Control method, device, system and computer readable storage medium of cleaning device

Abstract

The embodiment of the present disclosure provides a kind of control method, equipment, system and computer readable storage medium of cleaning device, cleaning device includes first driving wheel and first side brush, first side brush includes side brush seat and at least one movable brush strip, side brush seat is rotatable around first axis, movable brush strip is connected with side brush seat, and movable between first position and second position.Activity brush strip is not in first position when first driving wheel advances to drive cleaning device to advance in the process, and first driving wheel is pressed to activity brush strip, and cleaning device controls first driving wheel to retreat and continues first duration, then controls first driving wheel to advance to drive cleaning device to continue advancing.This kind of scheme is used, activity brush strip is pressed to retreat by controlling the driving wheel of activity brush strip after being driven wheel, so that cleaning device is out of trouble to continue to execute task, and the purpose of improving the efficiency of executing task is realized.

Description

Technical Field

[0001] This disclosure relates to the field of robotics, and in particular to a control method, device, system, and computer-readable storage medium for cleaning equipment. Background Technology

[0002] With the rapid development of artificial intelligence (AI) technology, cleaning robots, as an intelligent cleaning tool, can effectively free up human hands and are therefore very popular.

[0003] During the cleaning process, driven by the drive wheels, the side brushes rotate, sweeping dust, debris, and other garbage into the suction port. The suction then draws the garbage into the dustbin, completing the cleaning task. The side brush consists of a brush base and multiple brush strips mounted on it. Normally, to prevent the drive wheels from running over the brush strips and causing the robot to get stuck, the brush strips cannot be too long. However, to clean corner areas, the brush strips need to be longer to reach and clean those areas. Therefore, to balance corner cleaning, the brush strips are designed to be flexible. During regular cleaning, the brush strips are shorter to prevent the drive wheels from running over them; when cleaning corner areas, the longer brush strips reach and clean those areas.

[0004] However, during routine cleaning, the brush strips of a cleaning robot may unfold due to various reasons, causing it to become longer and get stuck, thus preventing it from continuing to perform its task, or even damaging the robot's components. Summary of the Invention

[0005] This disclosure provides a control method, device, system, and computer-readable storage medium for a cleaning device. When the cleaning device is trapped because the drive wheel presses down on the movable brush bar in a non-retracted state, the drive wheel pressing down on the movable brush bar is controlled to move backward, allowing the cleaning device to break free and continue performing the task, thereby improving the efficiency of task execution.

[0006] In a first aspect, embodiments of this disclosure provide a control method for a cleaning device, applied to the cleaning device, the cleaning device including a first drive wheel and a first side brush, the first side brush including a side brush base and at least one movable brush strip, the side brush base being rotatable about a first axis, the movable brush strip being connected to the side brush base and movable between a first position and a second position, wherein when the movable brush strip is in the second position, the radial distance from its free end to the first axis is greater than the radial distance from its free end to the first axis when the movable brush strip is in the first position, characterized in that the method includes:

[0007] During the process of the first drive wheel moving forward to drive the cleaning device forward, when the movable brush strip is not in the first position and the first drive wheel presses down on the movable brush strip, the first drive wheel is controlled to move backward and continue for a first duration.

[0008] Control the first drive wheel to move forward so as to drive the cleaning equipment to continue moving forward.

[0009] In a second aspect, embodiments of this disclosure provide a cleaning device, including a body, a first drive wheel disposed on the body, and a first side brush. The first side brush includes a side brush base and at least one movable brush strip. The side brush base is rotatable about a first axis. The movable brush strip is connected to the side brush base and is movable between a first position and a second position. When the movable brush strip is in the second position, the radial distance from its free end to the first axis is greater than the radial distance from its free end to the first axis when the movable brush strip is in the first position. The device further includes a processor and a memory. The memory is used to store a computer program. The processor is used to execute the computer program stored in the memory to implement the method described in the first aspect or various possible implementations of the first aspect.

[0010] Thirdly, embodiments of this disclosure provide a cleaning system, including a base station and cleaning equipment as described in the second aspect above or various possible implementations of the second aspect.

[0011] Fourthly, embodiments of this disclosure provide a computer-readable storage medium storing computer instructions that, when executed by a processor, are used to implement the method described in the first aspect or various possible implementations of the first aspect.

[0012] The present disclosure provides a control method, device, system, and computer-readable storage medium for a cleaning device. The cleaning device includes a first drive wheel and a first side brush. The first side brush includes a side brush base and at least one movable brush strip. The side brush base is rotatable about a first axis. The movable brush strip is connected to the side brush base and is movable between a first position and a second position. When the movable brush strip is in the second position, the radial distance from its free end to the first axis is greater than the radial distance from its free end to the first axis when it is in the first position. During the process of the first drive wheel advancing to drive the cleaning device forward, if the movable brush strip is not in the first position and the first drive wheel is pressing down on the movable brush strip, the cleaning device controls the first drive wheel to retract and maintain this retraction for a first duration before controlling the first drive wheel to advance to drive the cleaning device to continue advancing. With this solution, when the movable brush strip is in a non-retracted state and is pressed down by the drive wheel, controlling the drive wheel pressing down on the movable brush strip to retract allows the cleaning device to break free and continue performing its task, thereby improving the efficiency of task execution. Attached Figure Description

[0013] To more clearly illustrate the technical solutions in the embodiments of this disclosure, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this disclosure. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0014] Figure 1A This is a bottom view of the cleaning equipment provided in this embodiment of the present disclosure in its normal cleaning mode;

[0015] Figure 1B This is a bottom view of the cleaning device provided in the embodiments of this disclosure when it is in the corner cleaning mode;

[0016] Figure 1C This is a cross-sectional view of the cleaning equipment provided in the embodiments of this disclosure;

[0017] Figure 2A This is a schematic diagram showing the movable brush strip of the first side brush in the first position when viewed from below the cleaning equipment.

