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

Abstract

The embodiment of the invention provides a control method of cleaning equipment, the cleaning equipment, a system and a storage medium, the cleaning equipment comprises a machine body and a cleaning assembly, and the state of the cleaning assembly relative to the machine body comprises an external expansion state and a retracting state; the method comprises the steps that under the condition that the cleaning equipment executes a cleaning task, the cleaning equipment is controlled to adjust the state of a cleaning assembly at a first preset speed so as to adjust the cleaning range of the cleaning assembly; and under the condition that the preset anti-pinch condition is met, the cleaning equipment is controlled to stop adjusting the state of the cleaning assembly, or the cleaning equipment is controlled to adjust the state of the cleaning assembly at a second preset speed, and the second preset speed is smaller than the first preset speed. Under the condition that the preset anti-pinch condition is met, the cleaning equipment is controlled to stop adjusting the state of the cleaning assembly, or the speed of adjusting the state of the cleaning assembly is reduced, so that the cleaning assembly is prevented from clamping other objects when moving relative to the machine body, and the safety of the cleaning equipment is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of cleaning, in particular to a control method of a cleaning device, the cleaning device, a system and a storage medium. BACKGROUND

[0002] With the progress of science and technology, the application of movable cleaning devices in daily life is also more and more extensive. Some cleaning devices are provided with cleaning components such as mops that are movable relative to the body, so as to clean the surface to be cleaned more comprehensively; for example, the cleaning component can be moved to an area closer to the wall relative to the body, so as to better clean the ground beside the wall. However, the movement of the cleaning component relative to the body has certain safety hazards, for example, sometimes it will pinch the user's hand. SUMMARY

[0003] The present application provides a control method of a cleaning device, the cleaning device, a system and a storage medium, aiming to improve the safety of the cleaning device.

[0004] In a first aspect, an embodiment of the present application provides a control method of a cleaning device, the cleaning device comprising a body and a cleaning component, a state of the cleaning component relative to the body comprising an outward expansion state and a retraction state; the method comprising:

[0005] In the case that the cleaning device performs a cleaning task, controlling the cleaning device to adjust the state of the cleaning component at a first preset speed, so as to adjust the cleaning range of the cleaning component;

[0006] In the case that the preset anti-pinch condition is met, controlling the cleaning device to stop adjusting the state of the cleaning component, or controlling the cleaning device to adjust the state of the cleaning component at a second preset speed, the second preset speed being less than the first preset speed.

[0007] In a second aspect, an embodiment of the present application provides a cleaning device, comprising a processor and a memory, the memory being used to store a computer program; the processor being used to execute the computer program and, when executing the computer program, to realize the steps of the control method of the cleaning device.

[0008] In a third aspect, an embodiment of the present application provides a cleaning system, comprising a cleaning device, a base station and a control device, the control device comprising a processor and a memory, the memory being used to store a computer program; the processor being used to execute the computer program and, when executing the computer program, to realize the steps of the control method of the cleaning device.

[0009] In a fourth aspect, the embodiments of the present application provide a computer readable storage medium, which stores a computer program. The computer program, when executed by a processor, causes the processor to implement the steps of the method described above.

[0010] The embodiments of the present application provide a control method of a cleaning device, the cleaning device, a system and a storage medium. The cleaning device comprises a machine body and a cleaning assembly. The state of the cleaning assembly relative to the machine body comprises an outward expansion state and a retracted state. The method comprises: in the case that the cleaning device performs a cleaning task, controlling the cleaning device to adjust the state of the cleaning assembly at a first preset speed to adjust the cleaning range of the cleaning assembly; and in the case that a preset anti-pinch condition is met, controlling the cleaning device to stop adjusting the state of the cleaning assembly or controlling the cleaning device to adjust the state of the cleaning assembly at a second preset speed, the second preset speed being less than the first preset speed. By controlling the cleaning device to stop adjusting the state of the cleaning assembly or reducing the speed of adjusting the state of the cleaning assembly in the case that the preset anti-pinch condition is met, the cleaning assembly is prevented from pinching other objects when moving relative to the machine body, and the safety of the cleaning device is improved.

[0011] It should be understood that the general description above and the detailed description below are only exemplary and explanatory, and cannot limit the disclosure of the embodiments of the present application. BRIEF DESCRIPTION OF DRAWINGS

[0012] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced below. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0013] Figure 1 is a flowchart of a control method of a cleaning device provided by the embodiments of the present application;

[0014] Figure 2 is a schematic diagram of a cleaning device in some embodiments of the present application;

[0015] Figures 3-4 is a schematic diagram of the movement direction of a cleaning assembly in some embodiments of the present application;

[0016] Figure 5 is a schematic block diagram of a cleaning device provided by the embodiments of the present application;

[0017] Figure 6 is a schematic block diagram of a cleaning system provided by the embodiments of the present application. DETAILED DESCRIPTION

[0018] With reference to the drawings, the technical solutions in the embodiments of the present application will be clearly and completely described below, obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all the other embodiments obtained by those skilled in the art without creative work belong to the scope of protection of the present application.

[0019] The flow chart shown in the drawings is only an example, and does not necessarily include all the contents and operations / steps, nor does it necessarily be executed in the order described. For example, some operations / steps can also be decomposed, combined or partially merged, so the actual execution order may be changed according to the actual situation.

[0020] Some embodiments of the present application will be described in detail below with reference to the drawings. The following embodiments and features in the embodiments can be combined with each other without conflict.

[0021] Please refer to Figure 1 , Figure 1 is a flow chart of a control method of a cleaning device provided by an embodiment of the present application.

[0022] The cleaning device related by the embodiments of the present application refers to a mechanical device designed for cleaning, which can be a cleaning robot or a handheld cleaning device, for example, including but not limited to: a vacuum cleaner, a floor washing machine, a vacuum and water suction machine, a sweeper, a mop, a sweeper-mop integrated machine, etc.

[0023] For ease of description, the embodiments of the present application mainly take the cleaning device as a cleaning robot, for example, a sweeper-mop integrated machine.

[0024] As shown in Figures 2-4 , the cleaning device includes a body and a cleaning assembly.

[0025] For example, the cleaning assembly at least includes a cleaning piece 101, which can be used to clean the ground, and the number of cleaning pieces 101 can be one or more. The cleaning piece 101, for example, includes a mop. The mop, for example, includes at least one of the following: a rotary mop, a flat plate mop, a roller mop, a track-type mop, etc., of course, not limited to this. The mop is arranged at the bottom of the body, specifically, at the rear position of the bottom of the body.

[0026] The cleaning assembly can also include a driving motor 102. Taking the cleaning piece as a rotary mop as an example, a driving motor 102 is arranged inside the body, and two rotating shafts are arranged at the bottom of the body, and the mop is sleeved on the rotating shafts. The driving motor 102 can drive the rotating shafts to rotate, so that the rotating shafts drive the mop to rotate.

[0027] In some embodiments, the cleaning device can further comprise a moving unit 103, a sensor unit 104, a controller 106. The moving unit 103 is a component related to the movement of the cleaning device, which for example comprises driving wheels and universal wheels. The universal wheels and the driving wheels cooperate to realize the steering and movement of the cleaning device.

