Cleaning control method

Abstract

The cleaning control method is used for the self-moving cleaning equipment, a cleaning assembly is arranged, the cleaning assembly is driven by a driving assembly to have an external expansion position and an internal contraction position, and when the cleaning assembly is located at the external expansion position, the part, located outside the peripheral side of a machine body, of the cleaning assembly is retracted; when the cleaning assembly is located at the inner folding position, the cleaning assembly is located outside the peripheral side of the machine body; when the self-moving cleaning equipment controls the driving assembly to drive the cleaning assembly to clean at the external expansion position, environment information is obtained; and under the condition that the environment information meets the preset obstacle avoidance condition, the machine body is controlled to execute the obstacle avoidance action according to the environment information, and the first driving parameter is kept to drive the cleaning assembly. By means of the cleaning capacity of the cleaning assembly on a larger range at the external expansion position, when the self-moving cleaning equipment conducts obstacle avoidance in areas with special terrains such as inner corners, outer corners, edges, edge protruding obstacles, suspended obstacles and discrete obstacles, the cleaning assembly can thoroughly clean the areas.

Description

Technical Field

[0001] The embodiments of the present invention relate to the field of automatic cleaning technology, and in particular to a cleaning control method. Background Art

[0002] With the continuous development of electronic technology, various forms of smart homes have begun to appear in people's lives, providing users with convenience in many aspects and improving their quality of life. For example, self-propelled cleaning devices can free people from a large part of their time spent on housework, allowing them to have more time to enjoy other rich aspects of life.

[0003] The inventors observed the cleaning effect of existing self-propelled cleaning equipment and found that areas with special terrain such as inner corners, outer corners, edges, protruding obstacles along the edges, suspended obstacles, and discrete obstacles may be missed. Summary of the Invention

[0004] The present invention provides a cleaning control method to solve the technical problem that existing self-moving cleaning equipment may miss sweeping in areas with special terrain such as inner corners, outer corners, edges, protruding obstacles along the edges, suspended obstacles, and discrete obstacles.

[0005] In a first aspect, an embodiment of the present invention provides a cleaning control method for a self-moving cleaning device, wherein the self-moving cleaning device includes a body, a cleaning component, and a driving component. The cleaning component has an outward-expanding position and a retracted position when driven by the driving component. When the cleaning component is in the outward-expanding position, the portion of the cleaning component located outside the periphery of the body is larger than the portion of the cleaning component located outside the periphery of the body when the cleaning component is in the retracted position. The driving component drives the cleaning component to the outward-expanding position based on a first driving parameter. When the cleaning component contacts an obstacle at the outward-expanding position, the cleaning component is moved toward the retracted position by the force exerted by the obstacle. The cleaning control method includes: When the driving assembly drives the cleaning assembly to rotate in the first direction and is subjected to a friction torque in the second direction, the cleaning assembly is driven to clean in an outwardly extended position according to the first driving parameter and environmental information is obtained, wherein the first direction is opposite to the second direction; When the environmental information meets the preset obstacle avoidance conditions, the fuselage is controlled to perform obstacle avoidance actions according to the environmental information, and the drive component is controlled to maintain the first drive parameter to drive the cleaning component; the first drive parameter includes at least: a drive steering parameter that causes the cleaning component to rotate in a first direction.

[0006] Among them, the self-moving device also includes an obstacle contact component, which is directly or indirectly connected to the cleaning component. When the cleaning component is in the outward extended position and contacts the obstacle, the obstacle contact component is driven by the force exerted by the obstacle to move the cleaning component toward the retracted position.

[0007] Wherein, the obstacle contact component includes an elastic structural member, which is provided on one or more combinations of the cleaning component and the driving component. When the cleaning component is in the outward-expanded position and contacts the obstacle, the elastic structural member is driven by the force exerted by the obstacle to move the cleaning component toward the retracted position; or The obstacle contact component includes a stop component, which is arranged on one or more combinations of the cleaning component and the driving component. When the cleaning component is in the outward expanded position and contacts the obstacle, the stop component is subjected to the force exerted by the obstacle, driving the cleaning component to move toward the direction close to the retracted position.

[0008] Wherein, when the environmental information meets the preset obstacle avoidance condition, controlling the fuselage to perform the obstacle avoidance action according to the environmental information, and controlling the driving component to maintain the first driving parameter to drive the cleaning component, including: When the environmental information meets the preset conditions for an overhead obstacle, the aircraft is controlled to move along the overhead obstacle according to the height information of the overhead obstacle, or the aircraft is controlled to move toward the bottom of the overhead obstacle and then move along the overhead obstacle; During the movement along the suspended obstacle, the driving component is controlled to maintain the first driving parameter to drive the cleaning component.

[0009] Wherein, when the environmental information meets the preset obstacle avoidance condition, controlling the fuselage to perform the obstacle avoidance action according to the environmental information, and controlling the driving component to maintain the first driving parameter to drive the cleaning component, including: When the environmental information satisfies a preset inner corner obstacle condition, the body is controlled to move to a first turning position according to the environmental information. During edge cleaning along a first edge, when it is determined according to the environmental information that a second edge exists in the moving direction, the inner corner obstacle condition is determined to be satisfied, and a first preset distance is present between the first turning position and the second edge. The body is controlled to pause at the first turning position and rotate at the first turning position by a first angle to clean the second edge, and the driving component is controlled to maintain the first driving parameter to drive the cleaning component during the rotation of the first angle.

[0010] Wherein, when the environmental information meets the preset obstacle avoidance condition, controlling the fuselage to perform the obstacle avoidance action according to the environmental information, and controlling the driving component to maintain the first driving parameter to drive the cleaning component, including: When the environmental information satisfies the preset outer corner obstacle condition, the body is controlled to move to the second turning position according to the environmental information. During the edge cleaning process along the first edge, if the presence of a third edge is determined according to the environmental information, the outer corner obstacle condition is determined to be satisfied, and the extension line of the third edge is located in the movement direction when cleaning along the first edge. The second turning position is the position of the body when the edge cleaning of the first edge is completed. The body is controlled to pause at the second turning position and rotate at a second angle at the second turning position to clean the third side along the edge. The driving component is controlled to maintain the first driving parameter to drive the cleaning component during the rotation of the second angle.

[0011] Wherein, when the environmental information meets the preset obstacle avoidance condition, controlling the fuselage to perform the obstacle avoidance action according to the environmental information, and controlling the driving component to maintain the first driving parameter to drive the cleaning component, including: When the environmental information meets the preset protruding obstacle conditions, the position of the fuselage is controlled to move and perform obstacle avoidance according to the protruding distance of the protruding obstacle and the distance between the side where the cleaning component is located and the side where the protruding obstacle is located. The driving component is controlled to maintain the first driving parameter to drive the cleaning component during the obstacle avoidance action.

[0012] Wherein, when the environmental information satisfies the preset protruding obstacle condition, the position of the fuselage is controlled to move and perform obstacle avoidance action based on the protruding distance of the protruding obstacle and the distance between the side where the cleaning component is located and the side where the protruding obstacle is located as a reference, including: When the protrusion distance is not greater than the expansion distance, the protrusion distance is used to determine the cleaning route parallel to the main direction of one side of the object, and the expansion distance is the movement distance of the cleaning component from the retracted position to the expanded position in the predetermined direction, the predetermined direction being perpendicular to the movement direction of the self-moving cleaning device; When the protrusion distance is greater than the outward expansion distance, the edge cleaning route is determined by the outer contour of the protruding obstacle.