[0018] Figure 2B This is a schematic diagram showing the movable brush strip of the first side brush in the second position when viewed from below the cleaning equipment.

[0019] Figure 2C This is a schematic diagram showing the movable brush strip of the first side brush in the first position from a top-down view of the cleaning equipment;

[0020] Figure 2D This is a schematic diagram showing the movable brush strip of the first side brush in the second position, viewed from above, from the perspective of the cleaning equipment.

[0021] Figure 3 This is a flowchart of a control method for a cleaning device provided in an embodiment of this disclosure;

[0022] Figure 4A This is a schematic diagram of the target direction in the control method of the cleaning equipment provided in the embodiments of this disclosure;

[0023] Figure 4B The cleaning equipment is oriented towards Figure 4A A schematic diagram showing the rotation of the target direction;

[0024] Figure 5 This is a schematic diagram of the control device provided in an embodiment of this disclosure;

[0025] Figure 6 This is a schematic diagram of the structure of a cleaning device provided in an embodiment of this disclosure. Detailed Implementation

[0026] Side brushes are crucial components of cleaning robots for completing sweeping tasks. A side brush typically consists of a brush holder and brush strips mounted on the holder. The brush strips are attached to the robot via the holder and rotate with it to perform the sweeping task. If the robot's drive wheels run over the brush strips during movement, the robot may become stuck, or the brush strips may be damaged. Therefore, the contact point between the drive wheels and the surface to be cleaned is usually outside the brush strips' rotation range to prevent this. Due to the need for cleaning corners and edges, the brush strips need to be extended to effectively clean these areas. However, simply making the brush strips too long is insufficient to effectively clean corner and edge regions.

[0027] To ensure thorough cleaning of corners and edges, the cleaning robot is equipped with a first side brush. Compared to a regular side brush, this first side brush includes at least one movable brush strip. A radial distance exists between the end of the movable brush strip and the rotation axis of the side brush holder, and this radial distance varies depending on the position of the movable brush strip. In other words, by adjusting the position of the movable brush strip, the radial distance between its end and the rotation axis of the side brush holder can be increased or decreased, thus increasing or decreasing the length of the movable brush strip. During regular cleaning, the movable brush strip is shorter to prevent the drive wheel from pressing on it; when cleaning corner areas, the longer movable brush strip can reach into and clean those areas.

[0028] However, during routine cleaning, the position of the movable brush may change due to factors such as the rotation speed of the first side brush, obstruction by obstacles, or insufficient friction on the surface to be cleaned. For example, it may move from a retracted state to an extended state, meaning that the radial distance between the end of the movable brush and the rotation axis of the side brush holder is longer. This can cause the cleaning robot to get stuck and unable to continue performing its task, or even damage the working parts of the cleaning robot, such as the drive wheel motor stalling, the side brush motor stalling, or the side brush bristles becoming entangled and worn.

[0029] Based on this, the present disclosure provides a control method, device, system, and computer-readable storage medium for a cleaning device. After the movable brush bar is unfolded and pressed down by the drive wheel of the cleaning device, the drive wheel pressing down the movable brush bar is controlled to move backward, so that the cleaning device can be freed to continue performing the task, thereby improving the efficiency of task performance.

[0030] The cleaning equipment provided in this disclosure can be any device that requires a side brush, including but not limited to vacuum cleaners, floor scrubbers, and cleaning robots. Cleaning robots include, but are not limited to, robotic vacuum cleaners, robotic mops, and robotic vacuum and mop combos. Below, we will use a cleaning robot as an example to describe the cleaning equipment described in this disclosure in detail.

[0031] The cleaning equipment provided in this disclosure has at least two working modes: a regular cleaning mode and a corner cleaning mode. Figure 1A This is a bottom view of the cleaning equipment provided in this embodiment of the present disclosure in its normal cleaning mode. Figure 1B This is a bottom view of the cleaning device provided in the embodiments of this disclosure when it is in the corner cleaning mode. Figure 1C This is a cross-sectional view of the cleaning equipment provided in an embodiment of this disclosure. Please refer to... Figures 1A to 1C The cleaning device 100 provided in this embodiment includes a body 10, with a suction port 11 at the bottom of the body 10. The bottom of the body 10 is the side of the cleaning device 100 closest to the surface to be cleaned. A mounting chamber 12 is recessed from the suction port 11 toward the interior of the body 10, and a roller brush 13 is rotatably mounted in the mounting chamber 12. Cleaning components such as bristles or rubber brushes are provided on the outer periphery of the roller brush 13, with at least a portion of the cleaning components extending beyond the suction port 11 for sweeping dust, debris, and other garbage. Taking the forward direction of the cleaning device when performing a cleaning task as a reference, side brushes 17 and 18 are located in front of the suction port 11. During sweeping, the side brushes rotate around their axial direction to sweep garbage and other debris toward the suction port 11.