[0028] The sensor unit 104 arranged on the body can comprise at least one of the following sensors: a radar sensor (such as a laser radar), a collision sensor, a distance sensor, a falling sensor, a counter, a gyroscope, etc. For example, the laser radar is arranged on the top or the side of the body, and when working, the surrounding environment information such as the distance and angle of the obstacle relative to the laser radar can be obtained. In addition, a camera or other visual sensor can also be used instead of the laser radar, and by analyzing the obstacle in the image captured by the camera, the distance and angle of the obstacle relative to the camera can also be obtained. The collision sensor, for example, comprises a collision shell and a trigger sensing piece; when the cleaning device collides with the obstacle through the collision shell, the collision shell moves towards the inside of the cleaning device and compresses the elastic buffer piece to play a buffering role. After the collision shell moves a certain distance towards the inside of the cleaning device, the collision shell contacts the trigger sensing piece, and the trigger sensing piece is triggered to generate a signal, which can be sent to the controller 106 in the body for processing. After colliding with the obstacle, the cleaning device moves away from the obstacle, and under the action of the elastic buffer piece, the collision shell moves back to the original position. The distance sensor can be specifically an infrared detection sensor, which can be used to detect the distance from the obstacle to the distance sensor. The distance sensor can be arranged on the side of the body, so that the distance value from the obstacle near the side of the cleaning device to the distance sensor can be measured by the distance sensor. The distance sensor can also be an ultrasonic ranging sensor, a laser ranging sensor or a depth sensor, etc. The falling sensor is arranged at the bottom edge of the body, and when the cleaning device moves to the edge of the ground, the falling sensor can detect that the cleaning device has the risk of falling from a high place, so as to perform a corresponding anti-falling reaction, such as stopping the movement of the cleaning device, or moving in the direction away from the falling position, etc. The counter and the gyroscope are also arranged in the inside of the body. The counter is used to detect the distance length of the movement of the cleaning device. The gyroscope is used to detect the angle of rotation of the cleaning device, so as to determine the orientation of the cleaning device.

[0029] The controller 106 is arranged in the inside of the body, and the controller 106 is used to control the cleaning device to perform specific operations. The controller 106 can be for example a central processing unit (CPU) or a microprocessor.

[0030] In some embodiments, the cleaning device can further comprise a memory 107, a communication unit 108, an interaction unit 109, an energy storage unit 110. For example,Figure 2 The controller 106 is electrically connected to the energy storage unit 110, the memory 107, the driving motor 102, the moving unit 103, the sensor unit 104, the interaction unit 109, the cleaning member 101, and the like, to control these components. The memory 107 is disposed on the machine body, and stores a program that, when executed by the controller 106, implements corresponding operations. The memory 107 is also used to store parameters for use by the cleaning device. The memory 107 includes, but is not limited to, a disk memory, a compact disc read-only memory (CD-ROM), an optical memory, and the like.

[0031] The communication unit 108 is disposed on the machine body, and is used to enable the cleaning device to communicate with external devices; for example, to communicate with a terminal or a base station. The base station is a cleaning device that is used in conjunction with the cleaning device.

[0032] The interaction unit 109 is disposed on the machine body, and a user can interact with the cleaning device through the interaction unit 109. The interaction unit 109 includes, for example, at least one of a touch screen, a switch button, a speaker, and the like. For example, a user can control the cleaning device to start or stop working by pressing the switch button.

[0033] The energy storage unit 110 is disposed inside the machine body, and is used to provide power for the cleaning device.

[0034] The machine body also has a charging component, which is used to obtain power from an external device, to charge the energy storage unit 110 of the cleaning device.

[0035] It should be understood that Figure 2 The cleaning device described in the specification is only one specific example of the cleaning device in the embodiments of the present application, and does not constitute a specific limitation on the cleaning device in the embodiments of the present application. The cleaning device in the embodiments of the present application can also have other specific implementations. In other implementations, the cleaning device can have more or fewer components than the cleaning device shown in the specification; for example, the cleaning device can include a clean water chamber for storing clean water and / or a recovery chamber for storing dirt, the cleaning device can deliver the clean water stored in the clean water chamber to a mopping member (such as a mop) and / or to the ground, to wet the mopping member, and clean the ground based on the wet mopping member, and the cleaning device can also collect the dirt on the ground or sewage containing the dirt into the recovery chamber; the cleaning device can also deliver the clean water stored in the clean water chamber to the mopping member to clean the mopping member, and the sewage containing the dirt after cleaning the mopping member can also be delivered to the recovery chamber. Figure 2

[0036] ​Specifically, the cleaning device of the embodiment of the present application, the state of the cleaning assembly relative to the body includes an extended state and a retracted state.

[0037] In some embodiments, the cleaning device further comprises a driving assembly (not shown in the figure) connected to the body and the cleaning assembly; the driving assembly is capable of adjusting the state of the cleaning assembly, for example, the driving assembly is capable of driving the cleaning assembly to move in one or more directions. Optionally, the driving assembly can comprise one or more driving mechanisms, for example, the driving assembly can drive the cleaning assembly to move in a first direction and drive the cleaning assembly to move in a second direction based on the same driving mechanism; or the driving assembly can drive the cleaning assembly to move in a first direction based on a first driving mechanism and drive the cleaning assembly to move in a second direction based on a second driving mechanism.

[0038] For example, the control of the cleaning device to adjust the state of the cleaning assembly includes: controlling the driving assembly to drive the cleaning assembly to move in one or more directions. The state of the cleaning assembly relative to the body includes an extended state and a retracted state, which includes: the state of the cleaning assembly relative to the body in one or more directions is an extended state or a retracted state.

[0039] For example, as shown in Figure 3 For example, the cleaning assembly is capable of moving in a first direction, so that the distance between the bottom of the cleaning assembly and the bottom of the body increases, so that the state of the cleaning assembly relative to the body in the first direction is a lowering state; the cleaning assembly is capable of moving in a first direction, so that the distance between the bottom of the cleaning assembly and the bottom of the body decreases, so that the state of the cleaning assembly relative to the body in the first direction is a lifting state. For example, when the state of the cleaning assembly relative to the body in the first direction is a lowering state, the cleaning assembly is in contact with the ground, which can achieve cleaning of the ground. It can be understood that the state of the cleaning assembly relative to the body is an extended state, which includes that the cleaning assembly is in a lowering state in the first direction; the state of the cleaning assembly relative to the body is a retracted state, which includes that the cleaning assembly is in a lifting state in the first direction.

[0040] For example, as shown in Figure 4 For example, the cleaning assembly is capable of moving in a second direction, and the second direction is parallel to the transverse direction of the cleaning device. Please refer to Figure 4, the transverse direction of the cleaning device can be a width direction of the machine body, and the width direction of the machine body is perpendicular to the advancing direction of the cleaning device; the cleaning member of the cleaning assembly can be moved in the second direction to the extended state, and the cleaning member of the cleaning assembly can be moved in the second direction to the retracted state. It can be understood that the state of the cleaning assembly relative to the machine body is the extended state, including the cleaning assembly in the second direction being in the extended state; the state of the cleaning assembly relative to the machine body is the retracted state, including the cleaning assembly in the second direction being in the retracted state. The cleaning member of the cleaning assembly moves in the second direction to the extended state, which can realize cleaning along the wall, corner or gap, for example, cleaning along the obstacle, corner, etc., to prevent dead angles Figure 3 , which can improve the cleaning effect of the cleaning device on the wall, corner or gap.

[0041] For example, please refer to Figure 3 For example, please refer to Figure 4 , the cleaning assembly in the first direction relative to the machine body is in the lowered state, and then moved in the second direction to be in the extended state relative to the machine body in the second direction; the cleaning assembly can be cleaned along the ground of the obstacle, corner, etc., to improve the cleaning effect of the cleaning device on the wall, corner or gap.

[0042] The control method of the cleaning device provided by the embodiment of the present application will be described in detail below.

[0043] As Figure 1 indicated, the control method of the cleaning device of the embodiment of the present application includes steps S110 to S120.

[0044] S110, in the case that the cleaning device performs a cleaning task, the cleaning device is controlled to adjust the state of the cleaning assembly at a first preset speed, so as to adjust the cleaning range of the cleaning assembly.