[0013] Wherein, when the environmental information meets the preset obstacle avoidance condition, controlling the fuselage to perform the obstacle avoidance action according to the environmental information, and controlling the driving component to maintain the first driving parameter to drive the cleaning component, further comprising: When the environmental information satisfies the preset discrete obstacle avoidance conditions, the body is controlled to move along the discrete obstacle avoidance area according to the environmental information to perform the obstacle avoidance action. The discrete obstacle avoidance conditions are that the obstacle is a discrete obstacle, and the distribution density and / or height of the discrete obstacles exceeds the passability of the self-propelled cleaning device. The discrete obstacle avoidance area is the distribution area of the discrete obstacles. During the process of moving along the discrete obstacle avoidance area to perform the obstacle avoidance action, the driving component is controlled to maintain the first driving parameter to drive the cleaning component.

[0014] Wherein, the cleaning control method further includes: Controlling the driving component to drive the cleaning component to perform edge cleaning on the area to be cleaned in the outwardly expanded position according to the first driving parameter; After the edge cleaning is completed, the area to be cleaned should be covered and cleaned; When controlling the body to turn during the covering cleaning process, the driving component is controlled to maintain the first driving parameter to drive the cleaning component.

[0015] The above-mentioned cleaning control method is applied to a self-moving cleaning device. The self-moving cleaning device is provided with a cleaning component. The cleaning component has an extended position and a retracted position under the drive of the driving component. When the cleaning component is in the extended position, the part of the cleaning component outside the periphery of the fuselage is larger than the part of the cleaning component outside the periphery of the fuselage when the cleaning component is in the retracted position. The driving component drives the cleaning component to the extended position based on the first driving parameter. When the cleaning component contacts an obstacle in the extended position, the cleaning component is moved toward the retracted position by the force exerted by the obstacle; when the self-moving cleaning device controls the driving component to drive the cleaning component to rotate in the first direction and is subjected to a friction torque in the second direction, the cleaning component is driven by the first driving parameter to clean in the extended position, and environmental information is obtained, and the first direction is opposite to the second direction; when the environmental information meets the preset obstacle avoidance conditions, the fuselage is controlled to perform obstacle avoidance actions according to the environmental information, and the driving component is controlled to maintain the first driving parameter to drive the cleaning component. By utilizing the cleaning component's ability to clean a wider range in the expanded position, the self-moving cleaning equipment can thoroughly clean areas with special terrain such as inner corners, outer corners, edges, protruding obstacles along the edges, suspended obstacles, and discrete obstacles when avoiding obstacles. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0017] Figure 1 This is the method flow of the cleaning control method provided in the embodiment of the present application.

[0018] Figure 2 Schematic diagram of the gap.

[0019] Figure 3 This is a schematic diagram of cleaning a gap in the related art.

[0020] Figure 4 This is a schematic diagram of cleaning a gap based on an embodiment of the present application.

[0021] Figure 5 This is a structural diagram of a self-moving cleaning device provided in an embodiment of the present application.

[0022] Figure 6This is a diagram of the internal structure of a self-moving cleaning device provided in an embodiment of the present application.

[0023] Figure 7 This is a schematic diagram of another self-moving cleaning device provided in an embodiment of the present application for cleaning a shorter gap.

[0024] Figure 8 This is a schematic diagram of another self-moving cleaning device provided in an embodiment of the present application for cleaning a higher gap.

[0025] Figure 9 and Figure 10 This is a schematic diagram of cleaning inner corners based on an embodiment of the present application.

[0026] Figure 11 This is a schematic diagram of cleaning an outer corner based on an embodiment of the present application.

[0027] Figure 12 This is a schematic diagram of cleaning a protruding obstacle based on an embodiment of the present application.

[0028] Figure 13 This is a schematic diagram of cleaning an impassable obstacle based on an embodiment of the present application.

[0029] Figure 14 This is a schematic diagram of cleaning the central area based on an embodiment of the present application.

[0030] Figure 15 Schematic diagram of the hardware structure of the self-moving cleaning device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0031] To make the objectives, technical solutions, and advantages of this application more apparent, embodiments of the present application will be further described in detail below with reference to the accompanying drawings. It will be understood that the specific embodiments described herein are intended to illustrate the present invention, not to limit it. It should also be noted that, for ease of description, the accompanying drawings only illustrate portions relevant to the present invention, not all of the components.

[0032] It should be noted that due to space limitations, this application specification does not enumerate all optional implementation methods. After reading this application specification, those skilled in the art should be able to understand that as long as the technical features do not contradict each other, any combination of technical features can constitute an optional implementation method.

[0033] Each embodiment is described in detail below.

[0034] The cleaning control method in the embodiment of the present application is used for a self-propelled cleaning device. The self-propelled cleaning device is equipped with a positioning module such as a laser radar, a cleaning module such as a water tank and a rag (the components of the cleaning module that directly contact dirt to achieve cleaning are defined as cleaning components, such as a mop), and a motion module such as a walking wheel. The components involved in electronic control in these modules are all controlled by the microprocessor of the self-propelled cleaning device. Accordingly, the data collected by the positioning module (including other functional modules with data acquisition capabilities) can be sent to the microprocessor for processing. The microprocessor can generate control instructions based on the received data and send the control instructions to the cleaning module and the motion module to realize the operation control under the corresponding specific environmental conditions. In addition, there is a charging module, a communication module, etc., and the positioning module, the cleaning module, and the motion module can all be implemented with reference to the relevant self-propelled cleaning device technical field. The specific installation method and basic working principle are not described in detail here, and the corresponding working content is not described in detail. For example, the process of returning to the charging station to charge through the charging module after cleaning is completed is not described in detail. The control terminal and the self-propelled cleaning device can be directly connected to each other through a wireless connection method such as Bluetooth, Wi-Fi, NFC, etc. for data transmission, or they can be connected to a server and then data is transmitted through the server.

[0035] The self-moving cleaning device in the embodiment of the present application may be a sweeping robot, a mopping machine, a vacuum cleaner, etc. The self-moving cleaning device in the related art performs automatic cleaning work and first generates a cleaning route based on an environmental map that is pre-explored and constructed based on the target workspace. When generating the cleaning route, the size of the impact of external obstacles on the self-moving cleaning device when it moves in partitions is taken into consideration, and the cleaning route is further subdivided according to the size of the impact, that is, the continuous area that is greatly affected by the external obstacles (the area adjacent to the wall base) is cleaned intensively, and then the remaining area that is basically not affected by the external obstacles is cleaned. The cleaning route corresponds to a circular edge route generated based on the wall base contour and an arched covering route generated based on the remaining area. The specific position of the cleaning component on the self-moving cleaning device that is normalized is the bottom. The maximum width covered by the cleaning component during the movement of the self-moving cleaning device is less than the maximum width (for example, the diameter) of the self-moving cleaning device. When cleaning according to the cleaning route, it is necessary to adjust the position of the cleaning component (for example, a mop) on the self-moving cleaning device according to the edge route and the covering route so that the cleaning can be more thorough. For example, when the self-moving cleaning device is cleaning along the edge of a wall (or an object placed against the wall) according to the edge route, the position of the cleaning component on the self-moving cleaning device needs to be expanded outward so that when the side of the self-moving cleaning device comes into contact with an external object, the position adjacent to the wall base can be cleaned; after the edge cleaning is completed, when performing covering cleaning according to the covering route, the cleaning component is adjusted to a normal position, and then the central area at a certain distance from the wall base is cleaned until the cleaning of the entire partition is completed.

[0036] The inventor observed the effect of the above-mentioned existing self-moving cleaning equipment after placing the cleaning components in different positions to clean the partitions in stages and found that there were missed areas in areas with special terrain such as inner corners, outer corners, edges, protruding obstacles along the edges, suspended obstacles, discrete obstacles, etc.