[0032] The fuselage 10 has a receiving chamber 14, which has a dust inlet 15 connected to the mounting chamber 12. A dust collection container 16 is detachably installed within the receiving chamber 14. After the dust collection container 16 is installed in the receiving chamber 14, its dust collection inlet is connected to the dust inlet 15 of the receiving chamber 14. This creates an airflow channel that sequentially passes through the suction inlet 11, the mounting chamber 12, the dust inlet 15, and the dust collection container 16. Figure 1C As shown by the dashed arrow, a negative pressure device is installed at the end of the airflow channel. When the negative pressure device is working, it creates a negative pressure in the installation chamber 12, causing the garbage swept up by the roller brush 13 to flow along the airflow channel together with the air. When the garbage passes through the dust collection container 16, it is filtered by the filter structure inside the dust collection container 16 and collected in the dust collection container 16, while the clean air is discharged into the environment through the negative pressure device.

[0033] In this embodiment of the present disclosure, a first side brush 17 is provided on at least one side of the suction inlet 11, specifically positioned at the front side. For example, from a top view, with the forward direction of the cleaning device as the front, the first side brush 17 is provided on the right side of the suction inlet 11, and a second side brush 18 is provided on the left side. The second side brush 18 can be the same as the first side brush 17, or it can be a different, ordinary side brush. Alternatively, from a top view, with the forward direction of the cleaning device as the front, the first side brush 17 is provided on the right side of the suction inlet 11, and no side brush is provided on the left side. Yet another example is shown above. From a top view, with the forward direction of the cleaning device as the front, the first side brush 17 is provided on the left side of the suction inlet 11, and no side brush is provided on the right side. Figure 1A and Figure 1BThe following is an example of setting a first side brush 17 on the right side of the suction inlet 11 and a second side brush 18 on the left side, with the second side brush 18 being a regular side brush. Figure 1B In the process, since the first side brush 17 has a movable brush bar and the movable brush bar is unfolded, the rotation range of the movable brush bar is significantly greater than the rotation range of the brush bar of the second side brush 18.

[0034] When side brushes are installed on both sides of the suction inlet 11, from a top view in normal cleaning mode, the second side brush 18 on the left rotates clockwise and the first side brush 17 on the right rotates counterclockwise, thereby collecting debris towards the suction inlet 11 at the bottom of the body 10. For example, please refer to... Figure 1C With the forward direction X of the cleaning device 100 when performing the cleaning task as the front, a first side brush 17 is set on the right side of the front of the cleaning device 100, and a second side brush 18 is set on the left side. The suction port 11 is located between the two side brushes and behind the side brushes. The two side brushes extend beyond the body 10, thereby sweeping the garbage around the cleaning device 100 toward the suction port 11.

[0035] It should be noted that, although the above Figures 1A to 1C The embodiments of this disclosure are illustrated using a roller brush 13 on a cleaning device as an example. However, this disclosure is not limited to this; in other feasible implementations, the cleaning device 100 may not have a roller brush 13. Additionally, the cleaning device 100 also includes a drive wheel 19, etc. For clarity, the drive wheel on the same side as the first side brush 17 will be referred to as the first drive wheel (…). Figure 1A The left wheel in the middle), the drive wheel located on the same side as the second side brush 18 is called the second drive wheel ( Figure 1A (The right wheel in the middle).

[0036] In this embodiment, the first side brush 17 includes a side brush base and at least one movable brush strip. The side brush base is rotatable about a first axis, and the movable brush strip is connected to the side brush base and movable between a first position and a second position. When the movable brush strip is in the second position, the radial distance from its free end to the first axis is greater than the radial distance from its free end to the first axis when it is in the first position. Since the movable brush strip can switch between the first and second positions following the forward and reverse rotation of the side brush base, when it is desired that the movable brush strip extend into the corner area to achieve corner cleaning, the movable brush strip can be moved to the second position, increasing the radial distance from its free end to the first axis, allowing the movable brush strip to extend into the corner area and increasing the cleaning range of the corner area. Figure 1B As shown. During normal movement, the movable brush bar is in the first position, and the radial distance from its free end to the first axis is short, avoiding interference between the drive wheel of the cleaning machine and the movable brush bar, thus ensuring the normal operation of the cleaning equipment. Figure 1AAs shown. The state in which the active brush bar is in the first position is also called the active brush bar retracted state or the active brush bar folded state, and the state in which the active brush bar is in the second position is also called the active brush bar unfolded state or the active brush bar unfolded state.

[0037] In this embodiment, the cleaning device has a regular cleaning mode and a corner cleaning mode. The movable brush bar switches between a first position and a second position by rotating the side brush holder in both directions. In the regular cleaning mode, the first side brush rotates along a first direction; in the corner cleaning mode, the first side brush rotates along a second direction, which is opposite to the first direction. For example, if the first side brush is the right-side side brush, from a top view, with the forward direction of the cleaning device as the front, in the regular cleaning mode, the first side brush rotates counterclockwise, i.e., the first direction is counterclockwise; in the corner cleaning mode, the first side brush rotates clockwise, i.e., the second direction is clockwise.

[0038] When the cleaning device switches from the corner cleaning mode to the regular cleaning mode, the first side brush rotates in the first direction, causing the movable brush strip to move to the first position, and then keeps the movable brush strip in the first position and continues to rotate in the first direction; when the cleaning device switches from the regular cleaning mode to the corner cleaning mode, the first side brush rotates in the second direction, causing the movable brush strip to move to the second position, and then keeps the movable brush strip in the second position and continues to rotate in the second direction.