[0045] For example, please refer to Figure 4 or Figure 4 , in the case that the cleaning device performs a cleaning task, the state of the cleaning assembly can be adjusted to the extended state, so that the cleaning range of the cleaning assembly includes the corresponding area outside the machine body. For example, in the case that the ground on the right side of the cleaning device is the ground of the wall, corner or gap, the state of the cleaning assembly is adjusted to the extended state, and the ground of the wall, corner or gap is cleaned by the extended cleaning assembly, so as to improve the cleaning effect on the wall, corner or gap.

[0046] In the case that the cleaning device is performing a cleaning task, the cleaning device can also be controlled to adjust the state of the cleaning assembly to the retracted state, so as to reduce the overall size of the cleaning device, and improve the flexibility of movement of the cleaning device, for example, so as to facilitate movement of the cleaning device to a relatively narrow area, such as the area between the legs of a table and chair, to improve the cleaning effect on the narrow area.

[0047] In the case that the cleaning device is performing a cleaning task, the environment information around the cleaning device can be detected in real time and / or obtained based on a pre-set map, and the state of the cleaning assembly can be adjusted to the extended state or the retracted state according to the environment information around the cleaning device, so that the state of the cleaning assembly is adapted to the environment information around the cleaning device, to improve the intelligence of cleaning of the cleaning device.

[0048] For example, when the state of the cleaning assembly is adjusted, the movement of the cleaning member of the cleaning assembly can include linear movement and / or rotation. For ease of illustration, embodiments of the present application are mainly described by taking linear movement of the cleaning member as an example.

[0049] For example, when the state of the cleaning assembly is adjusted according to the environment information around the cleaning device, the cleaning device can be controlled to adjust the state of the cleaning assembly at a first preset speed.

[0050] Optionally, when the cleaning device is performing a cleaning task, edge cleaning and / or arc cleaning can be performed on the area to be cleaned. Of course, it is not limited thereto, for example, the cleaning path can be adjusted when the area to be cleaned is cleaned.

[0051] S120, in the case that the preset anti-pinch condition is met, the cleaning device is controlled to stop adjusting the state of the cleaning assembly, or the cleaning device is controlled to adjust the state of the cleaning assembly at a second preset speed, which is less than the first preset speed.

[0052] For example, when the cleaning device is adjusting the state of the cleaning assembly at a first preset speed, and it is determined that the preset anti-pinch condition is met, the cleaning device is controlled to stop adjusting the state of the cleaning assembly, or the speed of adjusting the state of the cleaning assembly is reduced to a second preset speed when the cleaning device needs to adjust the state of the cleaning assembly, so as to prevent other objects from being pinched due to movement of the cleaning assembly relative to the body, to improve the safety of the cleaning device.

[0053] For example, when the cleaning device is about to start adjusting the state of the cleaning assembly at a first preset speed, and it is determined that the preset anti-pinch condition is met, the cleaning device is controlled to stop adjusting the state of the cleaning assembly, so as to prevent other objects from being pinched due to movement of the cleaning assembly relative to the body, to improve the safety of the cleaning device.

[0054] For example, if the preset anti-pinch conditions are met, even if the environmental information around the cleaning device meets the requirements to adjust the state of the cleaning component to an outward or retracted state, the cleaning device will not be controlled to adjust the state of the cleaning component to prevent it from pinching other objects due to the movement of the cleaning component relative to the body. For example, it can prevent the user's hand from being pinched between the cleaning component and the body, thereby improving the safety of the cleaning device.

[0055] In some implementations, satisfying the preset anti-pinch condition includes: detecting that the cleaning device is picked up, and / or detecting that the cleaning device is flipped over.

[0056] For example, if it is detected that the cleaning device is picked up by a user, and / or if it is detected that the cleaning device is flipped over by a user, the cleaning device can be controlled to stop adjusting the state of the cleaning components, or if the cleaning device needs to adjust the state of the cleaning components, the cleaning device can be controlled to adjust the state of the cleaning components at a second preset speed. This can prevent the user from being pinched due to the movement of the cleaning components relative to the main body.

[0057] For example, the cleaning equipment is equipped with sensors that can detect when the cleaning equipment is picked up and / or flipped.

[0058] For example, the cleaning device is equipped with a pressure sensor and / or a touch sensor (such as a capacitive touch sensor), optionally located on the side of the cleaning device. Based on the detection of external force gripping signals by the pressure sensor and / or touch sensor, it can be determined that the cleaning device is being picked up and / or flipped. This prevents the user's hand from being pinched by the movement of the cleaning components relative to the machine body when the user's hand is positioned on the side of the cleaning device to pick it up and / or flip it.

[0059] For example, the cleaning equipment is equipped with an Inertial Measurement Unit (IMU). The IMU can detect changes in the cleaning equipment's acceleration and / or tilt angle. For instance, changes in the cleaning equipment's acceleration can determine if it has been picked up, and changes in its tilt angle can determine if it has been flipped. This prevents the user from being pinched by the cleaning components moving relative to the machine body when the user picks up and / or flips the cleaning equipment.

[0060] For example, the cleaning device is provided with a time-of-flight sensor and / or an infrared distance sensor, which can be arranged at the bottom of the cleaning device, for example. Based on the time-of-flight sensor and / or the infrared distance sensor, the change in the distance between the cleaning device and the ground can be detected, and it can be determined whether the cleaning device is being held up according to the change in the distance between the cleaning device and the ground. This can prevent the user from being pinched by the movement of the cleaning assembly relative to the body when the user holds up the cleaning device.

[0061] In some embodiments, in the case where the cleaning device is passively stopped from performing the cleaning task, it is determined that the preset anti-pinch condition is met, and the cleaning device is controlled to stop adjusting the state of the cleaning assembly, or the cleaning device is controlled to adjust the state of the cleaning assembly at a second preset speed.

[0062] For example, it can be determined that the cleaning device is passively stopped from performing the cleaning task in the case where the cleaning device is held up and / or the cleaning device is flipped over.

[0063] For example, the cleaning device can be controlled to stop performing the cleaning task according to the preset operation of the user. This case where the cleaning device is non-autonomously stopped from performing the cleaning task can be referred to as the cleaning device being passively stopped from performing the cleaning task.

[0064] For example, the cleaning device can be controlled to stop performing the cleaning task according to the operation of the preset control (such as a physical button or a virtual button) on the cleaning device by the user. For example, the user can operate the preset control on the cleaning device before holding up or flipping over the cleaning device to trigger the cleaning device to stop performing the cleaning task, and to trigger the cleaning device to stop adjusting the state of the cleaning assembly, or to adjust the state of the cleaning assembly at a second preset speed slower than the first preset speed when the cleaning device needs to adjust the state of the cleaning assembly, so as to safely hold up or flip over the cleaning device by the user, and to prevent the user from being pinched by the movement of the cleaning assembly relative to the body when the user holds up or flips over the cleaning device.

[0065] For example, the cleaning device can be controlled to stop performing the cleaning task according to the operation of the preset control (such as a physical button or a virtual button) on the base station of the cleaning device by the user. For example, the user can operate the preset control on the base station before holding up or flipping over the cleaning device to trigger the cleaning device to stop performing the cleaning task, and to trigger the cleaning device to stop adjusting the state of the cleaning assembly, or to adjust the state of the cleaning assembly at a second preset speed slower than the first preset speed when the cleaning device needs to adjust the state of the cleaning assembly, so as to safely hold up or flip over the cleaning device by the user, and to prevent the user from being pinched by the movement of the cleaning assembly relative to the body when the user holds up or flips over the cleaning device.

