection limit, so that the universal wheel 3 is adjusted toward the detection limit.

[0093] If the lifting height does not exceed the detection limit, the processor 10 can gradually send a first adjustment drive signal to the universal wheel 3 according to the difference between the initial lifting height and the detection limit, so that the universal wheel 3 adjusts to the detection limit according to the first adjustment drive signal, so that the final lifting height exceeds the detection limit.

[0094] For example: the expected lifting height is 1cm, the detection limit is 8.5mm, and the initial lifting height after control by the first drive signal is 7mm. Then the universal wheel 3 reaches the detection limit by 1.5mm. At this time, the processor 10 sends a first adjustment drive signal corresponding to 1.6mm (i.e., a difference greater than 1.5mm) to the universal wheel 3 to control the universal wheel 3 to adjust to the detection limit. If the lifting height of the universal wheel 3 exceeds the detection limit after adjustment, the adjustment is completed and the final lifting height of the universal wheel 3 is determined. If the lifting height of the universal wheel 3 is 8mm after adjustment and still does not exceed the detection limit, the first adjustment drive signal corresponding to 0.6mm (i.e., a difference greater than 0.5mm) is continued to be sent to the universal wheel 3 to control the universal wheel 3 to continue adjusting to the detection limit.

[0095] If the final lifting height of the universal wheel 3 exceeds the detection limit within the first preset number of times, the cleaning device determines through the processor 10 that the lifting height exceeds the detection limit.

[0096] The first preset number of times may be a threshold value manually determined according to actual conditions. The first preset number of times may be 10 times.

[0097] If the first preset number of times is reached and the final lifting height of the universal wheel 3 does not exceed the detection limit, the cleaning device determines through the processor 10 that the lifting height cannot exceed the detection limit.

[0098] If the first preset number of times is reached and the final lifting height of the universal wheel 3 still cannot exceed the detection limit, it means that the universal wheel 3 is severely worn and the cleaning device cannot be restored through calibration.

[0099] Therefore, when the lifting height cannot exceed the detection limit, the cleaning device determines through the processor 10 that the calibration has failed.

[0100] When the lifting height exceeds the detection limit, the cleaning device sends a second drive signal to the first walking wheel 4 through the processor 10, so that the first walking wheel 4 is lifted according to the second drive signal; at the same time, the cleaning device sends a third drive signal to the second walking wheel 5 through the processor 10, so that the second walking wheel 5 is lifted according to the third drive signal.

[0101] The first travel wheel 4 can be controlled by the processor 10, which can control the drive motor of the first travel wheel 4 through a hole. The speed of the drive motor can be controlled by the duty cycle of the PWM (pulse width modulation) signal, thereby controlling the behavior of the first travel wheel 4. When the cleaning equipment leaves the factory, it can have a corresponding relationship table between the duty cycle and the behavior of the first travel wheel 4. For example: duty cycle C corresponds to the first travel wheel 4 raising c, duty cycle D corresponds to the first travel wheel 4 lowering d, etc.

[0102] When the cleaning device functions normally, the above table of correspondence between the duty cycle and the behavior of the first travel wheel 4 is accurate. However, in actual situations, when the first travel wheel 4 is worn due to frequent extension and retraction, the above table of correspondence between the duty cycle and the behavior of the first travel wheel 4 will deviate from the actual situation.

[0103] At this time, the processor 10 sends a second drive signal to the first running wheel 4 to control the lifting of the first running wheel 4. Due to the wear of the first running wheel 4, the actual lifting height of the first running wheel 4 may not be the expected lifting height corresponding to the second drive signal.

[0104] The second travel wheel 5 can be controlled by the processor 10, which can control the second travel wheel 5 by controlling the drive motor of the second travel wheel 5. The speed of the drive motor can be controlled by the duty cycle of the PWM (pulse width modulation) signal, thereby controlling the behavior of the second travel wheel 5. When the cleaning equipment leaves the factory, it may have a correspondence table between the duty cycle and the behavior of the second travel wheel 5. For example, a duty cycle E corresponds to the second travel wheel 5 raising e, a duty cycle F corresponds to the second travel wheel 5 lowering f, and so on.