[0039] As the movable brush bar moves from the first position to the second position, the radial distance between the free end of the movable brush bar and the first axis continuously increases. When the movable brush bar moves to the second position, the radial distance between the free end of the movable brush bar and the first axis is at its maximum. As the movable brush bar moves from the second position to the first position, the radial distance between the free end of the movable brush bar and the first axis continuously decreases. When the movable brush bar moves to the first position, the radial distance between the free end of the movable brush bar and the first axis is at its minimum.

[0040] The embodiments disclosed herein do not limit the structure of the first side brush. The structure of the first side brush will now be described in detail.

[0041] Figure 2A This is a schematic diagram showing the movable brush strip of the first side brush in its first position when viewed from below the cleaning equipment. Figure 2B This is a schematic diagram showing the movable brush strip of the first side brush in the second position when viewed from below the cleaning equipment. Figure 2C This is a schematic diagram showing the movable brush strip of the first side brush in its first position, viewed from above, on the cleaning equipment. Figure 2D This is a diagram showing the movable brush strip of the first side brush in the second position, viewed from above, from the perspective of the cleaning equipment. Please refer to... Figure 2A and Figure 2DThe first side brush includes a side brush base 21, a first brush strip 22, a second brush strip 23, and an extension arm 24. The second brush strip 23 is a movable brush strip. P1 represents the projection point of the first axis onto the side brush base 21. The side brush base 21 rotates around the first axis, which is perpendicular to the cross-section of the side brush base 21. The extension arm 24 always protrudes from the outer circumferential surface of the side brush base 21. When the second brush strip 23 is in the first position, the radial distance between the free end of the second brush strip 23 and the first axis is d1; when the second brush strip 23 is in the second position, the radial distance between the free end of the second brush strip 23 and the first axis is d2, where d2 > d1. That is, compared to when the second brush strip 23 is in the first position, the radial distance between the free end of the second brush strip 23 and the first axis is larger when it is in the second position. When the side brush base 21 rotates around the first axis, the rotation diameter of the second brush strip 23 in the second position is larger, thereby expanding the cleaning range of the first side brush.

[0042] Using the direction of movement of the cleaning equipment when performing the cleaning task as a reference, Figures 2A to 2D Taking the first side brush 17, as shown in the example, located on the right front side of the cleaning device, when the cleaning device performs a regular cleaning mode, such as sweeping and mopping simultaneously, the first side brush 17 is controlled to rotate counterclockwise to perform the sweeping task. The second brush strip 23 (i.e., the movable brush strip) remains retracted under the action of friction during contact with the surface to be cleaned. When the cleaning device performs a corner cleaning mode, the first side brush 17 is controlled to rotate clockwise to perform the sweeping task. At this time, the second brush strip 23 is thrown out during the rotation, that is, it moves from the first position to the second position until it becomes an unfolded state. During contact with the surface to be cleaned, it remains unfolded under the action of friction and cleans the corner area in the unfolded state. When the cleaning device performs the corner cleaning mode, the cleaning device can remain stationary, that is, the drive wheel does not rotate, so the drive wheel will not press against the movable brush strip. After the cleaning device has completed the corner cleaning, the first side brush 17 is controlled to rotate counterclockwise again. During contact with the surface to be cleaned, the second brush strip 23 moves from the second position to the first position under the action of friction until it becomes a retracted state. Therefore, it can be seen that the second brush bar 23 can be controlled to be in a retracted or extended state by controlling the rotation direction of the first side brush 17.

[0043] It should be noted that, although the above Figures 2A to 2D The embodiment is illustrated using the example of a first side brush comprising a first brush strip 22 and a second brush strip 23. However, this embodiment is not limited; in other optional implementations, the first side brush may also include more or fewer brush strips, and the number of active brush strips may be more than one, such as the first side brush comprising two active brush strips.

[0044] Additionally, it should be noted that although the above... Figures 2A to 2DIn this embodiment, the example illustrates how an extended arm can be used to give the movable brush bar a first position and a second position. However, this disclosure is not limiting; any first side brush capable of giving the movable brush bar a first position and a second position can be used with the cleaning device described in this disclosure.

[0045] Please refer to Figures 1A to 2D Normally, when it's desired for the movable brush to extend into corner areas for cleaning, it can be moved to a second position. The radial distance between the free end of the movable brush and the first axis is d2, increasing the rotation range of the movable brush and allowing it to reach into the corner area, thus improving the cleaning coverage. During normal movement, the movable brush moves to the first position, with the radial distance between its free end and the first axis being d1. This reduces the rotation range of the movable brush, preventing interference between the cleaning machine's drive wheels and the movable brush, and ensuring the normal operation of the cleaning equipment.

[0046] However, during normal movement of the cleaning equipment, due to factors such as the rotation speed switching of the first side brush, obstruction by obstacles, and insufficient friction on the surface to be cleaned, the movable brush strip moves from the first position to the second position. At this time, the radial distance between the free end of the movable brush strip and the first axis is greater than d1, and also greater than the distance between the side brush holder and the drive wheel. This causes the first drive wheel to press down on the movable brush strip of the first side brush during its movement. The distance between the side brush holder and the drive wheel refers to the distance between the center of the side brush holder and the bearing point of the drive wheel, that is, the distance between the center of the side brush holder and the point of contact between the drive wheel and the ground.