[0066] For example, the cleaning device can be controlled to stop performing the cleaning task and to stop adjusting the state of the cleaning assembly according to the operation of a preset control (e.g., a physical button or a virtual button) on a control device (e.g., a remote controller or a mobile phone) of the cleaning device by the user, such as before the user is ready to pick up or flip the cleaning device, the user can operate the preset control on the control device to trigger the cleaning device to stop performing the cleaning task and to stop adjusting the state of the cleaning assembly, or when the cleaning device needs to adjust the state of the cleaning assembly, the cleaning device adjusts the state of the cleaning assembly at a second preset speed slower than the first preset speed, so as to safely pick up or flip the cleaning device by the user and prevent the user from being pinched by the cleaning assembly moving relative to the body when the user picks up or flips the cleaning device.

[0067] For example, the cleaning device can be controlled to stop performing the cleaning task and to stop adjusting the state of the cleaning assembly according to the operation of a preset control (e.g., a physical button or a virtual button) on a control device (e.g., a remote controller or a mobile phone) of the cleaning device by the user, such as before the user is ready to pick up or flip the cleaning device, the user can operate the preset control on the control device to trigger the cleaning device to stop performing the cleaning task and to stop adjusting the state of the cleaning assembly, or when the cleaning device needs to adjust the state of the cleaning assembly, the cleaning device adjusts the state of the cleaning assembly at a second preset speed slower than the first preset speed, so as to safely pick up or flip the cleaning device by the user and prevent the user from being pinched by the cleaning assembly moving relative to the body when the user picks up or flips the cleaning device.

[0068] For example, the cleaning device can be controlled to stop performing the cleaning task and to stop adjusting the state of the cleaning assembly according to the operation of a preset control (e.g., a physical button or a virtual button) on a control device (e.g., a remote controller or a mobile phone) of the cleaning device by the user, such as before the user is ready to pick up or flip the cleaning device, the user can operate the preset control on the control device to trigger the cleaning device to stop performing the cleaning task and to stop adjusting the state of the cleaning assembly, or when the cleaning device needs to adjust the state of the cleaning assembly, the cleaning device adjusts the state of the cleaning assembly at a second preset speed slower than the first preset speed, so as to safely pick up or flip the cleaning device by the user and prevent the user from being pinched by the cleaning assembly moving relative to the body when the user picks up or flips the cleaning device.

[0069] For example, the cleaning device can be controlled to stop performing the cleaning task and to stop adjusting the state of the cleaning assembly according to the operation of a preset control (e.g., a physical button or a virtual button) on a control device (e.g., a remote controller or a mobile phone) of the cleaning device by the user, such as before the user is ready to pick up or flip the cleaning device, the user can operate the preset control on the control device to trigger the cleaning device to stop performing the cleaning task and to stop adjusting the state of the cleaning assembly, or when the cleaning device needs to adjust the state of the cleaning assembly, the cleaning device adjusts the state of the cleaning assembly at a second preset speed slower than the first preset speed, so as to safely pick up or flip the cleaning device by the user and prevent the user from being pinched by the cleaning assembly moving relative to the body when the user picks up or flips the cleaning device.

[0070] In some embodiments, the condition of satisfying the preset anti-pinch condition further includes that the cleaning device is adjusting the state of the cleaning assembly, and the distance between the cleaning assembly and the preset target is less than or equal to a first preset distance, and the first preset distance is 0-0.5 meters.

[0071] The preset target may include one or more of the following: a human, an animal, a cable, a carpet. The cleaning device may detect the preset target and the distance between the preset target and the cleaning assembly through a visual sensor such as a camera and / or a radar sensor. The cleaning device may detect whether there is a preset object in contact with the cleaning device through a pressure sensor and / or a touch sensor, for example, the user's hand may be detected to be holding the cleaning device. When there is a preset object in contact with the cleaning device, it may be determined that the distance between the cleaning assembly and the preset target is less than or equal to the first preset distance.

[0072] For example, when the user is about to hold or flip the cleaning device, the cleaning device may detect that the distance between the user and the cleaning assembly is less than or equal to the first preset distance. In this case, the cleaning device may stop adjusting the state of the cleaning assembly, so that the user can safely hold or flip the cleaning device, and prevent the user from being pinched by the movement of the cleaning assembly relative to the body when the user holds or flips the cleaning device.

[0073] For example, when the cleaning device detects that the distance between the pet, cable or carpet and the cleaning assembly is less than or equal to the first preset distance, the cleaning device may stop adjusting the state of the cleaning assembly to prevent the pet, cable or carpet from being pinched between the cleaning assembly and the body due to the movement of the cleaning assembly relative to the body.

[0074] In some embodiments, after the cleaning device is controlled to stop adjusting the state of the cleaning assembly when the preset anti-pinch condition is met while the cleaning device is adjusting the state of the cleaning assembly, the method further comprises: controlling the cleaning device to adjust the state of the cleaning assembly when a preset state adjustment condition is met. For example, when the cleaning device is adjusting the state of the cleaning assembly and it is determined that the preset anti-pinch condition is met, the cleaning device is controlled to stop adjusting the state of the cleaning assembly, and the cleaning assembly is in a state between the extended state and the retracted state when the adjustment is stopped. The cleaning device may be controlled to adjust the state of the cleaning assembly to adapt to the environmental information around the cleaning device after the adjustment, so as to improve the intelligence of the cleaning device.

[0075] For example, the state adjustment condition includes a retracting condition, and the controlling the cleaning device to adjust the state of the cleaning assembly in the case where the preset state adjustment condition is met includes: in the case where the state of the cleaning assembly relative to the body is not the retracting state, when the preset retracting condition is met, controlling the cleaning device to adjust the state of the cleaning assembly to the retracting state. By controlling the cleaning device to adjust the state of the cleaning assembly to the retracting state in the case where the preset retracting condition is met, the volume of the cleaning device as a whole can be reduced, and the mobility of the cleaning device can be improved.

[0076] For example, when the cleaning device is adjusting the state of the cleaning assembly at a first preset speed, and the target state of the adjustment is the retracting state, and it is determined that the preset anti-pinch condition is met, the cleaning device is controlled to stop adjusting the state of the cleaning assembly, and the cleaning assembly is in a state between the extended state and the retracting state when the adjustment is stopped; in the case where the preset state adjustment condition, such as the retracting condition, is met, the cleaning device is controlled to continue adjusting the state of the cleaning assembly at the first preset speed, so that the state of the cleaning assembly is the retracting state. For example, when the cleaning device is performing a cleaning task, and is adjusting the state of the cleaning assembly at a first preset speed to retract the cleaning assembly, the cleaning device can be controlled to stop adjusting the state of the cleaning assembly in response to the preset anti-pinch condition being met, and the cleaning device can be controlled to continue adjusting the state of the cleaning assembly at the first preset speed so that the state of the cleaning assembly is the retracting state when it is detected that the cleaning device is placed on the ground, so as to reduce the volume of the cleaning device as a whole, and improve the mobility of the cleaning device.

[0077] For example, when the cleaning device is adjusting the state of the cleaning assembly at a first preset speed, and the target state of the adjustment is the extended state, and it is determined that the preset anti-pinch condition is met, the cleaning device is controlled to stop adjusting the state of the cleaning assembly, and the cleaning assembly is in a state between the extended state and the retracting state when the adjustment is stopped; in the case where the preset state adjustment condition, such as the retracting condition, is met, the cleaning device is controlled to adjust the state of the cleaning assembly at the first preset speed in the opposite direction, so that the state of the cleaning assembly is the retracting state. For example, when the cleaning device is performing a cleaning task, and is adjusting the state of the cleaning assembly at a first preset speed to extend the cleaning assembly, the cleaning device can be controlled to stop adjusting the state of the cleaning assembly in response to the preset anti-pinch condition being met, and the cleaning device can be controlled to adjust the state of the cleaning assembly at the first preset speed in the opposite direction so that the state of the cleaning assembly is the retracting state when it is detected that the cleaning device is placed on the ground and the cleaning device is in a narrow area, so as to reduce the volume of the cleaning device as a whole, improve the mobility of the cleaning device, and improve the cleaning effect in the narrow area.