[0105] When the cleaning device functions normally, the above table of correspondence between the duty cycle and the behavior of the second travel wheel 5 is accurate. However, in actual situations, when the second travel wheel 5 is worn due to frequent extension and retraction, the above table of correspondence between the duty cycle and the behavior of the second travel wheel 5 will deviate from the actual situation.

[0106] At this time, the processor 10 sends a third drive signal to the second running wheel 5 to control the lifting of the second running wheel 5. Due to the wear of the second running wheel 5, the actual lifting of the second running wheel 5 may not be the expected lifting height corresponding to the third drive signal.

[0107] It should be noted that the control of lifting the first running wheel 4 and the second running wheel 5 is performed simultaneously.

[0108] The cleaning device obtains the second information output by the line laser 2 through the processor 10 .

[0109] After the first and second running wheels 4 and 5 are raised, the line laser 2 collects and outputs second information. This second information may include, but is not limited to, the distance between the second laser line and the line laser 2, the length of the second laser line, and the angle between the second laser line and the central axis of the line laser 2. The lifting of the first and second running wheels 4 and 5 lifts the entire device body 1 off the ground.

[0110] The cleaning device determines the stationary state of the device body 1 through the processor 10 according to the second information and the azimuth angle of the axis of the line laser 2.

[0111] If the second laser line is farther away from the line laser 2 than the reference line, and the second laser line is perpendicular to the central axis of the line laser 2, the stationary state of the device body 1 is horizontal.

[0112] Therefore, when the resting state of the device body 1 is horizontal, the cleaning device determines through the processor 10 that the device body 1 is in the horizontal state again.

[0113] If the second laser line is not parallel to the reference line, that is, the second laser line is not perpendicular to the center axis of the line laser 2, the stationary state of the device body 1 is non-horizontal.

[0114] Therefore, when the stopping state of the equipment body 1 is non-horizontal, the cleaning equipment 10 gradually controls the first running wheel 4 and the second running wheel 5 simultaneously according to the second information so that the first running wheel 4 and the second running wheel 5 are adjusted to the horizontal stopping state of the equipment body 1.

[0115] When the stopping state of the equipment body 1 is non-horizontal, the cleaning equipment gradually sends a second adjustment drive signal to the first travel wheel 4 through the processor 10 according to the second information, so that the first travel wheel 4 is adjusted to the lifting height according to the second adjustment drive signal; the processor 10 gradually sends a third adjustment drive signal to the second travel wheel 5 according to the second information, so that the second travel wheel 5 is adjusted to the lifting height according to the third adjustment drive signal, so as to finally make the stopping state of the equipment body 1 horizontal.

[0116] During adjustment, a binary search method can be used based on the second information. If the device body 1 is not horizontal, the second laser line will not be parallel to the reference line. For example, if the first wheel 4 is raised higher than the second wheel 5, the end of the second laser line closest to the first wheel 4 will be farther from the line laser 2 than the end of the second laser line closest to the second wheel 5. At this point, the first and second wheels 4, 5, can be gradually adjusted using a binary search method based on the difference between the two ends of the second laser line.

[0117] For example: if the end of the second laser line closer to the first travel wheel 4 is 3 mm away from the line laser 2 than the end of the second laser line closer to the second travel wheel 5, a second adjustment drive signal corresponding to 1.5 mm is sent to the first travel wheel 4 to control the first travel wheel 4 to descend, and a third adjustment drive signal corresponding to 1.5 mm is sent to the second travel wheel 5 to control the second travel wheel 5 to ascend. If the stationary state of the device body 1 is horizontal after adjusting the first travel wheel 4 and the second travel wheel 5, the adjustment is completed and it is determined that the device body 1 is in a horizontal state again. If the stationary state of the device body 1 is still not horizontal after adjusting the first travel wheel 4 and the second travel wheel 5, continue to adjust the first travel wheel 4 and the second travel wheel 5 simultaneously according to half of the difference between the two ends of the second laser line.

[0118] If the device body 1 remains in a horizontal state within the second preset number of times, the cleaning device determines through the processor 10 that the device body 1 is in a horizontal state again.

[0119] The second preset number of times may be a threshold value manually determined according to actual conditions. The second preset number of times may be 30 times.