[0047] Below, in conjunction with the above... Figures 1A to 2D This document provides a detailed description of the control method for the cleaning equipment described in the embodiments of this disclosure. For example, please refer to... Figure 3 . Figure 3 This is a flowchart of a control method for a cleaning device provided in this embodiment, which includes:

[0048] 301. During the process of the first drive wheel moving forward to drive the cleaning device forward, when the movable brush strip is not in the first position and the first drive wheel presses down on the movable brush strip, the first drive wheel is controlled to move backward and continue for a first duration.

[0049] In this embodiment, the first drive wheel moves forward, thereby driving the cleaning device forward. Normally, the movable brush bar is in the first position, and the radial distance between the movable brush bar and the first axis is small. Therefore, the movable brush bar will not interfere with the first drive wheel, i.e., the first drive wheel will not press down on the movable brush bar. However, since the movable brush bar can move between the first and second positions, due to factors such as the rotation speed switching of the first side brush, obstruction by obstacles, or insufficient friction on the surface to be cleaned, the movable brush bar may no longer be in the first position, but rather between the first and second positions or in the second position, causing the first drive wheel to press down on the movable brush bar. At this time, the cleaning device controls the first drive wheel to reverse and continue for a first duration. The first duration may be, for example, 2 seconds, 5 seconds, 10 seconds, 20 seconds, 30 seconds, etc., and the reversing speed may be, for example, 0.2 m / s, 0.3 m / s, etc., and this embodiment is not limited thereto.

[0050] During normal operation of the cleaning equipment, such as when performing a cleaning task in the regular cleaning mode or during navigation mapping, there are many reasons why the movable brush bar may not be in the first position. For example, if the cleaning equipment detects an increase in dust, debris, or other garbage, it may increase the rotation speed of the first side brush, causing the movable brush bar to detach from the first position due to inertia; in other words, the movable brush bar may be thrown out.

[0051] For example, when the cleaning equipment encounters an obstacle during normal movement and tries to overcome it, the movable brush bar may not be able to fully contact the ground, resulting in insufficient friction, or it may be moved by the obstacle, causing the movable brush bar to switch from a retracted state to an extended state, thus moving the movable brush bar from the first position to the second position.

[0052] For example, when cleaning equipment moves from a wooden floor to a tiled floor, the friction on the tiled floor is relatively low, causing the movable brush strip to switch from a retracted state to an extended state, thus moving the movable brush strip from the first position to the second position.

[0053] 302. Control the first drive wheel to move forward so as to drive the cleaning equipment to continue moving forward.

[0054] After the cleaning device controls the first drive wheel to move backward and maintains this position for a first duration, the movable brush bar is released, meaning the first drive wheel no longer presses against the movable brush bar. Since the cleaning device is now in normal cleaning mode, the first side brush rotates along the first direction. This rotation causes the movable brush bar to move to a first position, where it remains and continues to rotate along the first direction.

[0055] The control method for a cleaning device provided in this embodiment includes a first drive wheel and a first side brush. The first side brush includes a side brush base and at least one movable brush strip. The side brush base is rotatable about a first axis. The movable brush strip is connected to the side brush base and is movable between a first position and a second position. When the movable brush strip is in the second position, the radial distance from its free end to the first axis is greater than the radial distance from its free end to the first axis when it is in the first position. During the process of the first drive wheel advancing to drive the cleaning device forward, when the movable brush strip is not in the first position and the first drive wheel is pressing down on the movable brush strip, the cleaning device controls the first drive wheel to retract and continues for a first duration before controlling the first drive wheel to advance to drive the cleaning device to continue advancing. With this scheme, when the movable brush strip is in a non-retracted state and is pressed down by the cleaning device, controlling the drive wheel pressing down on the movable brush strip to retract allows the cleaning device to break free and continue performing its task, thereby improving the efficiency of task execution.

[0056] Optionally, in the above embodiments, while the cleaning device controls the first drive wheel to move backward and for a first duration, it also controls the first side brush to rotate along a first direction so that the movable brush bar moves toward the first position.

[0057] In this embodiment of the disclosure, taking the right side brush as an example, in the normal cleaning mode, the side brush holder of the first side brush rotates along a first direction, which is exemplified by a counterclockwise direction. The movable brush strip is pressed down by the first drive wheel. During the retraction of the first drive wheel, in one scenario, the side brush holder of the first side brush stops rotating. After the movable brush strip is released, the side brush holder of the first side brush rotates along the first direction, causing the movable brush strip to move towards the first position. After the movable brush strip moves to the first position, it maintains its position at the first position and continues to rotate along the first direction.

[0058] In another configuration, as the first drive wheel reverses, the side brush holder of the first side brush simultaneously rotates along the first direction. Before the movable brush strip is released, although the side brush holder cannot rotate, it attempts to rotate along the first direction to accumulate power. When the movable brush strip is released, it moves rapidly towards the first position under the accumulated power. Once the movable brush strip reaches the first position, it maintains its position in the first position and continues to rotate along the first direction.

[0059] In this scheme, as the first drive wheel moves backward, the first side brush is released and rotates along the first direction, thereby achieving the purpose of quickly moving the movable side brush to the first position.

[0060] Optionally, during the retraction of the first drive wheel and its continued retraction for a first duration, the embodiments of this disclosure do not limit the behavior of the cleaning device. In one approach, the cleaning device controls its rotation while controlling the first drive wheel to retract for the first duration. For example, during the retraction of the first drive wheel, the cleaning device rotates clockwise as a whole, and the rotation angle can be 10°, 15°, etc., which are not limited in the embodiments of this disclosure.