[0037] After analyzing the detailed cleaning process of the above staged cleaning, the inventor found that Figure 2 When cleaning a position where there is a suspended obstacle due to reasons such as a chest of drawers or a TV cabinet, the existing self-moving cleaning device 10 is connected to the cleaning component 11 of the driving component through a rigid component. When cleaning in the outward-expanded position, the moving direction of the self-moving cleaning device 10 is used as a reference, which is equivalent to extending from the side and rear of the fuselage. Figure 3 As shown in the self-moving cleaning device 10 and the cleaning component 11 in the figure, if fine control of special terrain is to be achieved, when the outward expansion of the cleaning component 11 has reached its limit, the cleaning component 11' can only be extended into the gap for cleaning by adjusting the angle of entry into the self-moving cleaning device 10'. However, at this time, the self-moving cleaning device 10' cannot move along the edge parallel to the wall base. If fine cleaning of suspended obstacles is to be achieved, the self-moving cleaning device 10' needs to be finely adjusted multiple times, mainly in terms of rotation angle. In order to improve cleaning efficiency, the existing self-moving cleaning device 10 usually sacrifices thorough cleaning of special terrain.

[0038] In response to the above technical problems, an embodiment of the present application proposes a cleaning control method, which is applied to a self-moving cleaning device. The self-moving cleaning device is provided with a cleaning component, which has an extended position and a retracted position under the drive of a driving component. When the cleaning component is in the extended position, the part of the cleaning component located outside the periphery of the fuselage is larger than the part of the cleaning component located outside the periphery of the fuselage when the cleaning component is in the retracted position. The driving component drives the cleaning component to the extended position based on a first driving parameter. When the cleaning component contacts an obstacle in the extended position, the cleaning component is moved toward the retracted position by the force exerted by the obstacle; when the self-moving cleaning device controls the driving component to drive the cleaning component to rotate in a first direction and is subjected to a friction torque in a second direction, when the cleaning component is driven by the first driving parameter to clean in the extended position, environmental information is obtained, and the first direction is opposite to the second direction; when the environmental information meets the preset obstacle avoidance conditions, the fuselage is controlled to perform obstacle avoidance actions according to the environmental information, and the driving component is controlled to maintain the first driving parameter to drive the cleaning component. By utilizing the cleaning component's ability to clean a wider range in the expanded position, the self-moving cleaning equipment can thoroughly clean areas with special terrain such as inner corners, outer corners, edges, protruding obstacles along the edges, suspended obstacles, and discrete obstacles when avoiding obstacles.

[0039] The specific product forms of the self-propelled cleaning devices in the embodiments of the present application include, but are not limited to: sweeping robots, floor scrubbers, sweeping and mopping robots, cleaning robots, lawn mowing robots, snow-clearing robots, etc. The self-propelled cleaning devices can clean by sweeping first and mopping second, or by sweeping and mopping separately. The sweeping and mopping separately allows you to sweep the floor first and then mop the floor, which can improve cleaning efficiency. The sweeping and mopping separately allows you to sweep the floor first and then mop the floor after sweeping, which can improve cleaning effect.

[0040] The self-propelled cleaning device may include a body, a processor, one or more cleaning components, one or more sensors, etc. The body may be round, square, or other shapes. For example, the front portion of the body may be round, and the rear portion may be square. The cleaning components may be round, square, multi-branched, or other shapes (e.g., semicircular, arc-shaped, triangular, or other special shapes). A round shape facilitates the cleaning component's rotational cleaning, while shapes other than round facilitate cleaning corners. The cleaning components may include side brushes, a roller brush (also known as a floor brush), a rag tray (also known as a mop tray), etc. The side brush can collect foreign matter, causing it to move toward the center of the bottom of the self-propelled cleaning device and collect it at the bottom of the self-propelled cleaning device. The roller brush can sweep up foreign matter from the bottom of the self-propelled cleaning device, allowing it to enter the dust collection box through the suction port. The rag tray is used for mopping or mopping the floor, and is provided with a rag. The self-propelled cleaning device is provided with a water tank, and water in the tank flows through a hole to the rag, wetting the rag, which is then used for mopping the floor. Foreign objects that can be cleaned by the self-moving cleaning device include but are not limited to dust, hair, pet feces, etc. Sensors may include lidar sensors (such as triangulation sensors, TOF sensors, etc.), infrared sensors, line laser sensors, edge sensors, visual sensors (such as cameras, etc.), posture sensors, etc. The sensors are used to detect various status information of the self-moving cleaning device itself or its surroundings. For example, a line laser sensor is used to detect obstacle information representing one or more obstacles. The processor can control the self-moving cleaning device based on the status information detected by the sensor. Among the sensors, the sensor used to detect obstacle information is defined as a ranging sensor. Different types of ranging sensors can emit specific signals (such as laser signals, infrared signals) and receive the reflection signal of the specific signal from the obstacle. Then, based on the time difference between emission and reception and the direction of emission, the relative position relationship between the obstacle and itself is determined to complete the ranging. The specific number and type of ranging sensors are not limited.

[0041] Please refer to Figure 1, which is a method flow chart of the cleaning control method provided by an embodiment of the present application. The cleaning control method is used for a self-moving cleaning device, which includes a body, a cleaning component, and a driving component. The cleaning component has an outward-expanding position and a retracted position when driven by the driving component. When the cleaning component is in the outward-expanding position, the portion of the cleaning component located outside the body is larger than the portion of the cleaning component located outside the body when the cleaning component is in the retracted position. The driving component drives the cleaning component to the outward-expanding position based on a first driving parameter. When the cleaning component contacts an obstacle in the outward-expanding position, the cleaning component is moved toward the retracted position by the force exerted by the obstacle.

[0042] like Figure 1 As shown, the cleaning control method includes but is not limited to steps S110 to S120.

[0043] Step S110: When the driving component drives the cleaning component to rotate in the first direction and is subjected to a friction torque in the second direction, the cleaning component is driven to clean in an outwardly extended position by a first driving parameter and environmental information is obtained. The first direction is opposite to the second direction.

[0044] The self-mobile cleaning device can leave the base station upon receiving a temporary instruction from the user or a pre-set cleaning timer, and clean the indoor area or part of the indoor area according to the temporary instruction or setting. The area that the self-mobile cleaning device is currently entering is the area to be cleaned.

[0045] The self-moving cleaning device in the embodiment of the present application includes two cleaning components, at least one of the two cleaning components can adjust its relative position relative to the body of the self-moving cleaning device, wherein the state at the position closest to the center of the body is defined as the retracted position, and the state at the position farthest from the center of the body is defined as the outward-expanded position. In order to simplify the control process and improve the control accuracy, the cleaning component selects one of the retracted position and the outward-expanded position as the use state when performing the cleaning task according to the cleaning needs. In the outward-expanded position, the portion of the cleaning component located outside the periphery of the body is larger than the portion of the cleaning component located outside the periphery of the body in the retracted position. Specifically, in the outward-expanded position, at least part of the cleaning component exceeds the maximum width position of the edge of the body, or the cleaning component may exceed the edge of the body of the self-moving cleaning device, but does not exceed the maximum width position of the edge of the body. In the retracted position, the cleaning component does not exceed the edge of the body of the self-moving cleaning device, or the cleaning component may exceed the edge of the body of the self-moving cleaning device, but does not exceed the maximum width position of the edge of the body.