[0120] If the second preset number of times is reached and the device body 1 is in a non-horizontal state, the cleaning device determines through the processor 10 that the device body 1 cannot be in a horizontal state again.

[0121] If the second preset number of times is reached and the device body 1 still cannot be horizontally stopped, it means that the first running wheel 4 and / or the second running wheel 5 are severely worn and the cleaning device cannot be restored by calibration.

[0122] Therefore, when the device body 1 cannot be in the horizontal state again, the cleaning device determines through the processor 10 that the calibration has failed.

[0123] When the equipment body 1 is in a horizontal state again, the cleaning equipment calibrates the parameters of the universal wheel 3 according to the first drive signal, the first adjustment drive signal and the lifting height through the processor 10, calibrates the parameters of the first walking wheel 4 according to the second drive signal, the second adjustment drive signal and the lifting height, and calibrates the parameters of the second walking wheel 5 according to the third drive signal, the third adjustment drive signal and the lifting height.

[0124] When calibrating the universal wheel 3 , the universal wheel 3 is recalibrated through the first driving signal, the first adjustment driving signal and the lifting height.

[0125] When calibrating the first running wheel 4 , the first running wheel 4 is recalibrated through the second driving signal, the second adjustment driving signal and the lifting height.

[0126] When calibrating the second running wheel 5 , the second running wheel 5 is recalibrated through the third driving signal, the third adjustment driving signal and the lifting height.

[0127] The cleaning equipment sends a first calibration drive signal to the universal wheel 3 through the processor 10, so that the universal wheel 3 descends to the lifting height according to the first calibration drive signal; at the same time, it sends a second calibration drive signal to the first walking wheel 4, so that the first walking wheel 4 descends to the lifting height according to the second calibration drive signal; at the same time, it sends a third calibration drive signal to the second walking wheel 5, so that the second walking wheel 5 descends to the lifting height according to the third calibration drive signal.

[0128] After calibration, the processor 10 can send a first calibration drive signal to control the universal wheel 3 to descend, the processor 10 can send a second calibration control signal to control the first walking wheel 4 to descend, and the processor 10 can send a third calibration control signal to control the second walking wheel 5 to descend.

[0129] When the cleaning device is calibrated correctly, the device body 1 should return to a horizontal state. When the cleaning device is calibrated incorrectly, the device body 1 cannot return to a horizontal state.

[0130] The cleaning device obtains the third information output by the line laser 2 through the processor 10 .

[0131] Line laser 2 collects and outputs third information. This third information may include, but is not limited to, the distance between the third laser line and line laser 2, the length of the third laser line, and the angle between the third laser line and the central axis of line laser 2. If the third laser line coincides with the horizontal baseline of the device body 1, the calibration passes. If the third laser line does not coincide with the horizontal baseline of the device body 1, the calibration fails.

[0132] Therefore, when it is determined based on the reference information that the apparatus body 1 is in the horizontal state and the third information that the apparatus body 1 has not returned to the horizontal state, the cleaning apparatus determines, through the processor 10 , that the calibration has failed.

[0133] When it is determined that the equipment body 1 has returned to a horizontal state based on the reference information when the equipment body 1 is in a horizontal state and the third information, the cleaning equipment sends a fourth calibration drive signal to the universal wheel 3 through the processor 10, so that the universal wheel 3 is lifted to the lifting height according to the fourth calibration drive signal; at the same time, a fifth calibration drive signal is sent to the first walking wheel 4, so that the first walking wheel 4 is lifted to the lifting height according to the fifth calibration drive signal; at the same time, a sixth calibration drive signal is sent to the third walking wheel, so that the second walking wheel 5 is lifted to the lifting height according to the sixth calibration drive signal.

[0134] After calibration, the processor 10 can send a fourth calibration drive signal to control the lifting of the universal wheel 3, the processor 10 can send a fifth calibration drive signal to control the lifting of the first walking wheel 4, and the processor 10 can send a third calibration drive signal to control the lifting of the second walking wheel 5.

[0135] When the cleaning device is calibrated correctly, the device body 1 should return to a horizontal state again. When the cleaning device is calibrated incorrectly, the device body 1 cannot return to a horizontal state again.