[0061] With this approach, the cleaning equipment rotates as the first drive wheel moves backward. From the user's perspective, the cleaning equipment only rotates slightly, avoiding abrupt backward movements that could confuse the user and improving the user experience to some extent.

[0062] In some embodiments, the cleaning device further includes a second drive wheel, which is symmetrically arranged with respect to the first drive wheel relative to the forward direction of the cleaning device. The symmetrical arrangement of the first and second drive wheels allows the cleaning device to move smoothly during movement, and the forward, backward, or turning movements of the cleaning device can be controlled by controlling their movement. For example, from a top-down view of the cleaning device, the first drive wheel is the right wheel, and the second drive wheel is the left wheel.

[0063] This disclosure does not limit the way the cleaning device can rotate. For example, during the first drive wheel's reversal for a first duration, the second drive wheel can be controlled to stop rotating, thereby reducing the cleaning device's power consumption and improving its battery life.

[0064] For example, during the first drive wheel's backward movement for a certain duration, the second drive wheel is controlled to move forward. The forward speed of the second drive wheel can be the same as or different from the backward speed of the first drive wheel. Because the two drive wheels move in opposite directions, the rotation amplitude of the cleaning device is smaller, avoiding abrupt rotation behavior that could confuse the user and improving the user experience to some extent.

[0065] For example, during the first backward movement for a first duration, the second drive wheel is also controlled to move backward, and the backward speed of the second drive wheel is different from that of the first drive wheel, thereby achieving the rotation of the cleaning equipment through the wheel speed difference.

[0066] Optionally, in the above embodiments, before the cleaning device controls the first drive wheel to move forward to drive the cleaning device to continue moving forward, it also controls the cleaning device to rotate until the cleaning device faces a target direction, which is the direction in which the first drive wheel presses against the movable brush bar.

[0067] Figure 4A This is a schematic diagram of the target direction in the control method of the cleaning equipment provided in this embodiment of the disclosure. Figure 4B The cleaning equipment is oriented towards Figure 4A The diagram shows the target direction rotation. Please refer to it. Figure 4A The cleaning equipment is performing a bow-shaped cleaning motion. When the movable brush bar is not in the first position and the first drive wheel is pressing down on the movable brush bar, the forward direction of the cleaning equipment is as follows: Figure 4A As shown by the solid black arrow in the middle. Afterwards, the cleaning device rotates while the first drive wheel reverses. Taking the first drive wheel reversing and the second drive wheel moving forward as an example, after the first duration, the orientation of the cleaning device is as follows. Figure 4B As shown by the solid arrow in the image. Figure 4B The directions shown and Figure 4A The angle between the target direction shown is α. The cleaning equipment first rotates counterclockwise by an angle α, and then continues to move forward under the drive of the first and second drive wheels. In this way, the cleaning equipment can continue to travel along the previously planned path where the movable brush strip is pressed down, without the need to replan the path, thus improving cleaning efficiency.

[0068] In another embodiment, the cleaning device controls the cleaning device to move backward while controlling the first drive wheel to move backward for a first duration. For example, during the backward movement of the first drive wheel, the cleaning device moves backward as a whole, and the backward movement speed can be 0.2 m / s, 0.3 m / s, etc., which are not limited in the embodiments disclosed herein.

[0069] With this approach, the entire cleaning device moves backward during the retraction of the first drive wheel. The control logic is simple, and the movable brush bar pressed down by the first drive wheel can be released quickly.

[0070] In this embodiment of the present disclosure, during the process of the first drive wheel reversing and continuing for a first duration, if the cleaning robot as a whole reverses, the cleaning device controls the first drive wheel to reversing while simultaneously controlling the second drive wheel to reversing, and the reversing speeds of the first drive wheel and the second drive wheel are the same.

[0071] Using this method, the cleaning equipment can move backward by controlling the two drive wheels to move backward at the same speed, and the control logic is simple.

[0072] The above description focuses on the action of the cleaning device after the movable brush bar is pressed down by the first drive wheel. In some embodiments, in order to adjust the control logic of the cleaning device as little as possible, the control logic of the first side brush, the second side brush, and the second drive wheel can be kept unchanged during the process of controlling the first drive wheel to move backward and continue for a first duration. That is, the rotation direction and speed of the first side brush, the rotation direction and speed of the second side brush, and the rotation direction and speed of the second drive wheel are kept in the same mode as before the first drive wheel pressed down on the movable brush bar.

[0073] The following is a detailed explanation of how the cleaning equipment determines that the movable brush bar is pressed down by the first drive wheel.

[0074] During the process of the first drive wheel moving forward to drive the cleaning device forward, the cleaning device collects a first drive current that drives the first side brush to rotate, and a second drive current that drives the first drive wheel to rotate. Then, the cleaning device compares the first drive current with a first threshold, and the second drive current with a second threshold. When the first drive current is greater than the first threshold and its duration is greater than a second duration, and the second drive current is greater than the second threshold and its duration is greater than a third duration, it is determined that the first drive wheel is pressing down on the movable brush strip.

[0075] For example, as the cleaning device moves forward under the drive of the first drive wheel and the second drive wheel, the cleaning device collects the first drive current of the first side brush and the second drive current of the first drive wheel at a certain frequency. The collection frequency is, for example, 100 Hz, 300 Hz, 500 Hz, etc., and this disclosure is not limited to this embodiment.