[0078] For example, the state adjustment condition includes an outward-expanding condition, and the controlling the cleaning device to adjust the state of the cleaning assembly in the case where the preset state adjustment condition is met includes: in the case where the state of the cleaning assembly relative to the body is not the outward-expanding state, controlling the cleaning device to adjust the state of the cleaning assembly to the outward-expanding state when the preset outward-expanding condition is met. By controlling the cleaning device to adjust the state of the cleaning assembly to the outward-expanding state in the case where the preset outward-expanding condition is met, and cleaning the ground in the case where the state of the cleaning assembly is the outward-expanding state, the cleaning effect on the wall edge, the corner, or the gap, etc. can be improved.

[0079] For example, when the cleaning device is adjusting the state of the cleaning assembly at a first preset speed, and the target state of the adjustment is the outward-expanding state, the preset anti-pinch condition is met, the cleaning device is controlled to stop adjusting the state of the cleaning assembly, and the cleaning assembly is in a state between the outward-expanding state and the retracted state when the adjustment is stopped; in the case where the preset state adjustment condition, such as the outward-expanding condition, is met, the cleaning device is controlled to continue adjusting the state of the cleaning assembly at the first preset speed, so that the state of the cleaning assembly is the outward-expanding state. For example, in the case where the cleaning device is performing a cleaning task, and is adjusting the state of the cleaning assembly at a first preset speed to expand the cleaning range of the cleaning assembly, the cleaning device is controlled to stop adjusting the state of the cleaning assembly in response to the preset anti-pinch condition being met, the cleaning device is controlled to continue adjusting the state of the cleaning assembly at the first preset speed when it is detected that the cleaning device is placed on the ground, so that the state of the cleaning assembly is the outward-expanding state, and the ground is cleaned in the case where the state of the cleaning assembly is the outward-expanding state, which can improve the cleaning effect on the wall edge, the corner, or the gap, etc.

[0080] For example, when the cleaning device is adjusting the state of the cleaning assembly at a first preset speed, and the target state of the adjustment is the retracted state, and it is determined that the preset anti-pinch condition is met, the cleaning device is controlled to stop adjusting the state of the cleaning assembly, and the cleaning assembly is in a state between the extended state and the retracted state when the adjustment is stopped; when the preset state adjustment condition, such as the extended condition, is met, the cleaning device is controlled to adjust the state of the cleaning assembly in the opposite direction at the first preset speed, so that the state of the cleaning assembly is the extended state. For example, when the cleaning device is performing a cleaning task and is adjusting the state of the cleaning assembly at a first preset speed to retract the cleaning assembly, the cleaning device is controlled to stop adjusting the state of the cleaning assembly in response to the preset anti-pinch condition being met. When it is detected that the cleaning device is placed on the ground, and the ground on the right side of the cleaning device is the ground at a wall corner, an edge, or a gap, the cleaning device is controlled to adjust the state of the cleaning assembly in the opposite direction at the first preset speed so that the state of the cleaning assembly is the extended state, and the ground is cleaned when the state of the cleaning assembly is the extended state, which can improve the cleaning effect on the ground at the wall corner, the edge, or the gap.

[0081] For example, the preset retraction condition being met includes that the state of the cleaning device meets a preset state condition, and / or a preset behavior of a user is detected.

[0082] Optionally, the state of the cleaning device meeting the preset state condition includes one or more of the following: the cleaning assembly of the cleaning device abuts against a cleaning surface; the distance between the cleaning assembly and a preset target is greater than a first preset distance, and the first preset distance is 0-0.5 meters; and the distance between the cleaning device and a base station is less than or equal to a second preset distance, and the second preset distance is 0-1 meter.

[0083] For example, when the cleaning assembly is in a state between the extended state and the retracted state when the adjustment of the state of the cleaning assembly is stopped, when it is detected that the cleaning assembly of the cleaning device abuts against a cleaning surface, i.e., it is detected that the cleaning device is placed on the ground, it is determined that the preset retraction condition is met, and the cleaning device is controlled to adjust the state of the cleaning assembly to the retracted state, which can reduce the volume of the cleaning device as a whole and improve the flexibility of the movement of the cleaning device.

[0084] For example, in the case that the cleaning assembly is in a state between the extended state and the retracted state when the adjustment of the state of the cleaning assembly is stopped, when it is detected that the distance between the cleaning assembly and the preset target is greater than the first preset distance, it is determined that the preset retraction condition is met, and the cleaning device can be controlled to adjust the state of the cleaning assembly to the retracted state. Since the distance between the cleaning assembly and the preset target is large, the preset target object can be prevented from being clamped between the cleaning assembly and the body, and adjusting the state of the cleaning assembly to the retracted state can reduce the overall volume of the cleaning device and improve the flexibility of the movement of the cleaning device.

[0085] For example, in the case that the cleaning assembly is in a state between the extended state and the retracted state when the adjustment of the state of the cleaning assembly is stopped, when it is detected that the distance between the cleaning device and the base station is less than or equal to the second preset distance, it is determined that the preset retraction condition is met, and the cleaning device can be controlled to adjust the state of the cleaning assembly to the retracted state to reduce the overall volume of the cleaning device, for example, to facilitate the movement of the cleaning device into the accommodation portion of the base station. Optionally, when it is detected that the distance between the cleaning device and the base station is less than or equal to the second preset distance, and the state of the cleaning assembly of the cleaning device is adjusted to the retracted state when the cleaning assembly of the cleaning device is in abutment with the cleaning surface, the safety during the retraction process is improved, and the state of the cleaning assembly is adjusted to improve the safety during the retraction process when the user holds the cleaning device, for example, to prevent the user's hand from being clamped between the cleaning assembly and the body. Optionally, when it is detected that the distance between the cleaning device and the base station is less than or equal to the second preset distance, and the distance between the cleaning assembly and the preset target is greater than the first preset distance, the cleaning device is controlled to adjust the state of the cleaning assembly to the retracted state to improve the safety during the retraction process and prevent the preset target object from being clamped between the cleaning assembly and the body.

[0086] Optionally, the preset behavior of the user can include one or more of the following: the operation of the user on the preset control on the cleaning device, the operation of the user on the preset control on the base station of the cleaning device, and the operation of the user on the preset control on the control device of the cleaning device. Of course, it is not limited thereto, for example, it can be a preset voice, a preset gesture, etc.

[0087] For example, in a case where the state of the cleaning assembly is between the extended state and the retracted state when the state of the cleaning assembly is adjusted, when the preset retraction condition is met upon detecting the preset behavior of the user, the cleaning device can be controlled to adjust the state of the cleaning assembly to the retracted state to reduce the overall size of the cleaning device. For example, the preset behavior can be performed when the user places the cleaning device on the ground near the base station, such as when the distance between the cleaning device and the base station is less than or equal to the second preset distance. When the preset behavior of the user is detected, the cleaning device can be controlled to adjust the state of the cleaning assembly to the retracted state to reduce the overall size of the cleaning device, such as to facilitate movement of the cleaning device into the accommodation portion of the base station.

[0088] In some embodiments, in a case where the preset anti-pinch condition is met, the control of the cleaning device to stop adjusting the state of the cleaning assembly can include control of the cleaning device to stop adjusting the state of the cleaning assembly in the first direction, such as stopping adjustment of the state of the cleaning assembly in the first direction to the lowered state or stopping adjustment of the state of the cleaning assembly in the first direction to the raised state, in a case where the preset anti-pinch condition is met. Alternatively, in a case where the preset anti-pinch condition is met, the control of the cleaning device to adjust the state of the cleaning assembly at the second preset speed can include control of the cleaning device to adjust the state of the cleaning assembly in the first direction at the second preset speed, in a case where the preset anti-pinch condition is met. Optionally, the state of the cleaning assembly in the second direction can or can not be adjusted.