[0136] The cleaning device obtains fourth information output by the line laser 2 via the processor 10. The fourth information may include, but is not limited to, the distance between the fourth laser line and the line laser 2, the length of the fourth laser line, the angle between the fourth laser line and the central axis of the line laser 2, etc. If the fourth laser line coincides with the second laser line when the device body 1 is again horizontal, the calibration passes. If the fourth laser line does not coincide with the second laser line when the device body 1 is again horizontal, the calibration fails.

[0137] Therefore, when it is determined that the device body 1 has not returned to the horizontal state again based on the second information and the fourth information when the device body 1 is in the horizontal state again, the cleaning device determines through the processor 10 that the calibration has failed.

[0138] When it is determined that the device body 1 has returned to the horizontal state again according to the second information and the fourth information when the device body 1 is in the horizontal state again, the cleaning device determines through the processor 10 that the calibration is successful.

[0139] Figure 7 A schematic diagram of a flow chart showing a method for calibrating a cleaning device according to an embodiment of the present application is shown. Figures 1 to 2 As shown, the method includes:

[0140] Step S710: When the device body is in a horizontal state, control the lifting of the universal wheel;

[0141] Step S720: When the lifting height of the universal wheel exceeds the detection limit, control the lifting of the first running wheel and the second running wheel;

[0142] Step S730: When the device body is in a horizontal state again, the parameters of the universal wheel, the first running wheel, and the second running wheel are determined.

[0143] Figure 8 A schematic flow chart of a calibration method for a cleaning device according to another embodiment of the present application is shown.

[0144] Reference Figure 1 、 Figures 3 to 6 As shown, the method includes:

[0145] Step S810, when the device body is in a horizontal state, obtaining reference information output by the line laser;

[0146] Step S820, controlling the lifting of the universal wheel;

[0147] Step S830, obtaining first ground line information output by the line laser, and determining the lifting height of the universal wheel according to the reference information and the first information;

[0148] Step S840: When the lifting height exceeds the detection limit, simultaneously controlling the lifting of the first and second running wheels;

[0149] Step S850, obtaining second information output by the line laser, and determining that the device body is in a horizontal state again according to the second information, and determining the parameters of the universal wheel, the first running wheel and the second running wheel according to the lifting height.

[0150] In some optional embodiments, the universal wheel is controlled to be lifted, the first information output by the line laser is obtained, and the lifting height of the universal wheel is determined according to the reference information and the first information, including: sending a first drive signal to the universal wheel to make the universal wheel lift according to the first drive signal; determining the initial lifting height of the universal wheel according to the reference information and the first information; when the initial lifting height exceeds the detection limit, determining that the lifting height exceeds the detection limit; when the initial lifting height does not exceed the detection limit, gradually controlling the universal wheel according to the initial lifting height and the detection limit to adjust the universal wheel toward the detection limit; if the final lifting height of the universal wheel exceeds the detection limit within a first preset number of times, determining that the lifting height exceeds the detection limit; if the final lifting height of the universal wheel does not exceed the detection limit after reaching the first preset number of times, determining that the lifting height cannot exceed the detection limit.

[0151] In some optional embodiments, when the lifting height fails to exceed the detection limit, it is determined that the calibration has failed.

[0152] In some optional embodiments, the universal wheel is gradually controlled according to the initial lifting height and the detection limit so that the universal wheel adjusts to the detection limit, including: gradually sending a first adjustment drive signal to the universal wheel according to the initial lifting height and the detection limit so that the universal wheel adjusts to the detection limit according to the first adjustment drive signal.

[0153] In some optional embodiments, the first and second travel wheels are controlled to be lifted simultaneously, second information output by the line laser is obtained, and it is determined that the device body is in a horizontal state again according to the second information, including: sending a second drive signal to the first travel wheel to lift the first travel wheel according to the second drive signal; and sending a third drive signal to the second travel wheel to lift the second travel wheel according to the third drive signal; determining the stop state of the device body according to the second information and the azimuth angle of the line laser axis; when the stop state of the device body is horizontal, determining that the device body is in a horizontal state again; when the stop state of the device body is non-horizontal, gradually and simultaneously controlling the first and second travel wheels according to the second information to adjust the stop state of the device body to a horizontal state; if the stop state of the device body is horizontal within a second preset number of times, determining that the device body is in a horizontal state again; if the stop state of the device body is non-horizontal after the second preset number of times, determining that the device body cannot be in a horizontal state again.