[0076] The cleaning device periodically compares a first drive current with a first threshold, and a second drive current with a second threshold. For example, it compares every 30 milliseconds, every 50 milliseconds, or every second. The first threshold is, for example, 0.2 amps; the second duration is, for example, 2 seconds; the second threshold is, for example, 0.5 amps; the third duration is, for example, 1 second, etc. When the first drive current is greater than the first threshold and its duration is greater than the second duration, or when the second drive current is greater than the second threshold and its duration is greater than the third duration, the cleaning device determines that the first drive wheel is pressing against the movable brush bar.

[0077] If the first driving current is greater than the first threshold and its duration is greater than the second duration, but the second driving current is less than the second threshold, or if the second driving current is greater than the second threshold but its duration is less than the third duration, the cleaning device assumes that the first side brush is tangled or hooked, and attempts to untangle the first side brush. If the tangling cannot be untangled, a prompt message is issued through voice, flashing lights, etc., to alert the user that there is a problem with the first side brush.

[0078] If the second driving current is greater than the second threshold and its duration is greater than the third duration, but the first driving current is less than the first threshold, or if the first driving current is greater than the first threshold but its duration is less than or equal to the second duration, the cleaning device assumes the first driving wheel is entangled and attempts to free itself. If it cannot free itself, it will issue a prompt message via voice, flashing lights, etc., to alert the user that there is a problem with the first driving wheel.

[0079] During the normal forward movement of the cleaning equipment, the first side brush and the first drive wheel may get tangled in obstacles such as hair and wires. When one or both are indicated as tangled, a targeted extrication can be performed. However, when both are indicated as tangled at the same time, it is considered that the drive wheel is pressing on the side brush, and corresponding extrication actions can be performed.

[0080] Using this approach, the cleaning equipment determines whether the movable brush bar is pressed down by using a first driving current for driving the first side brush to rotate and a second driving current for driving the first drive wheel to rotate, thus achieving the purpose of quickly and accurately determining whether the movable brush bar is pressed down.

[0081] Figure 5 This is a schematic diagram of a control device provided in an embodiment of this disclosure. The control device 500 is integrated into a cleaning device, which includes a first drive wheel and a first side brush. The first side brush includes a side brush base and at least one movable brush strip. The side brush base is rotatable about a first axis. The movable brush strip is connected to the side brush base and is movable between a first position and a second position. When the movable brush strip is in the second position, the radial distance from its free end to the first axis is greater than the radial distance from its free end to the first axis when the movable brush strip is in the first position. The control device includes a first control module 51 and a second control module 52.

[0082] The first control module 51 is used to control the first drive wheel to move backward and continue for a first duration when the movable brush strip is not in the first position and the first drive wheel presses down on the movable brush strip during the process of the first drive wheel moving forward to drive the cleaning device forward.

[0083] The first control module 51 is also used to control the first drive wheel to move forward so as to drive the cleaning equipment to continue moving forward.

[0084] In one feasible implementation, the second control module 52 is used to control the first side brush to rotate in a first direction during the process of controlling the first drive wheel to move backward for a first duration, so that the active brush bar moves toward the first position.

[0085] In one feasible implementation, the first control module 51 is further configured to control the cleaning device to rotate during the process of controlling the first drive wheel to move backward for a first duration.

[0086] In one feasible implementation, the cleaning device further includes a second drive wheel, which is symmetrically arranged with respect to the first drive wheel with respect to the forward direction of the cleaning device; the first control module 51 is also used to control the second drive wheel to move forward while the first drive wheel is retracting for a first duration when the cleaning device is rotating.

[0087] In one feasible implementation, before the first control module 51 controls the first drive wheel to move forward to drive the cleaning device to continue moving forward, it is also used to control the cleaning device to rotate until the cleaning device faces a target direction, the target direction being the orientation of the cleaning device when the first drive wheel presses down on the movable brush bar.

[0088] In one feasible implementation, the first control module 51 is further configured to control the cleaning device to move backward during the process of controlling the first drive wheel to move backward for a first duration.

[0089] In one feasible implementation, the cleaning device further includes a second drive wheel, which is symmetrically arranged with respect to the forward direction of the cleaning device as the first drive wheel is arranged with respect to the forward direction of the cleaning device; when the first control module 51 controls the cleaning device to move backward, it is used to control the second drive wheel to move backward when the first drive wheel moves backward, and the backward speed of the first drive wheel and the second drive wheel is the same.

[0090] In one feasible implementation, before the first control module 51 controls the first drive wheel to move backward and sustains this movement for a first duration, the second control module 52 is further configured to collect a first drive current driving the first side brush to rotate during the process of the first drive wheel moving forward to drive the cleaning device forward, and the first control module 51 also collects a second drive current driving the first drive wheel to rotate; when the first drive current is greater than a first threshold and its duration is greater than a second duration, and the second drive current is greater than a second threshold and its duration is greater than a third duration, it is determined that the first drive wheel is pressing down on the movable brush strip.

[0091] The control device provided in this embodiment can execute the actions of the cleaning equipment in the above embodiment. Its implementation principle and technical effect are similar, and will not be described again here.

[0092] Figure 6 This is a schematic diagram of the structure of a cleaning device provided in an embodiment of this disclosure. Figure 6 As shown, the cleaning device 600 includes:

[0093] Processor 61 and memory 62;

[0094] The memory 62 stores computer instructions;

[0095] The processor 61 executes the computer instructions stored in the memory 62, causing the processor 61 to perform the control method implemented by the cleaning equipment as described above.

[0096] The specific implementation process of processor 61 can be found in the above method embodiments, and its implementation principle and technical effect are similar. It will not be repeated here.

