Movement control method and device of cleaning equipment, storage medium and electronic device

Abstract

The invention provides a movement control method and device of cleaning equipment, a storage medium and an electronic device, and the method comprises the steps: obtaining a first state switching instruction under the condition that a cleaning part of the cleaning equipment is in an outward swinging state; wherein the first state switching instruction is automatically generated by the cleaning equipment according to the current environment information and the position and the state of the cleaning equipment, or is issued by a user through a client; and in response to the first state switching instruction, driving the rotating part to rotate in the second rotating direction through a rotating driving part of the cleaning equipment so as to control the cleaning part to be switched from the outward swinging state to the inward retracting state. The method is used for improving the working state switching efficiency of the cleaning component, and then the flexibility of the cleaning equipment is improved.

Description

[0001] This application is a divisional application of application No. 202310293310.6, titled "Mobile control method and device of cleaning equipment, storage medium and electronic device", filed on March 23, 2023. TECHNICAL FIELD

[0002] The present application relates to the field of smart home, in particular, to a mobile control method and device of cleaning equipment, a storage medium and an electronic device. BACKGROUND

[0003] At present, the existing technology often determines whether the running state of the cleaning equipment is abnormal based on the stay time of the cleaning equipment at the same position. The longer the stay time, the greater the possibility of abnormal running state of the cleaning equipment.

[0004] However, with the increasing intelligence of the cleaning equipment, the cleaning equipment can select different cleaning times according to the dirt level of the ground to ensure cleaning efficiency. Therefore, when the cleaning equipment stays at the same position for a long time, it may be due to obstacles preventing the movement of the cleaning equipment, or it may be due to the high dirt level of the position causing the cleaning equipment to clean for a long time, thereby causing the state judgment accuracy of the method of judging the running state according to the stay time to be low.

[0005] Therefore, it can be seen that the method of judging the running state of the cleaning equipment according to the stay time in the existing technology has the problem of low state judgment accuracy. SUMMARY

[0006] The purpose of the present application is to provide a mobile control method and device of cleaning equipment, a storage medium and an electronic device to at least solve the problem of low state judgment accuracy of the method of judging the running state of the cleaning equipment according to the stay time in the existing technology.

[0007] The purpose of the present application is achieved by the following technical solutions: According to an aspect of the embodiments of the present application, a movement control method of a cleaning device is provided, including: in response to a rotation instruction obtained, driving a rotating component of the cleaning device to rotate by a rotating driving component of the cleaning device, so as to control a swinging component of the cleaning device to swing, wherein one end of the swinging component is connected with a cleaning component, and in the process of swinging of the swinging component, the cleaning component switches between an outward swinging state and an inward retracting state, the outward swinging state is a state that at least part of the cleaning component swings outward of the cleaning device, and the inward retracting state is a state that at least part of the cleaning component retracts inward of the cleaning device; detecting a detection trigger element on the rotating component by a detection component on the rotating driving component, so as to determine an operation state of the cleaning component, wherein the detection trigger element is used to identify a rotating position of the rotating component; and in a case that it is determined that the operation state of the cleaning component is abnormal, controlling the cleaning device to perform a specified operation, so as to restore the operation state of the cleaning component to normal.

[0008] According to another aspect of the embodiments of the present application, a movement control apparatus of a cleaning device is also provided, including: a first driving unit, configured to drive a rotating component of the cleaning device to rotate by a rotating driving component of the cleaning device in response to a rotation instruction obtained, so as to control a swinging component of the cleaning device to swing, wherein one end of the swinging component is connected with a cleaning component, and in the process of swinging of the swinging component, the cleaning component switches between an outward swinging state and an inward retracting state, the outward swinging state is a state that at least part of the cleaning component swings outward of the cleaning device, and the inward retracting state is a state that at least part of the cleaning component retracts inward of the cleaning device; a detection unit, configured to detect a detection trigger element on the rotating component by a detection component on the rotating driving component, so as to determine an operation state of the cleaning component, wherein the detection trigger element is used to control a position of the rotating component to which the rotating component is allowed to rotate; and a first control unit, configured to, in a case that it is determined that the operation state of the cleaning component is abnormal, control the cleaning device to perform a specified operation, so as to restore the operation state of the cleaning component to normal.