[0154] In some optional embodiments, calibration failure is determined when the device body cannot be horizontal again.

[0155] In some optional embodiments, the first walking wheel and the second walking wheel are gradually and simultaneously controlled according to the second information so that the first walking wheel and the second walking wheel are adjusted to a horizontal state relative to the stopping state of the equipment body, including: gradually sending a second adjustment drive signal to the first walking wheel according to the second information so that the first walking wheel is adjusted to a lifting height according to the second adjustment drive signal; and gradually sending a third adjustment drive signal to the second walking wheel according to the second information so that the second walking wheel is adjusted to a lifting height according to the third adjustment drive signal.

[0156] In some optional embodiments, determining the parameters of the universal wheel, the first running wheel, and the second running wheel according to the lifting height includes: calibrating the parameters of the universal wheel according to the first drive signal, the first adjustment drive signal, and the lifting height.

[0157] In some optional embodiments, the parameters of the universal wheel, the first travel wheel and the second travel wheel are determined according to the lifting height, including: calibrating the parameters of the first travel wheel according to the second drive signal, the second adjustment drive signal and the lifting height; calibrating the parameters of the second travel wheel according to the third drive signal, the third adjustment drive signal and the lifting height.

[0158] In some optional embodiments, after the step of determining the parameters of the universal wheel, the first travel wheel and the second travel wheel according to the lifting height, the method further includes: controlling the universal wheel, the first travel wheel and the second travel wheel to descend to the lifting height; obtaining third information output by the line laser; when it is determined that the device body returns to a horizontal state based on the reference information and the third information when the device body is in a horizontal state, controlling the universal wheel, the first travel wheel and the second travel wheel to rise to the lifting height; obtaining fourth information output by the line laser; when it is determined that the device body returns to a horizontal state based on the second information and the fourth information when the device body is in a horizontal state again, determining that the calibration is successful.

[0159] In some optional implementations, calibration failure is determined when the device body does not return to a horizontal state.

[0160] In some optional embodiments, calibration failure is determined when the device body does not return to a horizontal state again.

[0161] In some optional embodiments, controlling the universal wheel, the first travel wheel and the second travel wheel to descend to the lifting height includes: sending a first calibration drive signal to the universal wheel so that the universal wheel descends to the lifting height according to the first calibration drive signal; at the same time, sending a second calibration drive signal to the first travel wheel so that the first travel wheel descends to the lifting height according to the second calibration drive signal; at the same time, sending a third calibration drive signal to the second travel wheel so that the second travel wheel descends to the lifting height according to the third calibration drive signal.

[0162] In some optional embodiments, controlling the universal wheel, the first travel wheel and the second travel wheel to be lifted to the lifting height includes: sending a fourth calibration drive signal to the universal wheel so that the universal wheel is lifted to the lifting height according to the fourth calibration drive signal; at the same time, sending a fifth calibration drive signal to the first travel wheel so that the first travel wheel is lifted to the lifting height according to the fifth calibration drive signal; at the same time, sending a sixth calibration drive signal to the third travel wheel so that the second travel wheel is lifted to the lifting height according to the sixth calibration drive signal.

[0163] Figure 9 A flow chart showing a calibration method for cleaning equipment according to another embodiment of the present application is shown.

[0164] Reference Figure 1 、 Figures 3 to 6 As shown, the method includes:

[0165] Step S901: When the device body is in a horizontal state, obtain the reference information output by the line laser. Then go to step S902.

[0166] Step S902: Send a first driving signal to the universal wheel so that the universal wheel is lifted according to the first driving signal.

[0167] Step S903: Acquire the first information output by the line laser, and determine the initial lifting height of the universal wheel according to the reference information and the first information.

[0168] Step S904: Determine whether the initial lifting height of the universal wheel exceeds the detection limit. If not, go to step S905; if so, go to step S908.

[0169] Step S905: gradually send a first adjustment drive signal to the universal wheel according to the initial lifting height and the detection limit, so that the universal wheel adjusts to the detection limit according to the first adjustment drive signal.