[0097] Optionally, the cleaning device 600 also includes a communication component 63. The processor 61, memory 62, and communication component 63 can be connected via a bus 64.

[0098] This disclosure also provides a computer-readable storage medium storing computer instructions that, when executed by a processor, are used to implement the control method implemented by the cleaning equipment described above.

[0099] This disclosure also provides a computer program product comprising a computer program that, when executed by a processor, implements the control method described above for the cleaning equipment.

[0100] In addition, this disclosure also provides a cleaning system, which includes the aforementioned cleaning equipment and a base station. The cleaning equipment can interface with the base station, and the base station is used for maintaining the cleaning equipment. Maintenance includes, but is not limited to: charging, dust collection, mop washing, drying, pumping out wastewater from the cleaning equipment, and / or adding clean water. It can be understood that the cleaning equipment can perform at least one of the following tasks within the base station:

[0101] a. The base station charges the cleaning equipment.

[0102] b. The base station collects the waste from the cleaning equipment into its dust collection container.

[0103] c. Cleaning components (e.g., mops, rollers, etc.) of cleaning equipment within the base station.

[0104] d. The base station replenishes clean water to the clean water box of the cleaning equipment.

[0105] e. The base station collects the dirt from the wastewater box of the cleaning equipment into its own dirt container.

[0106] The maintenance types described above are merely illustrative and should not be construed as limiting the scope of this disclosure. The cleaning equipment described herein includes, but is not limited to, sweepers, mops, combined sweepers and mops, floor scrubbers, vacuum cleaners, and other cleaning equipment, including but not limited to those with cleaning functions.

[0107] Other embodiments of this disclosure will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This disclosure is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this disclosure are indicated by the following claims.

[0108] It should be understood that this disclosure is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this disclosure is limited only by the appended claims.

Claims

1. A control method for a cleaning device, applied to the cleaning device, the cleaning device comprising a first drive wheel and a first side brush, the first side brush comprising a side brush base and at least one movable brush strip, the side brush base being rotatable about a first axis, the movable brush strip being connected to the side brush base and movable between a first position and a second position, wherein when the movable brush strip is in the second position, the radial distance from its free end to the first axis is greater than the radial distance from its free end to the first axis when the movable brush strip is in the first position, characterized in that... The method includes: During the process of the first drive wheel moving forward to drive the cleaning device forward, when the movable brush strip is not in the first position and the first drive wheel presses down on the movable brush strip, the first drive wheel is controlled to move backward and continue for a first duration. Control the first drive wheel to move forward so as to drive the cleaning device to continue moving forward.

2. The method according to claim 1, characterized in that, The method further includes: During the process of controlling the first drive wheel to move backward for a first duration, the first side brush is controlled to rotate along a first direction so that the movable brush bar moves toward the first position.

3. The method according to claim 1, characterized in that, The method further includes: During the process of controlling the first drive wheel to move backward and continuing for a first duration, the cleaning device is controlled to rotate.

4. The method according to claim 3, characterized in that, The cleaning device further includes a second drive wheel, which is symmetrically arranged with respect to the forward direction of the cleaning device relative to the first drive wheel. The control of the rotation of the cleaning equipment includes: During the process of the first drive wheel reversing and continuing for a first duration, the second drive wheel is controlled to move forward.

5. The method according to claim 3, characterized in that, Before controlling the first drive wheel to move forward to drive the cleaning device to continue moving forward, the method further includes: Control the cleaning device to rotate until the cleaning device faces a target direction, which is the direction the cleaning device faces when the first drive wheel presses down on the movable brush bar.

6. The method according to claim 1, characterized in that, The method further includes: During the process of controlling the first drive wheel to move backward and continuing for a first duration, the cleaning equipment is controlled to move backward.

7. The method according to claim 6, characterized in that, The cleaning device further includes a second drive wheel, which is symmetrically arranged with respect to the forward direction of the cleaning device relative to the first drive wheel. The control of the cleaning equipment to retract includes: When the first drive wheel moves backward, the second drive wheel is controlled to move backward, and the backward speeds of the first drive wheel and the second drive wheel are the same.

8. The method according to any one of claims 1 to 7, characterized in that, Before controlling the first drive wheel to move backward and continuing for a first duration, the method further includes: During the process of the first drive wheel moving forward to drive the cleaning device forward, a first drive current driving the first side brush to rotate and a second drive current driving the first drive wheel to rotate are collected. When the first driving current is greater than the first threshold and the duration is greater than the second duration, and the second driving current is greater than the second threshold and the duration is greater than the third duration, it is determined that the first driving wheel is pressing down on the movable brush bar.

9. A cleaning device, comprising a body, a first drive wheel disposed on the body, and a first side brush, the first side brush comprising a side brush base and at least one movable brush strip, the side brush base being rotatable about a first axis, the movable brush strip being connected to the side brush base and movable between a first position and a second position, wherein when the movable brush strip is in the second position, the radial distance from its free end to the first axis is greater than the radial distance from its free end to the first axis when the movable brush strip is in the first position, characterized in that... Also includes: A processor and a memory, the memory for storing a computer program, and the processor for executing the computer program stored in the memory to implement the method as claimed in any one of claims 1 to 8.

10. A cleaning system, characterized in that, It includes a base station and the cleaning equipment as described in claim 9, wherein the base station is used to maintain the cleaning equipment.

11. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the method as described in any one of claims 1 to 8.

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