[0089] In some embodiments, in a case where the preset anti-pinch condition is met, the control of the cleaning device to stop adjusting the state of the cleaning assembly can include control of the cleaning device to stop adjusting the state of the cleaning assembly in the second direction, such as stopping adjustment of the state of the cleaning assembly in the second direction to the extended state or stopping adjustment of the state of the cleaning assembly in the second direction to the retracted state, in a case where the preset anti-pinch condition is met. Alternatively, in a case where the preset anti-pinch condition is met, the control of the cleaning device to adjust the state of the cleaning assembly at the second preset speed can include control of the cleaning device to adjust the state of the cleaning assembly in the second direction at the second preset speed, in a case where the preset anti-pinch condition is met. Optionally, the state of the cleaning assembly in the first direction can or can not be adjusted.

[0090] In some embodiments, the controlling the cleaning device to stop adjusting the state of the cleaning assembly under the preset anti-pinch condition can include: controlling the cleaning device to stop adjusting the state of the cleaning assembly in a first direction and stop adjusting the state of the cleaning assembly in a second direction under the preset anti-pinch condition. Or the controlling the cleaning device to adjust the state of the cleaning assembly at the second preset speed under the preset anti-pinch condition can include: controlling the cleaning device to adjust the state of the cleaning assembly in the first direction at the second preset speed and adjust the state of the cleaning assembly in the second direction at the second preset speed under the preset anti-pinch condition.

[0091] For example, the controlling the cleaning device to adjust the state of the cleaning assembly at the second preset speed can include: controlling the driving assembly to drive the cleaning assembly to move in the first direction at the second preset speed and / or controlling the driving assembly to drive the cleaning assembly to move in the second direction at the second preset speed; wherein the first direction is parallel to the vertical direction of the cleaning device, and the second direction is parallel to the lateral direction of the cleaning device.

[0092] For example, the method can further include: in response to the driving parameter of the driving assembly being in a preset parameter range, at least stopping controlling the driving assembly to drive the cleaning assembly to move when adjusting the state of the cleaning assembly; wherein the driving parameter of the driving assembly being in a preset parameter range can include: the current of the driving assembly being greater than or equal to a first current threshold, and / or the power of the driving assembly being greater than or equal to a first power threshold.

[0093] For example, when the current of the driving assembly is greater than or equal to the first current threshold and / or the power of the driving assembly is greater than or equal to the first power threshold, it can be determined that an object is pinched between the cleaning assembly and the body of the cleaning device when the cleaning device adjusts the state of the cleaning assembly at the first preset speed or at the second preset speed. Stopping the movement of the cleaning assembly relative to the body of the cleaning device can prevent more objects from being pinched between the cleaning assembly and the body of the cleaning device, and can also prevent the current and / or power of the driving assembly from being too large to damage the cleaning assembly. For example, in response to the driving parameter of the driving assembly being in a preset parameter range, the driving assembly can be controlled to drive the cleaning assembly to move in the opposite direction to release the object pinched between the cleaning assembly and the body of the cleaning device when adjusting the state of the cleaning assembly.

[0094] Optionally, the at least stopping controlling the driving assembly to drive the cleaning assembly to move in response to the driving parameter of the driving assembly being in the preset parameter range when adjusting the state of the cleaning assembly comprises: stopping controlling the driving assembly to drive the cleaning assembly to move in response to the driving parameter of the driving assembly being in the preset parameter range when adjusting the state of the cleaning assembly to change the state of the cleaning assembly to the retracted state. More objects can be prevented from being clamped between the cleaning assembly and the machine body, and the current and / or power of the driving assembly can be prevented from being too large to damage the cleaning assembly.

[0095] Optionally, the at least stopping controlling the driving assembly to drive the cleaning assembly to move in response to the driving parameter of the driving assembly being in the preset parameter range when adjusting the state of the cleaning assembly comprises: stopping controlling the driving assembly to drive the cleaning assembly to move in response to the driving parameter of the driving assembly being in the preset parameter range when adjusting the state of the cleaning assembly to change the state of the cleaning assembly to the retracted state. More objects can be prevented from being clamped between the cleaning assembly and the machine body, and the current and / or power of the driving assembly can be prevented from being too large to damage the cleaning assembly.

[0096] Optionally, the at least stopping controlling the driving assembly to drive the cleaning assembly to move in response to the driving parameter of the driving assembly being in the preset parameter range when adjusting the state of the cleaning assembly comprises: stopping controlling the driving assembly to drive the cleaning assembly to move in response to the driving parameter of the driving assembly being in the preset parameter range when adjusting the state of the cleaning assembly to change the state of the cleaning assembly to the retracted state. More objects can be prevented from being clamped between the cleaning assembly and the machine body, and the current and / or power of the driving assembly can be prevented from being too large to damage the cleaning assembly.

[0097] Optionally, the at least stopping controlling the driving assembly to drive the cleaning assembly to move in response to the driving parameter of the driving assembly being in the preset parameter range when adjusting the state of the cleaning assembly comprises: stopping controlling the driving assembly to drive the cleaning assembly to move in response to the driving parameter of the driving assembly being in the preset parameter range when adjusting the state of the cleaning assembly to change the state of the cleaning assembly to the retracted state. More objects can be prevented from being clamped between the cleaning assembly and the machine body, and the current and / or power of the driving assembly can be prevented from being too large to damage the cleaning assembly.

[0098] Optionally, when adjusting the state of the cleaning assembly, in response to the driving parameter of the driving assembly continuously being located in the preset parameter range for a preset time length, at least stopping controlling the driving assembly to drive the cleaning assembly to move. For example, the driving parameter of the driving assembly continuously being located in the preset parameter range for 20 ms, at least stopping controlling the driving assembly to drive the cleaning assembly to move. The accuracy of the judgment of whether an object is clamped between the cleaning assembly and the body can be improved, and thus the safety of the cleaning device can be improved.

[0099] For example, the first current threshold can be 0.5 ampere or 0.9 ampere. When the first current threshold is the larger 0.9 ampere, the difference in the current of the driving assembly caused by aging, consistency, and other factors of the cleaning device can be eliminated, the accuracy of the judgment of whether an object is clamped between the cleaning assembly and the body can be improved, and thus the safety of the cleaning device can be improved. The first current threshold should also not be too large, for example, the first current threshold is less than 1.5 ampere, when the current of the driving assembly is greater than or equal to the first current threshold, it can be accurately judged that an object is clamped between the cleaning assembly and the body, so that the driving assembly driving the cleaning assembly to move or controlling the driving assembly to drive the cleaning assembly to move in the opposite direction can be timely and accurately stopped, and the safety of the cleaning device can be improved.

[0100] In some embodiments, the cleaning assembly includes a track-type cleaning assembly, or a flat plate-type cleaning assembly, or a drum-type cleaning assembly. For example, the track-type cleaning assembly is composed of a continuously circulating track structure, and the surface can be attached with cleaning materials such as bristles, sponges or cleaning cloths; the flat plate-type cleaning assembly includes a planar cleaning piece, which can be matched with detachable cleaning pieces such as superfine fiber cloth, water-absorbing cloth or wiping towel; the drum-type cleaning assembly includes a cylindrical drum structure, and the surface is covered with bristles, dust-sticking glue or sponge for cleaning by rotating friction.