[0009] In one example embodiment, the detecting unit comprises: a first determining module, configured to determine that the rotating member rotates to a first preset position along a first rotating direction in a case that a first detection trigger element on the rotating member is detected by a first detection component on the rotating driving member, wherein in the first preset position, the cleaning member is in the outward swinging state and swings outward to a most outward position allowed to be swung to; and a second determining module, configured to determine that the rotating member rotates to a second preset position along a second rotating direction in a case that a second detection trigger element on the rotating member is detected by a second detection component on the rotating driving member, wherein in the second preset position, the cleaning member is in the inward retracting state and retracts inward to a most inward position allowed to be retracted to.

[0010] In one example embodiment, the rotating member is connected with the rotating driving member through a gear, the first detection trigger element is a tooth protruding from the gear, the second detection trigger element is another tooth protruding from the gear, and the first detection trigger element and the second detection trigger element are located on two sides of the rotating driving member.

[0011] In one example embodiment, the apparatus further comprises: a first sending unit, configured to send a swinging-to-position instruction to the rotating driving member through the first detection component after the rotating member is determined to rotate to the first preset position along the first rotating direction, so as to instruct the rotating driving member to stop driving the rotating member to continue rotating along the first rotating direction.

[0012] In one example embodiment, the apparatus further comprises: a second driving unit, configured to drive the rotating member to rotate along the second rotating direction through the rotating driving member in response to a first state switching instruction obtained after the rotating member is determined to rotate to the first preset position along the first rotating direction, so as to control the working state of the cleaning member to switch from the outward swinging state to the inward retracting state.

[0013] In one example embodiment, the apparatus further comprises: a second sending unit, configured to send a retracting-to-position instruction to the rotating driving member through the second detection component after the rotating member is determined to rotate to the second preset position along the second rotating direction, so as to instruct the rotating driving member to stop driving the rotating member to continue rotating along the second rotating direction.

[0014] In an example embodiment, the apparatus further comprises a third driving unit configured to, after determining that the rotating component rotates to the second preset position along the second rotating direction, drive the rotating component to rotate along the first rotating direction by the rotating driving component in response to the acquired second state switching instruction, so as to control the working state of the cleaning component to switch from the in-drawing state to the out-swinging state.

[0015] In an example embodiment, the detecting unit further comprises a third determining module configured to, in a case where the first detecting component does not detect the first detection triggering element within a first time range during the driving of the rotating component to rotate along the first rotating direction by the rotating driving component, determine that the out-swinging state of the cleaning device is abnormal; and a fourth determining module configured to, in a case where the second detecting component does not detect the second detection triggering element within a second time range during the driving of the rotating component to rotate along the second rotating direction by the rotating driving component, determine that the in-drawing state of the cleaning device is abnormal.

[0016] In an example embodiment, the first control unit comprises a driving module configured to, in a case where it is determined that the out-swinging state of the cleaning device is abnormal, drive the rotating component to rotate along the second rotating direction by the rotating driving component; and a fifth determining module configured to, in a case where the second detecting component detects the second detection triggering element within a third time range, determine that the running state of the cleaning device returns to normal.

[0017] In an example embodiment, the apparatus further comprises a second control unit configured to, in a case where the second detecting component does not detect the second detection triggering element within the third time range, control the rotating driving component to stop driving the rotating component to rotate, and issue an abnormal alarm information.

[0018] In an example embodiment, the first control unit comprises an executing module configured to, in a case where it is determined that the in-drawing state of the cleaning device is abnormal, control the cleaning device to move a distance along a target direction, and drive the rotating component to rotate along the second rotating direction by the rotating driving component; and a sixth determining module configured to, in a case where the second detecting component detects the second detection triggering element within a fourth time range, determine that the running state of the cleaning device returns to normal.

[0019] In an example embodiment, the apparatus further comprises an executing unit configured to, in a case where the second detecting component does not detect the second detection triggering element within the fourth time range, control the rotating driving component to stop driving the rotating component to rotate, and issue an abnormal alarm information.