[0170] Step S906: Determine whether the final lifting height of the universal wheel exceeds the detection limit within the first preset number of times. If yes, go to step S908; if not, go to step S907.

[0171] Step S907: calibration fails.

[0172] In step S908, a second driving signal is sent to the first travel wheel to cause the first travel wheel to be lifted according to the second driving signal; and a third driving signal is sent to the second travel wheel to cause the second travel wheel to be lifted according to the third driving signal.

[0173] Step S909: Acquire the second information output by the line laser, and determine the stationary state of the device body according to the second information and the angle between the axis of the line laser.

[0174] Step S910: Determine whether the resting state of the device body is horizontal. If so, go to step S913; if not, go to step S911.

[0175] In step S911, a second adjustment drive signal is gradually issued to the first travel wheel based on the second information, causing the first travel wheel to adjust to the raised height according to the second adjustment drive signal. Furthermore, a third adjustment drive signal is gradually issued to the second travel wheel based on the second information, causing the second travel wheel to adjust to the raised height according to the third adjustment drive signal. Then, the process proceeds to step S912.

[0176] Step S912: Determine whether the device body is in a horizontal position within the second preset number of times. If so, proceed to S913; if not, go to S907.

[0177] In step S913, the device body is in a horizontal state again. Then, the process goes to step S914.

[0178] In step S914, the parameters of the universal wheel are calibrated based on the first drive signal, the first adjustment drive signal, and the lift height. The parameters of the first running wheel are calibrated based on the second drive signal, the second adjustment drive signal, and the lift height. The parameters of the second running wheel are calibrated based on the third drive signal, the third adjustment drive signal, and the lift height. The process then proceeds to step S915.

[0179] In step S915, a first calibration drive signal is issued to the universal wheel to cause it to descend to the raised height according to the first calibration drive signal. Simultaneously, a second calibration drive signal is issued to the first running wheel to cause it to descend to the raised height according to the second calibration drive signal. Simultaneously, a third calibration drive signal is issued to the second running wheel to cause it to descend to the raised height according to the third calibration drive signal. The process then proceeds to step S916.

[0180] Step S916: Acquire the third information output by the line laser and determine whether the device body has returned to a horizontal state based on the reference information when the device body is in a horizontal state and the third information. If so, proceed to step S917; if not, proceed to step S907.

[0181] In step S917, a fourth calibration drive signal is issued to the universal wheel to cause it to be raised to the lifting height according to the fourth calibration drive signal. Simultaneously, a fifth calibration drive signal is issued to the first running wheel to cause it to be raised to the lifting height according to the fifth calibration drive signal. Simultaneously, a sixth calibration drive signal is issued to the third running wheel to cause it to be raised to the lifting height according to the sixth calibration drive signal. The process then proceeds to step S918.

[0182] Step S918: Acquire the fourth information output by the line laser and determine whether the device body has returned to a horizontal state based on the second information and the fourth information when the device body is again in a horizontal state. If so, proceed to step S919; if not, proceed to step S907.

[0183] Step S919: Calibration is successful.

[0184] It should be noted that the calibration method of the above cleaning equipment can correspond one-to-one to the aforementioned cleaning equipment, and will not be described in detail.

[0185] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the following steps are implemented:

[0186] When the device is in a horizontal state, control the lifting of the universal wheel.

[0187] When the lifting height of the universal wheel exceeds the detection limit, the control is to lift the first and second travel wheels, and

[0188] When the device body is in a horizontal state again, the parameters of the universal wheel, the first running wheel and the second running wheel are determined.

[0189] It should be noted that the functions or steps that can be implemented by the computer-readable storage medium can be found in the corresponding descriptions in the aforementioned method embodiments. To avoid repetition, they will not be described one by one here.

[0190] Those skilled in the art will appreciate that all or part of the processes in the above-mentioned embodiments can be implemented by instructing the 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-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0191] Those skilled in the art will clearly understand that for the sake of convenience and brevity of description, only the division of the above-mentioned functional units and modules is used as an example. In actual applications, the above-mentioned functions can be distributed and completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above.

[0192] The embodiments described above are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention, and should all be included in the scope of protection of the present invention.