[0046] In order to ensure that when the cleaning component contacts an obstacle in the outward-expanding position, the cleaning component is moved toward the retracted position by the force exerted by the obstacle, the self-moving device also includes an obstacle contact component. The obstacle contact component is directly or indirectly connected to the cleaning component. When the cleaning component contacts an obstacle in the outward-expanding position, the obstacle contact component is driven by the force exerted by the obstacle to move the cleaning component toward the retracted position. In terms of overall design, the outer side of the obstacle contact component can be regarded as a substitute for the cleaning component to achieve hard contact with the obstacle, that is, the soft part of the outer edge of the cleaning component can contact the obstacle, but when the self-moving cleaning device continues to approach the obstacle, the obstacle contact component achieves hard contact with the obstacle, ensuring that the force exerted by the obstacle on the obstacle contact component will not be fully transmitted to the internal structure of the self-moving cleaning device, avoiding the force of the obstacle causing damage to the internal structure of the self-moving cleaning device or overload of the motor, and the obstacle contact component can always maintain contact with the obstacle when it is in the contact range, that is, the cleaning component can thoroughly clean the position close to the obstacle. Overall, based on the hardware design of the obstacle contact component, combined with the cleaning control method that controls the driving component to maintain the first driving parameter to drive the cleaning component when facing an obstacle, while ensuring the safety of the self-moving cleaning device, the cleaning component achieves thorough cleaning of various obstacles, eliminating cleaning blind spots to the greatest extent possible. In addition, the obstacle contact component first hard contacts the obstacle, and then drives the cleaning component to passively retract, avoiding hard contact between the cleaning component and the obstacle. It also prevents the self-moving cleaning device from colliding with the obstacle when cleaning inside and outside corners or suspended obstacles, causing the obstacle to push the self-moving cleaning device away. It can clean the edges of obstacles without easily scratching them.

[0047] In an optional implementation, if Figure 5 and Figure 6 As shown, one of the two cleaning components is a flexible cleaning component 21. The self-moving cleaning device 20 also includes a stop component 24. The stop component 24 is provided on the driving component 25. When the flexible cleaning component 21 is in the outward-expanding position and contacts an obstacle, the stop component 24 is subjected to the force exerted by the obstacle, driving the flexible cleaning component 21 to move in a direction close to the retracted position. The stop component 24 is provided on the driving component 25. The stop component 24 is configured to contact the obstacle when the flexible cleaning component 21 is in the outward-expanding position to prevent the flexible cleaning component 21 from making hard contact with the obstacle. It is understandable that the prevention of hard contact between the flexible cleaning component 21 and the obstacle mentioned here refers to the situation where there is no hard object in the flexible cleaning component 21 or other structure with a hard support provided inside that directly contacts the obstacle.

[0048] The stop member 24, reacting against the obstacle, causes the flexible cleaning assembly 21 to swing (specifically, swing relative to the main body), i.e., move toward the retracted position. It is understood that the obstacles referred to in this application include, but are not limited to, indoor walls, coffee tables, chairs, beds, refrigerators, and other furniture, as well as other objects placed within the space.

[0049] The present application sets a stop component 24. When the flexible cleaning component 21 is extended outward to the outermost edge protruding from the body to clean the edges of obstacles such as walls and furniture, if the flexible cleaning component 21 is close to the obstacle, the stop component 24 is used to contact the obstacle to prevent the flexible cleaning component 21 from making hard contact with the obstacle. In this way, the rotating flexible cleaning component 21 will not scratch the obstacle. At the same time, the stop component 24 is subjected to the reaction force exerted by the obstacle, which can cause the flexible cleaning component 21 to move in the direction close to the retracted position and achieve retraction. Thereafter, when the force exerted by the obstacle on the stop component 24 disappears, the drive component 25 continues to drive the flexible cleaning component 21 to rotate in the first direction. The flexible cleaning component 21 contacts the ground to generate a friction torque, which can drive the flexible cleaning component 21 to switch to the extended position to clean the edge of the obstacle. Figure 5 and Figure 6 The exemplary flexible cleaning component 21 includes an internal hard mop holder and a mop that is mounted on the mop holder and at least covers the ground of the mop holder. During the cleaning process, the driving component 25 drives the mop holder to rotate through the transmission component, and the mop cleans the cleaning surface.

[0050] In another optional implementation, as Figure 7 As shown, one of the two cleaning components is a flexible cleaning component 21, and the flexible cleaning component 21 is connected to the driving component ( Figure 7 (not shown in the figure), the driving assembly is used to drive the flexible cleaning assembly 21 to move relative to the body. It should be noted that the flexible cleaning assembly 21 does not refer to the flexible characteristics of the material of the cleaning assembly itself, but refers to the fact that the cleaning assembly is connected to the driving assembly through an elastic structural member 23, and can avoid all the forces generated during contact with the outside being fed back to the driving assembly through the passive deformation of the elastic structural member 23 to which it is connected. During the cleaning process, the friction between the flexible cleaning assembly 21 and the ground surface is relatively small, and basically does not cause the flexible cleaning assembly 21 to maintain a large elastic deformation; when the flexible cleaning assembly 21 contacts an external obstacle, the passive deformation of the elastic structural member 23 can avoid structural damage or motor overload that causes physical damage to the driving assembly. At this time, the self-moving cleaning device 20 is equivalent to having good terrain adaptability. In the case that the flexible cleaning assembly 21 has good terrain adaptability, the flexible cleaning assembly 21 can be designed with as large an outward expansion distance as possible to achieve cleaning of as small and complex terrain as possible.

[0051] After the self-mobile cleaning device enters the area to be cleaned, it moves along the edge of the ground that can be reached, that is, the side of the self-mobile cleaning device moves along the wall base or an object placed close to the wall base, and the cleaning component cleans the ground during the movement. The cleaning stage at this time is edge cleaning, and the real-time moving direction of the self-mobile cleaning device during the edge cleaning process is parallel to the wall base that is close to it at that time. For the self-mobile cleaning device, the conventional arrangement of the cleaning component is to be retracted and located at the bottom. When the self-mobile cleaning device maintains the conventional arrangement of the cleaning component and moves close to the wall base, the cleaning component will maintain a certain distance from the wall base due to the obstruction of the wall base on the side of the self-mobile cleaning device. Therefore, during the edge cleaning process, the self-mobile cleaning device controls the cleaning component to enter the outward expansion position, that is, controls the cleaning component to extend from the side of the bottom of the self-mobile cleaning device. Even if the wall base collides with the side of the self-mobile cleaning device, the extension distance of the cleaning component can be adjusted so that the side edge of the cleaning component contacts the wall base during the movement of the self-mobile cleaning device along the wall base, and the cleaning surface of the cleaning component can accordingly cover a part of the area adjacent to the wall base, and the cleaning of this part of the area is achieved as the self-mobile cleaning device moves. When the self-propelled cleaning device completes a circle along the base of the wall, it also completes the cleaning of the annular area adjacent to the base of the wall. In the embodiment of the present application, this portion of the annular area is defined as the edge area. It should be understood that the annular area in the embodiment of the present application generally refers to the annular area that forms a closed loop and a small number of annular areas that are interrupted but close to a closed loop.

[0052] When the self-moving cleaning device 20 in the present application is working, the self-moving cleaning device 20 is configured to: when the flexible cleaning component 21 is subjected to a torque in the second direction while rotating in the first direction, the flexible cleaning component 21 is swung relative to the body in the second direction to an outward-expanding position. Specifically, when the power component of the first cleaning component 21 drives the flexible cleaning component 21 to rotate in the first direction, the flexible cleaning component 21 will generate a torque when it contacts the cleaned surface such as the ground or a table. This torque can cause the flexible cleaning component 21 to protrude from the outer edge of the body and be in an outward-expanding position. At this time, the flexible cleaning component 21 can avoid mutual interference between the body and obstacles such as furniture or walls and contact the edge of the wall or furniture to perform edge cleaning.

[0053] The self-propelled cleaning device 20 is also configured such that when the flexible cleaning assembly 21 is subjected to a torque in the first direction while rotating in the second direction, the flexible cleaning assembly 21 swings in the first direction relative to the main body 10 and is retracted. Specifically, when the power assembly of the flexible cleaning assembly 21 drives the flexible cleaning assembly 21 to rotate in the second direction, the flexible cleaning assembly 21 contacts the cleaning surface, such as the floor or a countertop, generating a torque that causes the flexible cleaning assembly 2 to be retracted, thereby facilitating the retraction and deployment of the self-propelled cleaning device 20.