[0101] In some embodiments, as Figure 3As shown, an opening part is formed at the bottom of the body of the cleaning device, and the cleaning assembly can move to the lowered state or the raised state through the opening part when the state of the cleaning assembly is adjusted along the first direction. When a user holds the cleaning device, the hand may sometimes touch the opening part at the bottom of the body of the cleaning device; for example, in the transverse direction of the cleaning device, the body of the cleaning device has opposite first and second sides, and the body of the cleaning device is formed with a hand holding part at the first and second sides, which is used for the user to hold the cleaning device or to turn it over; when the hand of the user is placed on the hand holding part, the fingers may sometimes be placed on the opening part at the bottom of the body of the cleaning device. If the cleaning assembly moves through the opening part along the first direction when the hand of the user is placed on the opening part, the hand may be clamped between the cleaning assembly and the body. The embodiments of the present application can avoid clamping the hand between the cleaning assembly and the body by controlling the cleaning device to stop adjusting the state of the cleaning assembly in the first direction when a preset anti-clamping condition is met; or reducing the speed of adjusting the state of the cleaning assembly in the first direction, so that the user can adjust the position of the hand even when feeling the risk of being clamped, thereby improving the safety of the cleaning device.

[0102] In some embodiments, as Figure 4 As shown, in the transverse direction of the cleaning device, the body of the cleaning device has opposite first and second sides, and the body is formed with an opening part at the first or second side, and the cleaning assembly can move to the expanded state or the retracted state through the opening part when the state of the cleaning assembly is adjusted along the second direction. Generally, when a user holds the cleaning device, the hand is placed on the first and second sides of the body of the cleaning device, and optionally, the body is formed with a hand holding part at the first and second sides, which is used for the user to hold the cleaning device or to turn it over. If the cleaning assembly moves through the opening part along the second direction when the hand of the user is placed on the opening part, the hand may be clamped between the cleaning assembly and the body. The embodiments of the present application can avoid clamping the hand between the cleaning assembly and the body by controlling the cleaning device to stop adjusting the state of the cleaning assembly in the second direction when a preset anti-clamping condition is met; or reducing the speed of adjusting the state of the cleaning assembly in the second direction, so that the user can adjust the position of the hand even when feeling the risk of being clamped, thereby improving the safety of the cleaning device.

[0103] In the related art, when the user holds the cleaning device, the cleaning device automatically adjusts the cleaning assembly to the retracted state. If the user's hand is located in the movement path of the cleaning assembly during the retraction of the cleaning assembly, the cleaning assembly may pinch the user. The embodiments of the present application can avoid pinching the hand between the cleaning assembly and the machine body by controlling the cleaning device to stop adjusting the state of the cleaning assembly when the preset anti-pinch condition is met. Alternatively, the speed of adjusting the state of the cleaning assembly is reduced so that the user can adjust the position of the hand when feeling the risk of being pinched, thereby improving the safety of the cleaning device.

[0104] For example, it takes a long time for the cleaning assembly to adjust from the outward expansion state to the retracted state or from the retracted state to the outward expansion state, for example, about 4 to 5 seconds. In the related art, if the user holds or turns over the cleaning device during the adjustment of the state of the cleaning assembly, sometimes the cleaning assembly is still adjusting, and there is a risk of pinching the hand. The embodiments of the present application can avoid pinching the hand between the cleaning assembly and the machine body by controlling the cleaning device to stop adjusting the state of the cleaning assembly in a timely manner when the preset anti-pinch condition is met. Alternatively, the speed of adjusting the state of the cleaning assembly is reduced so that the user can adjust the position of the hand when feeling the risk of being pinched, thereby improving the safety of the cleaning device.

[0105] For example, it takes a long time for the cleaning assembly to adjust from the outward expansion state to the retracted state or from the retracted state to the outward expansion state, for example, about 4 to 5 seconds. In the related art, if the user holds or turns over the cleaning device during the adjustment of the state of the cleaning assembly, sometimes the cleaning assembly is still adjusting, and there is a risk of pinching the hand. The embodiments of the present application can avoid pinching the hand between the cleaning assembly and the machine body by controlling the cleaning device to stop adjusting the state of the cleaning assembly in a timely manner when the preset anti-pinch condition is met. Alternatively, the speed of adjusting the state of the cleaning assembly is reduced so that the user can adjust the position of the hand when feeling the risk of being pinched, thereby improving the safety of the cleaning device.

[0106] The control method of the cleaning device provided by the embodiments of the present application comprises: in the case that the cleaning device performs a cleaning task, controlling the cleaning device to adjust the state of the cleaning assembly at a first preset speed to adjust the cleaning range of the cleaning assembly; and in the case that a preset anti-pinch condition is met, controlling the cleaning device to stop adjusting the state of the cleaning assembly or controlling the cleaning device to adjust the state of the cleaning assembly at a second preset speed, the second preset speed being less than the first preset speed. By controlling the cleaning device to stop adjusting the state of the cleaning assembly or reducing the speed of adjusting the state of the cleaning assembly when the preset anti-pinch condition is met, other objects can be prevented from being pinched when the cleaning assembly moves relative to the machine body, thereby improving the safety of the cleaning device.

[0107] In some embodiments, when adjusting the state of the cleaning assembly, it can be determined whether an object is clamped between the cleaning assembly and the body according to whether the driving parameter of the driving assembly is located in the preset parameter range. Please refer to Figure 3 or Figure 4 If the fingers of the user's hand are clamped to the opening portion of the body when the hand is placed on the handheld portion and the fingers touch the opening portion when the cleaning assembly moves relative to the body, the movement of the cleaning assembly relative to the body will be hindered, and the current and / or power of the driving assembly will be increased. By stopping the movement of the cleaning assembly relative to the body when the current of the driving assembly is greater than or equal to the first current threshold and / or the power is greater than or equal to the first power threshold, more objects can be prevented from being clamped between the cleaning assembly and the body, and the current and / or power of the driving assembly can also be prevented from being too large to damage the cleaning assembly.

[0108] Please refer to Figure 5 , Figure 5 is a schematic block diagram of a cleaning device provided by an embodiment of the present application. The cleaning device comprises a processor 301 and a memory 302, the memory 302 is configured to store a computer program, and the processor 301 is configured to execute the computer program and implement the steps of the control method of the cleaning device described above when executing the computer program.

[0109] The cleaning device further comprises a body 31 and a cleaning assembly 32, and the state of the cleaning assembly 32 relative to the body 31 comprises an outwardly expanded state and a retracted state.

[0110] For example, the processor 301 and the memory 302 are connected by a bus, such as an I 2C (Inter-integrated Circuit) bus.

[0111] Specifically, the processor 301 can be a microcontroller unit (MCU), a central processing unit (CPU) or a digital signal processor (DSP), etc.

[0112] Specifically, the memory 302 can be a flash chip, a read-only memory (ROM) disk, an optical disk, a U disk or a mobile hard disk, etc.

[0113] The processor 301 is configured to execute the computer program stored in the memory 302, and implement the steps of the method of any of the preceding embodiments when executing the computer program.

[0114] In some embodiments, the processor 301 is configured to execute a computer program stored in the memory 302, and implement the following steps when executing the computer program:

[0115] In a case where the cleaning device performs a cleaning task, the cleaning device is controlled to adjust the state of the cleaning assembly at a first preset speed, so as to adjust the cleaning range of the cleaning assembly.

[0116] In a case where a preset anti-pinch condition is met, the cleaning device is controlled to stop adjusting the state of the cleaning assembly, or the cleaning device is controlled to adjust the state of the cleaning assembly at a second preset speed, the second preset speed being less than the first preset speed.

[0117] The specific principles and implementation manners of the cleaning system provided in the embodiments of the present application are similar to those of the method of the foregoing embodiments, and thus will not be described herein.