Claims

1. A cleaning device, characterized in that: include: Equipment body; Universal wheels, connected to the device body; A first traveling wheel connected to the device body; A second traveling wheel connected to the device body; as well as a processor, communicatively connected to the universal wheel, the first running wheel, and the second running wheel; When the device body is in a horizontal state, the cleaning device lifts the universal wheel through the control of the processor. When the lifting height of the universal wheel exceeds the detection limit, the cleaning device controls the lifting of the first and second travel wheels through the processor, and When the device body is in a horizontal state again, the cleaning device determines the parameters of the universal wheel, the first travel wheel, and the second travel wheel through the processor.

2. The cleaning device according to claim 1, characterized in that Also includes: Line lasers; The processor is further communicatively connected to the line laser; When the device body is in a horizontal state, the cleaning device obtains the reference information output by the line laser through the processor; The cleaning device is controlled by the processor to lift the universal wheel; The cleaning device obtains the first information output by the line laser through the processor, and determines the lifting height of the universal wheel according to the reference information and the first information; When the lifting height of the universal wheel exceeds a detection limit, the cleaning device controls the lifting of the first travel wheel and the second travel wheel simultaneously through the processor; The cleaning device obtains the second information output by the line laser through the processor, determines that when the device body is in a horizontal state again according to the second information, the parameters of the universal wheel, the first travel wheel and the second travel wheel are determined according to the lifting height.

3. The cleaning device according to claim 2, characterized in that The cleaning device sends a first driving signal to the universal wheel through the processor, so that the universal wheel is lifted according to the first driving signal; The cleaning device determines, by the processor, an initial lifting height of the universal wheel according to the reference information and the first information; When the initial lifting height exceeds the detection limit, the cleaning device determines, via the processor, that the lifting height exceeds the detection limit; When the initial lifting height does not exceed the detection limit, the cleaning device gradually controls the universal wheel through the processor according to the initial lifting height and the detection limit, so that the universal wheel is adjusted toward the detection limit; If the final lifting height of the universal wheel exceeds the detection limit within the first preset number of times, the cleaning device determines, via the processor, that the lifting height exceeds the detection limit; If the first preset number of times is reached and the final lifting height of the universal wheel does not exceed the detection limit, the cleaning device determines through the processor that the lifting height cannot exceed the detection limit.

4. The cleaning device according to claim 3, characterized in that When the lifting height fails to exceed the detection limit, the cleaning device determines, via the processor, that calibration has failed.

5. The cleaning device according to claim 3, characterized in that The cleaning device gradually sends a first adjustment drive signal to the universal wheel through the processor according to the initial lifting height and the detection limit, so that the universal wheel is adjusted to the detection limit according to the first adjustment drive signal.

6. The cleaning device according to claim 2, characterized in that The cleaning device sends a second drive signal to the first travel wheel through the processor, so that the first travel wheel is lifted according to the second drive signal, and at the same time sends a third drive signal to the second travel wheel, so that the second travel wheel is lifted according to the third drive signal; The cleaning device determines the stationary state of the device body through the processor according to the second information and the azimuth angle of the line laser axis; When the resting state of the device body is horizontal, the cleaning device determines, through the processor, that the device body is in a horizontal state again; When the stopping state of the device body is non-horizontal, the cleaning device gradually and simultaneously controls the first running wheel and the second running wheel according to the second information through the processor, so that the first running wheel and the second running wheel are adjusted toward the stopping state of the device body being horizontal; If the device body is in a horizontal state within a second preset number of times, the cleaning device determines, through the processor, that the device body is in a horizontal state again; If the second preset number of times is reached and the device body is in a non-horizontal state, the cleaning device determines through the processor that the device body cannot be in a horizontal state again.

7. The cleaning device according to claim 6, characterized in that When the device body cannot be horizontal again, the cleaning device determines through the processor that calibration has failed.

8. The cleaning device according to claim 6, characterized in that The cleaning device gradually sends a second adjustment drive signal to the first walking wheel through the processor according to the second information, so that the first walking wheel adjusts to the lifting height according to the second adjustment drive signal; and gradually sends a third adjustment drive signal to the second walking wheel according to the second information, so that the second walking wheel adjusts to the lifting height according to the third adjustment drive signal.