[0054] It is understandable that the first direction in this application can be clockwise or counterclockwise. When the first direction is clockwise, the second direction is counterclockwise; when the first direction is counterclockwise, the second direction is clockwise. In addition, the torque in this application can be the friction torque applied by the ground or table top to the first cleaning component when the flexible cleaning component 21 rubs against the ground or table top, or the torque generated by the reaction force of other objects on the flexible cleaning component 21 when the centrifugal force of the flexible cleaning component 21 itself rotates centrifugally, or the torque applied by other friction mechanisms to the flexible cleaning component 21 when the flexible cleaning component 21 contacts other friction mechanisms.

[0055] exist Figure 5 From the perspective shown, when in the retracted position, the right mop (ie, the flexible cleaning component 21) rotates counterclockwise, and the left mop ( Figure 5 (not shown) rotates clockwise; when in the outward-expanded position, the right mop rotates clockwise. In the specific implementation process, the drive assembly 25 is rotatably mounted on the bottom shell of the self-moving cleaning device 21 through a rotating part, and the drive assembly 25 has a rotating shaft, which is coaxially arranged with the rotating part; the transmission structure is connected between the drive assembly 25 and the flexible cleaning assembly 21, and the rotation of the rotating shaft drives the transmission structure to drive the flexible cleaning assembly 21 to rotate in the first direction or the second direction. Specifically, the drive assembly 25 in the present application includes a motor, and the rotating shaft of the motor is coaxially arranged with the rotating part. Of course, the drive direction can also be different, such as providing a reverse transmission assembly. The drive assembly 25 can be specifically arranged on the mop bracket, or it can be arranged on the rocker gear box.

[0056] The flexible cleaning component 21 is in different positions, and the driving control is completed by the driving component according to the driving parameters required for different positions. In the embodiment of the present application, the driving parameters required for the driving component to move the flexible cleaning component 21 to the outward-expanding position when there is no obstacle are defined as first driving parameters. When the self-moving cleaning device 20 performs a cleaning task based on the embodiment of the present application, if the flexible cleaning component 21 contacts an obstacle while performing an obstacle avoidance action, although the driving component is driven according to the first driving parameter to place the flexible cleaning component 21 in the outward-expanding position, the force exerted by the obstacle will cause the flexible cleaning component 21 to stick to the obstacle and move to a certain extent in the direction close to the retracted position. This state can eliminate the cleaning gap between the flexible cleaning component 21 and the obstacle while reducing the fine control of the fuselage and the driving component, and will not cause overload of the motor of the driving component or other structural damage. During the specific implementation process, the rotation state of the flexible cleaning component 21 itself in different directions, as well as the setting of the outward expansion position or the inward retracted position, are all realized by the driving component. The corresponding driving parameters include the driving speed parameters for controlling the rotation speed, the driving steering parameters for controlling the steering angle, and the driving force parameters for controlling the rotation force (for example, through duty cycle control), etc.

[0057] While controlling the driving component to drive the cleaning component to clean in the expanded position, environmental information is also obtained. The environmental information can be specifically realized through various sensors and / or image acquisition modules configured in the self-moving cleaning equipment. The environmental information can characterize the terrain details of the area to be cleaned, such as the inner corners, outer corners, edges, protruding obstacles along the edges, suspended obstacles, discrete obstacles, etc. described above.

[0058] Step S120: When the environmental information satisfies the preset obstacle avoidance condition, the body is controlled to perform an obstacle avoidance action according to the environmental information, and the driving component is controlled to maintain the first driving parameter to drive the cleaning component.

[0059] In the specific cleaning process, the annular area described above refers to the general area type. In the complex and changeable area to be cleaned, various mutations in details may occur, corresponding to detailed cleaning requirements. In the embodiment of the present application, based on the design of the flexible cleaning component, during the edge cleaning process, the position of the fuselage is controlled to move with reference to the distance between the side where the flexible cleaning component is located and the edge object, and the driving angle of the driving component during the edge cleaning process remains unchanged, that is, while keeping the driving parameters of the driving component for the flexible cleaning component unchanged, the position of the fuselage is controlled with reference to the distance between the side where the flexible cleaning component is located and the edge object, so that the fuselage is as close to or as far as possible from the edge object, and the cleaning ability of the flexible cleaning component with a large outward expansion distance is maximized. The cleaning control method in the embodiment of the present application based on the flexible cleaning component will be described in detail later.

[0060] In an optional implementation, when cleaning along the edges because there is a gap between chests of drawers, TV cabinets, etc. and the ground, when the environmental information meets the preset obstacle avoidance conditions, the fuselage is controlled to perform obstacle avoidance actions according to the environmental information, and the drive component is controlled to maintain the first drive parameter to drive the cleaning component, including: when the environmental information meets the preset suspended obstacle conditions, the fuselage is controlled to move along the suspended obstacle according to the height information of the suspended obstacle, or the fuselage is controlled to move toward the bottom of the suspended obstacle and then move along the suspended obstacle; in the process of moving along the suspended obstacle, the drive component is controlled to maintain the first drive parameter to drive the cleaning component.

[0061] like Figure 4 As shown, the flexible cleaning component 21 is capable of cleaning a position that is far away from the body of the self-moving cleaning device 20. During the edge cleaning process at a position where there is a suspended obstacle (there is a gap 31 between the suspended obstacle and the ground), the position of the body is controlled to move with reference to the distance between the side where the flexible cleaning component 21 is located and the bottom of the gap 31. In the embodiment of the present application, the opening of the gap 31 faces the body, and the bottom of the gap 31 is parallel to the opening.

[0062] In an optional implementation, if Figure 7 and Figure 8 As shown, the height (opening width) of gap 31 may vary. The self-propelled cleaning device includes a top sensor 22 and a side sensor (each capable of detecting different height ranges). The side sensor (not shown) is located on the side of the flexible cleaning assembly. The gap is determined based on the detection results of the top and side sensors. If gaps 31 of varying heights may not be detected by all sensors, the detection results of the top and side sensors can be used to determine whether to conduct further inspection.

[0063] For example, when the self-moving cleaning device 20 passes through the edge cleaning process Figure 7 When the gap 31 is shown, the distance measured by the top sensor 22 and the distance measured by the side sensor are compared with the distance to the obstacle based on the edge of the fuselage. Figure 7In this example, the top sensor 22 measures a distance of only 1 cm from the wall (above gap 31), but the side sensor's distance indicates a visible distance of 3 cm. This indicates a gap below the detection range of the top sensor 22, and the mop maintains or even further increases its outward spread, moving forward in a straight-line, edge-following motion. During this process, the self-propelled cleaning device 20 can control its body to maintain the current edge-following motion based on the distance measurement results, while the drive assembly maintains the first drive parameter, correspondingly controlling the flexible cleaning assembly 21 to rotate in the first direction, with the outward-following position of the flexible cleaning assembly 21 as the control target. Even if the flexible cleaning assembly 21 experiences external resistance, the external resistance will not be fully fed back to the hard structures within the flexible cleaning assembly 21 or the self-propelled cleaning device 20. Therefore, the self-propelled cleaning device 21 will not collide with an obstacle without a buffer and be thrown off. The flexible cleaning assembly 21 does not need to adjust its posture, thus ensuring the hardware safety of the self-propelled cleaning device 20 while adapting to the changes in the distribution of gap 31 and achieving thorough cleaning of the gap 31.