[0118] Please refer to the foregoing embodiments Figure 6 , Figure 6 is a schematic diagram of a cleaning system provided in the embodiments of the present application. The cleaning system comprises a cleaning device 10, a base station 20, and a control apparatus 30. The control apparatus 30 comprises a processor and a memory, the memory being configured to store a computer program, and the processor being configured to execute the computer program and implement the steps of the foregoing control method of the cleaning device when executing the computer program.

[0119] The cleaning device 10 comprises a machine body and a cleaning assembly, and the state of the cleaning assembly relative to the machine body comprises an outward expansion state and a retraction state.

[0120] Optionally, the control apparatus 30 can comprise one or more of the following: a control apparatus in the cleaning device 10, a control apparatus in the base station 20, and a control apparatus independent of the cleaning device 10 and the base station 20. For example, one or more of the control apparatuses alone or jointly implement the steps of the foregoing control method of the cleaning device.

[0121] The specific principles and implementation manners of the cleaning system provided in the embodiments of the present application are similar to those of the method of the foregoing embodiments, and thus will not be described herein.

[0122] The embodiments of the present application further provide a computer readable storage medium, which stores a computer program, and the computer program, when executed by a processor, causes the processor to implement the steps of the method of any of the foregoing embodiments.

[0123] The computer readable storage medium can be an internal storage unit of the cleaning device, such as a hard disk or a memory of the cleaning device. The computer readable storage medium can also be an external storage device of the cleaning device, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc.

[0124] It should be understood that the terms used herein in this specification specify particular embodiments only and are not intended to limit the present application.

[0125] It should also be understood that the term "and / or" used in the present application and the appended claims means one or more of the associated listed items as well as all possible combinations of the items and includes the combinations.

[0126] The above description is merely illustrative of the application and is not intended to limit the scope of the application. Any modifications or equivalents of the application should be construed as falling within the scope of the application. The scope of the application should be determined by the scope of the claims.

Claims

1. A control method of a cleaning apparatus, characterized by, The cleaning device comprises a machine body and a cleaning assembly, a state of the cleaning assembly relative to the machine body comprises an extended state and a retracted state; the method comprises: In the case where the cleaning device is performing a cleaning task, the cleaning device is controlled to adjust the state of the cleaning assembly at a first preset speed, so as to adjust the cleaning range of the cleaning assembly; In the case where a preset anti-pinch condition is met, the cleaning device is controlled to stop adjusting the state of the cleaning assembly, or the cleaning device is controlled to adjust the state of the cleaning assembly at a second preset speed, the second preset speed being less than the first preset speed.

2. The control method according to claim 1, characterized by, The preset anti-pinch condition is met, comprising: detecting that the cleaning device is picked up, and / or detecting that the cleaning device is turned over.

3. The control method according to claim 2, characterized by, The method further comprises: In the case where the cleaning device is passively stopped from performing a cleaning task, the cleaning assembly is controlled to stop working.

4. The control method according to any one of claims 1 to 3, characterized by, The case where the preset anti-pinch condition is met further comprises: The cleaning device is adjusting the state of the cleaning assembly, and a distance between the cleaning assembly and a preset target is less than or equal to a first preset distance, the first preset distance being 0-0.5 meters.

5. The control method according to claim 4, characterized by, The preset target comprises one or more of the following: a person, an animal, a cable, a carpet.

6. The control method according to any one of claims 1 to 3, characterized by, After the cleaning device is controlled to stop adjusting the state of the cleaning assembly in the case where the preset anti-pinch condition is met while the cleaning device is adjusting the state of the cleaning assembly, the method further comprises: In the case where a preset state adjustment condition is met, the cleaning device is controlled to adjust the state of the cleaning assembly.

7. The control method according to claim 6, characterized by The state adjustment condition comprises a retraction condition, and the controlling the cleaning device to adjust the state of the cleaning assembly in the case where the preset state adjustment condition is met comprises: In the case where the state of the cleaning assembly relative to the machine body is not the retracted state, when a preset retraction condition is met, the cleaning device is controlled to adjust the state of the cleaning assembly to the retracted state.

8. The control method according to claim 7, characterized by, The preset retraction condition is met, comprising: The state of the cleaning device meets a preset state condition, and / or a preset behavior of a user is detected.

9. The control method according to claim 8, characterized by, The state of the cleaning device meeting the preset state condition comprises one or more of the following: The cleaning assembly of the cleaning device abuts against a cleaning surface; A distance between the cleaning assembly and a preset target is greater than a first preset distance, the first preset distance being 0-0.5 meters; A distance between the cleaning device and a base station is less than or equal to a second preset distance, the second preset distance being 0-1 meter.

10. The control method according to any one of claims 1 to 3, characterized by, The cleaning device further comprises a driving assembly connected to the machine body and the cleaning assembly; The controlling the cleaning device to adjust the state of the cleaning assembly comprises: controlling the driving assembly to drive the cleaning assembly to move in one or more directions.

11. The control method according to claim 10, characterized by, The controlling the cleaning device to adjust the state of the cleaning assembly at the second preset speed comprises: Controlling the driving assembly to drive the cleaning assembly to move in a first direction at the second preset speed, and / or Controlling the driving assembly to drive the cleaning assembly to move in a second direction at the second preset speed; The first direction is parallel to a vertical direction of the cleaning device, and the second direction is parallel to a lateral direction of the cleaning device.

12. The control method according to claim 10, characterized by, The method further includes: When adjusting the state of the cleaning assembly, in response to the driving parameter of the driving assembly being within a preset parameter range, at least stopping controlling the driving assembly to drive the cleaning assembly to move. The driving parameter of the driving assembly being within a preset parameter range includes: the current of the driving assembly being greater than or equal to a first current threshold, and / or the power of the driving assembly being greater than or equal to a first power threshold.

13. The control method according to claim 12, characterized by, The method further includes: When adjusting the state of the cleaning assembly to change the state of the cleaning assembly to the retracted state, in response to the driving parameter of the driving assembly being within a preset parameter range, stopping controlling the driving assembly to drive the cleaning assembly to move, or controlling the driving assembly to drive the cleaning assembly to move to a position corresponding to the expanded state; or When adjusting the state of the cleaning assembly to change the state of the cleaning assembly to the expanded state, in response to the driving parameter of the driving assembly being within a preset parameter range, stopping controlling the driving assembly to drive the cleaning assembly to move, or controlling the driving assembly to drive the cleaning assembly to move to a position corresponding to the retracted state.

14. The control method according to any one of claims 1 to 3, characterized by, The cleaning assembly includes: a track-type cleaning assembly, or a flat-plate type cleaning assembly, or a drum-type cleaning assembly.

15. The control method according to any one of claims 1 to 3, characterized by, In the lateral direction of the cleaning device, the body of the cleaning device has opposite first and second sides, and the body is formed with an opening portion on the first side or the second side, and the cleaning assembly can move through the opening portion when adjusting the state of the cleaning assembly.

16. The control method according to claim 15, characterized by The body is formed with a hand-holding portion on the first side and the second side, and the hand-holding portion is used for a user to hold to pick up or turn over the cleaning device.

17. A cleaning apparatus, characterized by The cleaning device includes: a processor and a memory, the memory is used to store a computer program; the processor is used to execute the computer program and, when executing the computer program, implement the steps of the control method of the cleaning device according to any one of claims 1-16.

18. A cleaning system characterized by, The cleaning system includes: a cleaning device, a base station and a control device, the control device includes: a processor and a memory, the memory is used to store a computer program; the processor is used to execute the computer program and, when executing the computer program, implement the steps of the control method of the cleaning device according to any one of claims 1-16.

19. A computer-readable storage medium, characterized in that, The computer readable storage medium stores a computer program, and the computer program is executed by a processor to make the processor implement the steps of the control method of the cleaning device according to any one of claims 1-16.

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