9. The cleaning device according to claim 5, characterized in that The cleaning device calibrates the parameters of the universal wheel according to the first drive signal, the first adjustment drive signal and the lifting height through the processor.

10. The cleaning device according to claim 8, characterized in that The cleaning device calibrates the parameters of the first walking wheel according to the second drive signal, the second adjustment drive signal and the lifting height through the processor; and calibrates the parameters of the second walking wheel according to the third drive signal, the third adjustment drive signal and the lifting height.

11. The cleaning device according to claim 2, characterized in that The cleaning device controls the universal wheel, the first travel wheel and the second travel wheel to descend to the lifting height through the processor; The cleaning device obtains third information output by the line laser through the processor; When it is determined that the device body has returned to the horizontal state according to the reference information when the device body is in the horizontal state and the third information, the cleaning device controls the universal wheel, the first travel wheel, and the second travel wheel to be raised to the lifting height through the processor; The cleaning device obtains fourth information output by the line laser through the processor; When it is determined that the device body has returned to the horizontal state again according to the second information and the fourth information when the device body is in the horizontal state again, the cleaning device determines that the calibration is successful through the processor.

12. The cleaning device according to claim 11, characterized in that When the device body does not return to a horizontal state, the cleaning device determines through the processor that calibration has failed.

13. The cleaning device according to claim 11, characterized in that When the device body does not return to a horizontal state again, the cleaning device determines, through the processor, that calibration has failed.

14. The cleaning device according to claim 11, characterized in that The cleaning device sends a first calibration drive signal to the universal wheel through the processor, so that the universal wheel descends to the lifting height according to the first calibration drive signal; At the same time, a second calibration drive signal is sent to the first running wheel, so that the first running wheel descends to the lifting height according to the second calibration drive signal; At the same time, a third calibration drive signal is sent to the third running wheel, so that the second running wheel descends to the lifting height according to the third calibration drive signal.

15. The cleaning device according to claim 11, characterized in that The cleaning device sends a fourth calibration drive signal to the universal wheel through the processor, so that the universal wheel is lifted to the lifting height according to the fourth calibration drive signal; At the same time, a fifth calibration drive signal is sent to the first running wheel, so that the first running wheel is lifted to the lifting height according to the fifth calibration drive signal; At the same time, a sixth calibration drive signal is sent to the third traveling wheel, so that the second traveling wheel is lifted to the lifting height according to the sixth calibration drive signal.

16. A method for calibrating a cleaning device, characterized in that: include: When the device body is in a horizontal state, the universal wheel is controlled to be lifted. When the lifting height of the universal wheel exceeds the detection limit, the first running wheel and the second running wheel are controlled to be lifted, and When the equipment body is in a horizontal state again, the parameters of the universal wheel, the first running wheel and the second running wheel are determined.

17. The cleaning equipment calibration method according to claim 16, characterized in that: The method comprises: When the device body is in a horizontal state, obtaining reference information output by the line laser; Controlling to lift the universal wheel; Acquire first information output by the line laser, and determine the lifting height of the universal wheel according to the reference information and the first information; When the lifting height of the universal wheel exceeds the detection limit, the first running wheel and the second running wheel are simultaneously controlled to be lifted; Second information output by the line laser is obtained, and when it is determined according to the second information that the device body is in a horizontal state again, parameters of the universal wheel, the first running wheel, and the second running wheel are determined according to the lifting height.

18. The cleaning equipment calibration method according to claim 17, characterized in that: After the step of determining the parameters of the universal wheel, the first running wheel, and the second running wheel according to the lifting height, the method further includes: Controlling the universal wheel, the first running wheel and the second running wheel to descend to the lifting height; acquiring third information output by the line laser; When it is determined that the device body has returned to the horizontal state according to the reference information when the device body is in the horizontal state and the third information, the universal wheel, the first running wheel and the second running wheel are controlled to be raised to the lifting height; acquiring fourth information output by the line laser; When it is determined that the device body has returned to the horizontal state again according to the second information and the fourth information when the device body is in the horizontal state again, it is determined that the calibration is successful.

19. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is instructed by a processor, the computer program implements the steps of the calibration method of the cleaning device according to any one of claims 16 to 18.

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