[0064] For example, when the self-moving cleaning device 20 passes through the edge cleaning process Figure 8 When the gap 31 is shown in FIG, the distance measured by the top sensor 22 and the distance measured by the side sensor are still compared with the distance to the obstacle based on the edge of the fuselage. Figure 8 The detection result from the top sensor 22 indicates that the wall has entered the interior of the machine's edge baseline, while the side sensors still detect a distance to the wall greater than 0 cm. This can be considered as the presence of a gap 31 below the radar detection level, and the mop's outward expansion can be maintained or even further increased to proceed in a straight-line, edge-following motion. During this process, the self-propelled cleaning device 20 can control its body to maintain its current edge-following motion based on the distance measurement results, even penetrating the bottom of the gap 31. The drive assembly continues to maintain the first drive parameter, correspondingly controlling the flexible cleaning assembly 21 to rotate in the first direction, with the flexible cleaning assembly 21 in the outward-expanded position as the control target. Even if the flexible cleaning assembly 21 experiences external resistance due to the self-propelled cleaning device 20 penetrating the gap, this external resistance will not be fully fed back to the hard structures within the flexible cleaning assembly 21 or the hard structures within the self-propelled cleaning device 20. The flexible cleaning assembly 21 does not need to adjust its posture from the self-propelled cleaning device 20. This allows the self-propelled cleaning device 20 to maintain hardware safety while maintaining a single drive parameter (i.e., the first drive parameter) to adapt to the distribution changes in the gap 31 and achieve thorough cleaning of the gap 31.

[0065] In another optional implementation, for positions where there are inner corners, when the environmental information meets the preset obstacle avoidance conditions, the fuselage is controlled to perform obstacle avoidance actions according to the environmental information, and the drive component is controlled to maintain the first drive parameters to drive the cleaning component, including: when the environmental information meets the preset inner corner obstacle conditions, the fuselage is controlled to move to the first turning position according to the environmental information, and during the edge cleaning along the first edge, when it is determined according to the environmental information that there is a second edge in the moving direction, it is determined that the inner corner obstacle conditions are met, and there is a first preset distance between the first turning position and the second edge; the fuselage is controlled to pause moving at the first turning position, and rotate by a first angle at the first turning position to perform edge cleaning on the second edge, and the drive component is controlled to maintain the first drive parameters to drive the cleaning component during the rotation by the first angle.

[0066] like Figure 9 and Figure 10 As shown, the first side is the wall footing on the right, the second side is the wall footing above, and the first side and the second side form an inner angle. When the self-moving cleaning device 20 cleans along the first side to the position where it intersects with the second side, it can directly rotate at the corner of the wall with its own center as the center of the circle by an angle that is the same as the angle between the first side and the second side, that is, the first angle is the angle between the first side and the second side. During the rotation process, there is no need to consider whether the position of the flexible cleaning component 21 will cause overload of the drive component or other mechanical damage. Of course, the first angle can also be any other angle with the position of the second side as a reference. In the subsequent process of cleaning the second side along the edge, the self-moving cleaning device can flexibly adjust the moving direction to achieve edge cleaning. Compared with the related art that requires first retracting the position of the outward-expanded cleaning component, or adjusting the position in advance to avoid collision of the cleaning component during the turning process, this solution can significantly improve the precision of cleaning and eliminate equipment risks. During this process, the self-moving cleaning device 20 may turn with its own center as the center of the circle. While maintaining the first driving parameter to drive the cleaning component, the flexible cleaning component 21 in the outward expanded position contacts the first side and / or the second side during the turning process because it is far away from the center of the circle. However, the flexible cleaning component 21 deforms to adapt to the external resistance due to the obstacle contact component, and the external resistance will not be fully fed back to the hard structure inside the flexible cleaning component 21 and the hard structure inside the self-moving cleaning device 20. The flexible cleaning component 21 does not need to adjust its posture from the self-moving cleaning device 20, and can adapt to the changes in internal angles of various angles with one driving parameter (i.e., the first driving parameter) while ensuring the hardware safety of the self-moving cleaning device 20, thereby achieving thorough cleaning of obstacles forming internal angles.

[0067] In another optional implementation, for positions where there are external corners, when the environmental information meets the preset obstacle avoidance conditions, the fuselage is controlled to perform obstacle avoidance actions according to the environmental information, and the drive component is controlled to maintain the first drive parameters to drive the cleaning component, including: when the environmental information meets the preset external corner obstacle conditions, the fuselage is controlled to move to the second turning position according to the environmental information, and during the edge cleaning along the first edge, when it is determined according to the environmental information that there is a third edge, it is determined that the external corner obstacle conditions are met, the extension line of the third edge is located in the moving direction when cleaning along the first edge, and the second turning position is the position of the fuselage when the edge cleaning of the first edge is completed; the fuselage is controlled to pause moving at the second turning position, and rotate a second angle at the second turning position to perform edge cleaning on the third edge, and the drive component is controlled to maintain the first drive parameters to drive the cleaning component during the rotation by the second angle.

[0068] like Figure 11 As shown, the first side is the upper wall footing, the third side is the right wall footing, and the first side and the third side form an outer angle. When the self-moving cleaning device 20a cleans along the first side to the position where it intersects with the third side, the self-moving cleaning device 20b uses the passive deformation ability of the flexible cleaning component to directly rotate at the corner position with its own center as the center of the circle to an angle that is the same as the angle between the first side and the third side, that is, the second angle is the angle between the first side and the third side. During the rotation process, there is no need to consider whether the position of the flexible cleaning component will cause overload of the drive component or other mechanical damage. Of course, the second angle can also be any other angle with the position of the third side as a reference. In the subsequent process of cleaning the third side along the edge, the self-moving cleaning device can flexibly adjust the moving direction to achieve edge cleaning. Compared with the related art that needs to first retract the position of the outward-expanded cleaning component, or adjust the position in advance to avoid collision of the cleaning component during the turning process, this solution can significantly improve the precision of cleaning and eliminate equipment risks. During this process, the self-moving cleaning device 20 may turn with its own center as the center of the circle. While maintaining the first driving parameter to drive the cleaning component, the flexible cleaning component 21 in the outward expanded position may contact the first side and / or the third side during the turning process because it is far away from the center of the circle. However, the flexible cleaning component 21 deforms to adapt to the external resistance due to the obstacle contact component, and the external resistance will not be fully fed back to the hard structure inside the flexible cleaning component 21 and the hard structure inside the self-moving cleaning device 20. The flexible cleaning component 21 does not need to adjust its posture from the self-moving cleaning device 20, and can adapt to the changes in external angles of various angles with one driving parameter (i.e., the first driving parameter) while ensuring the hardware safety of the self-moving cleaning device 20, thereby achieving thorough cleaning of obstacles forming external angles.

[0069] In one possible scenario, for a location where an obstacle protrudes from the base of a wall, when environmental information meets a preset obstacle avoidance condition, the fuselage is controlled to perform an obstacle avoidance action according to the environmental information, and the drive component is controlled to maintain a first drive parameter to drive the cleaning component, including: when the environmental information meets a preset protruding obstacle condition, the position of the fuselage is controlled to move to perform an obstacle avoidance action based on the protruding distance of the protruding obstacle and with the distance between the side where the cleaning component is located and the side of the object where the protruding obstacle is located as a reference; and the drive component is controlled to maintain the first drive parameter to drive the cleaning component during the obstacle avoidance action.

[0070] For obstacles protruding from the wall, different protrusion levels can be handled in corresponding ways. That is, when the environmental information meets the preset protruding obstacle conditions, the position of the aircraft is controlled based on the protruding distance of the protruding obstacle, using the distance between the side where the cleaning unit is located and the side where the protruding obstacle is located as a reference to perform obstacle avoidance actions, including: When the protrusion distance is not greater than the expansion distance, the protrusion distance is used to determine the cleaning route parallel to the main direction of the side of the object, and the expansion distance is the movement distance of the cleaning component from the retracted position to the expanded position in the predetermined direction, the predetermined direction being perpendicular to the movement direction of the self-moving cleaning device; When the protrusion distance is greater than the outward expansion distance, the edge cleaning route is determined by the outer contour of the protruding obstacle.

[0071] Please refer to Figure 12 For protruding obstacles with a small protruding distance and within the adaptability range of the flexible cleaning component, the cleaning route can be determined according to the main direction by directly ignoring them; for protruding obstacles with a large protruding distance and beyond the adaptability range of the flexible cleaning component 21, the cleaning route can be fine-tuned, for example Figure 12 The protruding obstacle at A in the middle has a large protruding distance at the top, which exceeds the adaptability range of the flexible cleaning component 21. At this time, the cleaning route can be fine-tuned according to the size of the fuselage and the local outer contour. Figure 12As shown, when the self-moving cleaning device 20 moves along the cleaning route, the flexible cleaning components at different positions pass through 21a, 21b and 21c in sequence due to passive position changes, ensuring thorough cleaning of special terrain without bringing excessive external pressure to the driving components. During this process, when the self-moving cleaning device 20 determines the cleaning route and moves along the main direction, while maintaining the first driving parameter to drive the cleaning component, a protruding obstacle may have no effect on the movement of the self-moving cleaning device 20, but may directly or indirectly contact the flexible cleaning component 21 in the outward expanded position and cause resistance. The flexible cleaning component 21 will deform accordingly because the obstacle contact component adapts to the external resistance, and the external resistance will not be fully fed back to the hard structure within the flexible cleaning component 21 and the hard structure within the self-moving cleaning device 20. The flexible cleaning component 21 does not need to adjust its posture from the self-moving cleaning device 20, and can adapt to the changes in the protruding distance of various protruding obstacles with one driving parameter (i.e., the first driving parameter) while ensuring the hardware safety of the self-moving cleaning device 20, thereby achieving thorough cleaning of the protruding obstacles and objects to which the protruding obstacles are attached (such as walls).

[0072] In another possible case, the obstacle detected at the foot of the wall during the edge process may also be other impassable discrete obstacles. Accordingly, when the environmental information meets the preset obstacle avoidance conditions, the fuselage is controlled to perform obstacle avoidance actions according to the environmental information, and the drive component is controlled to maintain the first drive parameter to drive the cleaning component. It can also include: when the environmental information meets the preset discrete obstacle avoidance conditions, the fuselage is controlled to move along the discrete obstacle avoidance area to perform obstacle avoidance actions according to the environmental information. The discrete obstacle avoidance conditions are that the obstacle is a discrete obstacle, and the distribution density and / or height of the discrete obstacles exceed the passability of the self-moving cleaning equipment, and the discrete obstacle avoidance area is the distribution area of discrete obstacles; in the process of moving along the discrete obstacle avoidance area to perform obstacle avoidance actions, the drive component is controlled to maintain the first drive parameter to drive the cleaning component.

[0073] The specific implementation process in this embodiment can refer to Figure 13 The general processing process is roughly the same as the processing method for protruding obstacles whose protrusion distance is greater than the outward expansion distance, and will not be explained separately here.

[0074] The cleaning control method also includes: controlling the driving component to drive the cleaning component to perform edge cleaning on the area to be cleaned in the outward-expanded position through the first driving parameter; after the edge cleaning is completed, performing cover cleaning on the area to be cleaned; when controlling the body to turn during the cover cleaning process, controlling the driving component to maintain the first driving parameter to drive the cleaning component.

[0075] The edge cleaning in the embodiment of the present application can be a necessary task set during the execution of the cleaning task, or can be triggered based on the torque described above. The state of the body when turning is generally the same as the state of the self-propelled cleaning device when turning at an inner corner.

[0076] In a specific implementation, in the cleaning path for coverage cleaning, the distance between the sub-path closest to the obstacle and the obstacle is equal to the radius of the fuselage.

[0077] This application implements, for example Figure 14 As shown, by utilizing the flexible cleaning component's excellent terrain adaptability, there's no need to overly consider the potential damage to the interior of the self-moving cleaning device 12 from external resistance. Compared to related technologies that require maintaining a distance between the body and obstacles as redundancy, which may result in blind spots in cleaning, the present embodiment of the application can achieve more thorough cleaning. It should also be noted that in the schematic diagrams related to edge cleaning, only one cleaning component is controlled by the cleaning control method of the present embodiment, and accordingly, only one cleaning component (the flexible cleaning component) is presented. When cleaning the center area, two cleaning components are controlled, and accordingly, two cleaning components are presented. During the covering cleaning process, the self-moving cleaning device 20 needs to reverse when cleaning in a bow-shaped path. During the reversing process, it may turn around its own center as the center of the circle. When the cleaning component is driven by the first driving parameter, the flexible cleaning component 21 in the outward-expanding position is far away from the center of the circle, and during the turning process, it contacts the obstacle constituting the outer contour of the area to be cleaned to form resistance. However, the flexible cleaning component 21 deforms to adapt to the external resistance due to the obstacle contact component, and the external resistance will not be fully fed back to the hard structure in the flexible cleaning component 21 and the hard structure in the self-moving cleaning device 20. The flexible cleaning component 21 does not need to adjust its posture from the self-moving cleaning device 20, and can adapt to the reversing changes in the covering cleaning process with one driving parameter (i.e., the first driving parameter) while ensuring the hardware safety of the self-moving cleaning device 20, thereby simplifying the control parameters in the covering cleaning process and achieving thorough cleaning.

[0078] Figure 15 This is a schematic diagram of the structure of a self-moving cleaning device provided in an embodiment of the present application. Figure 15 As shown, the self-moving cleaning device includes a processor 310 and a memory 320. The self-moving cleaning device may also include an input device 330, an output device 340, and a communication device 350. The number of processors 310 in the self-moving cleaning device may be one or more. Figure 15 In the figure, a processor 310 is used as an example; the processor 310, the memory 320, the input device 330, the output device 340 and the communication device 350 in the self-mobile cleaning device can be connected via a bus or other means. Figure 15The bus connection is taken as an example.

[0079] Memory 320, as a computer-readable storage medium, can be used to store software programs, computer-executable programs, and modules, such as the program instructions / modules corresponding to the cleaning control method in the embodiments of the present application. Processor 310 executes the software programs, instructions, and modules stored in memory 320 to execute various functional applications and data processing of the self-mobile cleaning device, thereby implementing the cleaning control method described above.

[0080] The memory 320 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required for at least one function; the data storage area may store data created according to the use of the self-mobile cleaning device, etc. In addition, the memory 320 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other non-volatile solid-state storage device. In some instances, the memory 320 may further include a memory remotely arranged relative to the processor 310, and these remote memories may be connected to the self-mobile cleaning device via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and a combination thereof.

[0081] The input device 330 may be used to receive network configuration information. The output device 340 may include a display device such as a display screen.

[0082] The self-moving cleaning device can be used to execute any cleaning control method and has corresponding functions and beneficial effects.

[0083] An embodiment of the present invention also provides a storage medium containing computer-executable instructions. When the computer-executable instructions are executed by a computer processor, they are used to perform relevant operations in the cleaning control method provided in any embodiment of the present application and have corresponding functions and beneficial effects.

[0084] Those skilled in the art should understand that the embodiments of the present application may be provided as methods, systems, or computer program products.

[0085] Therefore, the present application may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code. The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the functions described in the process. Figure 1 a process or multiple processes and / or boxes Figure 1 These computer program instructions can also be stored in a computer-readable memory that can guide a computer or other programmable data processing device to work in a specific way, so that the instructions stored in the computer-readable memory produce a product including the instruction device, which implements the function specified in the process. Figure 1 a process or multiple processes and / or boxes Figure 1 These computer program instructions can also be loaded onto a computer or other programmable data processing device, so that a series of operation steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process in the process. Figure 1 a process or multiple processes and / or boxes Figure 1 The steps for the function specified in one or more boxes.

[0086] In a typical configuration, a computing device includes one or more processors (CPUs), input / output interfaces, network interfaces, and memory. Memory may include non-permanent storage in a computer-readable medium, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of a computer-readable medium.

[0087] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can be implemented using any method or technology for information storage. Information can be computer-readable instructions, data structures, program modules, or other data. Examples of computer storage media include, but are not limited to, phase-change RAM (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassettes, magnetic disk storage or other magnetic storage devices, or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer-readable media does not include transitory computer-readable media, such as modulated data signals and carrier waves.

[0088] It should also be noted that the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, commodity, or apparatus that includes a series of elements includes not only those elements but also other elements not explicitly listed, or includes elements inherent to such process, method, commodity, or apparatus. In the absence of further limitations, an element defined by the phrase "comprises a ..." does not exclude the presence of other identical elements in the process, method, commodity, or apparatus that includes the element.

[0089] Note that the above are only preferred embodiments of the present invention and the technical principles employed. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and that various obvious changes, readjustments, and substitutions can be made by those skilled in the art without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments and may include many other equivalent embodiments without departing from the concept of the present invention. The scope of the present invention is determined by the scope of the appended claims.

Claims

1. A cleaning control method for a self-moving cleaning device, characterized in that: The self-propelled cleaning device includes a body, a cleaning assembly, and a driving assembly. The cleaning assembly has an extended position and a retracted position when driven by the driving assembly. When the cleaning assembly is in the extended position, the portion of the cleaning assembly located outside the body is larger than the portion of the cleaning assembly located outside the body when the cleaning assembly is in the retracted position. The driving assembly drives the cleaning assembly to the extended position based on a first driving parameter. When the cleaning assembly contacts an obstacle at the extended position, the cleaning assembly is moved toward the retracted position by the force exerted by the obstacle. The cleaning control method comprises: When the driving assembly drives the cleaning assembly to rotate in a first direction and is subjected to a friction torque in a second direction, the cleaning assembly is driven to clean in an outwardly extended position according to the first driving parameter and environmental information is acquired, wherein the first direction is opposite to the second direction; When the environmental information meets the preset obstacle avoidance conditions, the fuselage is controlled to perform obstacle avoidance actions according to the environmental information, and the driving component is controlled to maintain the first driving parameters to drive the cleaning component; the first driving parameters include at least: driving steering parameters that cause the cleaning component to rotate along the first direction.

2. The cleaning control method according to claim 1, characterized in that: The self-moving device also includes an obstacle contact component, which is directly or indirectly connected to the cleaning component. When the cleaning component is in the extended position and contacts an obstacle, the obstacle contact component is driven by the force exerted by the obstacle to move the cleaning component toward the retracted position.

3. The cleaning control method according to claim 1, characterized in that: The obstacle contact component includes an elastic structural member, which is provided on one or more combinations of the cleaning component and the driving component. When the cleaning component is in the outward-expanded position and contacts the obstacle, the elastic structural member is driven by the force exerted by the obstacle to move the cleaning component toward the retracted position; or The obstacle contact component includes a stop component, which is arranged on one or more combinations of the cleaning component and the driving component. When the cleaning component is in the outward-expanded position and contacts the obstacle, the stop component is subjected to the force exerted by the obstacle, driving the cleaning component to move toward the retracted position.

4. The cleaning control method according to any one of claims 1 to 3, characterized in that: When the environmental information satisfies a preset obstacle avoidance condition, controlling the body to perform an obstacle avoidance action according to the environmental information, and controlling the driving component to maintain the first driving parameter to drive the cleaning component, comprises: When the environmental information satisfies a preset condition of an overhead obstacle, controlling the fuselage to move along the overhead obstacle according to the height information of the overhead obstacle, or controlling the fuselage to move toward the bottom of the overhead obstacle and then move along the overhead obstacle; During the movement along the suspended obstacle, the driving component is controlled to maintain the first driving parameter to drive the cleaning component.

5. The cleaning control method according to any one of claims 1 to 3, characterized in that: When the environmental information satisfies a preset obstacle avoidance condition, controlling the body to perform an obstacle avoidance action according to the environmental information, and controlling the driving component to maintain the first driving parameter to drive the cleaning component, comprises: When the environmental information satisfies a preset inner corner obstacle condition, controlling the body to move to a first turning position according to the environmental information; and during edge cleaning along a first edge, when it is determined according to the environmental information that a second edge exists in the moving direction, determining that the inner corner obstacle condition is satisfied and a first preset distance exists between the first turning position and the second edge; The body is controlled to pause at the first turning position and rotate at the first turning position by a first angle to clean the second edge, and the driving component is controlled to maintain the first driving parameter to drive the cleaning component during the rotation by the first angle.

6. The cleaning control method according to any one of claims 1 to 3, characterized in that: When the environmental information satisfies a preset obstacle avoidance condition, controlling the body to perform an obstacle avoidance action according to the environmental information, and controlling the driving component to maintain the first driving parameter to drive the cleaning component, comprises: If the environmental information satisfies a preset outside corner obstacle condition, controlling the body to move to a second turning position based on the environmental information; during edge cleaning along a first edge, if a third edge is determined to exist based on the environmental information, the outside corner obstacle condition is determined to be satisfied, an extension line of the third edge is located in the direction of movement during cleaning along the first edge, and the second turning position is the position of the body at the end of edge cleaning along the first edge; The body is controlled to pause at the second turning position and rotate at a second angle at the second turning position to clean the third edge, and the driving component is controlled to maintain the first driving parameter to drive the cleaning component during the rotation at the second angle.

7. The cleaning control method according to any one of claims 1 to 3, characterized in that: When the environmental information satisfies a preset obstacle avoidance condition, controlling the body to perform an obstacle avoidance action according to the environmental information, and controlling the driving component to maintain the first driving parameter to drive the cleaning component, comprises: When the environmental information satisfies a preset protruding obstacle condition, the position of the body is controlled to move and perform an obstacle avoidance action based on the protruding distance of the protruding obstacle and the distance between the side where the cleaning component is located and the side where the protruding obstacle is located; The driving component is controlled to maintain the first driving parameter to drive the cleaning component during the obstacle avoidance action.

8. The cleaning control method according to claim 7, characterized in that: When the environmental information satisfies a preset protruding obstacle condition, controlling the position of the body to move and perform an obstacle avoidance action based on the protruding distance of the protruding obstacle and taking the distance between the side where the cleaning component is located and the side where the protruding obstacle is located as a reference, includes: When the protruding distance is not greater than the outward expansion distance, the protruding distance is used to determine a cleaning route parallel to the main direction of one side of the object, and the outward expansion distance is the movement distance of the cleaning component from the retracted position to the outward expansion position in a predetermined direction, the predetermined direction being perpendicular to the movement direction of the self-moving cleaning device; When the protruding distance is greater than the outward expansion distance, the edge cleaning route is determined by the outer contour of the protruding obstacle.

9. The cleaning control method according to any one of claims 1 to 3, characterized in that: When the environmental information satisfies a preset obstacle avoidance condition, controlling the body to perform an obstacle avoidance action according to the environmental information, and controlling the driving component to maintain the first driving parameter to drive the cleaning component, further comprising: When the environmental information satisfies a preset discrete obstacle avoidance condition, controlling the body to move along a discrete obstacle avoidance area to perform an obstacle avoidance action according to the environmental information, wherein the discrete obstacle avoidance condition is that the obstacle is a discrete obstacle, and the distribution density and / or height of the discrete obstacles exceeds the passability of the self-propelled cleaning device, and the discrete obstacle avoidance area is the distribution area of the discrete obstacles; During the process of moving along the discrete obstacle avoidance area to perform the obstacle avoidance action, the driving component is controlled to maintain the first driving parameter to drive the cleaning component.

10. The cleaning control method according to any one of claims 1 to 3, characterized in that: Also includes: Controlling the driving component to drive the cleaning component to perform edge cleaning of the area to be cleaned in an outwardly expanded position according to the first driving parameter; After the edge cleaning is completed, the area to be cleaned is covered and cleaned; When the fuselage is controlled to turn during the covering cleaning process, the driving component is controlled to maintain the first driving parameter to drive the cleaning component.

Images