[0020] In one example embodiment, the apparatus further comprises: an acquisition unit configured to acquire position information of the cleaning device, wherein the position information of the cleaning device is used to indicate a position of the cleaning device in the cleaning area; a first generation unit configured to generate a first rotation instruction in a case that a distance between the cleaning device and an edge of the cleaning area is less than or equal to a preset distance threshold according to the position information of the cleaning device, wherein the first rotation instruction is used to instruct the rotation driving component to drive the driving component to rotate in a first rotation direction; and a second generation unit configured to generate a second rotation instruction in a case that the distance between the cleaning device and the edge of the cleaning area is greater than the preset distance threshold and the cleaning component is in the outward swinging state according to the position information of the cleaning device, wherein the second rotation instruction is used to instruct the rotation driving component to drive the driving component to rotate in a second rotation direction.

[0021] According to yet another aspect of the embodiments of the present application, a computer readable storage medium is provided, and the computer readable storage medium stores a computer program. The computer program is configured to perform the above-mentioned cleaning device movement control method when running. According to yet another aspect of the embodiments of the present application, an electronic device is provided, and the electronic device comprises a memory, a processor, and a computer program stored in the memory and capable of running on the processor. The processor performs the above-mentioned cleaning device movement control method through the computer program.

[0022] In the embodiment of the present application, the time of swinging of the swinging component on the cleaning device is used to indirectly determine the running state of the cleaning device. In response to the obtained rotation instruction, the rotating component of the cleaning device is driven to rotate by the rotating driving component of the cleaning device, so as to control the swinging component to swing, wherein one end of the swinging component is connected with the cleaning component, and the cleaning component switches between the outer swinging state and the inner retracted state in the process of swinging of the swinging component, the outer swinging state is a state that at least part of the cleaning component swings to the outside of the cleaning device, and the inner retracted state is a state that at least part of the cleaning component retracts to the inside of the cleaning device; the detection component on the rotating driving component is used to detect the detection trigger element on the rotating component, so as to determine the running state of the cleaning component, wherein the detection trigger element is used to control the position to which the rotating component is allowed to rotate; in the case that the running state of the cleaning component is determined to be abnormal, the cleaning device is controlled to perform a specified operation, so as to restore the running state of the cleaning component to normal. Since the swinging of the swinging component on the cleaning device is completed by driving the rotating component to rotate by the rotating driving component, in the case that the swinging of the swinging component connected with the cleaning component is blocked, the rotating component will not be able to rotate normally, so that the detection component on the rotating driving component cannot detect the detection trigger element on the rotating component. According to the detection of the detection trigger element by the detection component, it can be determined whether the running state of the cleaning device is abnormal (such as the cleaning component of the cleaning device being stuck due to an obstacle), so as to improve the accuracy of state judgment, and further solve the problem of low accuracy of state judgment in the prior art. BRIEF DESCRIPTION OF DRAWINGS

[0023] The accompanying drawings, which are incorporated into and form a part of the specification, illustrate an embodiment consistent with the present application and, together with the description, serve to explain the principles of the application.

[0024] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the accompanying drawings needed to be used in the embodiments or prior art description will be briefly introduced. Obviously, for those skilled in the art, other drawings can also be obtained without creative labor.

[0025] Figure 1 is a schematic diagram of a hardware environment of an optional moving control method of a cleaning device according to an embodiment of the present application; Figure 2 is a flowchart of an optional moving control method of a cleaning device according to an embodiment of the present application; Figure 3 is a schematic diagram of an optional moving control method of a cleaning device according to an embodiment of the present application; Figure 4 is a schematic diagram of another optional movement control method of a cleaning device according to an embodiment of the present application; Figure 5 is a flowchart of another optional movement control method of a cleaning device according to an embodiment of the present application; Figure 6 is a structural block diagram of an optional movement control device of a cleaning device according to an embodiment of the present application; Figure 7 is a structural block diagram of an optional electronic device according to an embodiment of the present application. DETAILED DESCRIPTION

[0026] The present application will be described in detail below with reference to the accompanying drawings and in conjunction with embodiments. It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict.

[0027] It should be noted that the terms "first", "second" and the like in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and do not necessarily describe a specific order or sequence.

[0028] According to an aspect of an embodiment of the present application, a movement control method of a cleaning device is provided. Optionally, in the present embodiment, the movement control method of the cleaning device can be applied to a hardware environment composed of a cleaning device 102, a base station 104 and a cloud platform 106 as shown in Figure 1 As shown in Figure 1 , the cleaning device 102 can be connected with the base station 104 and / or the cloud platform 106 (for example, a voice cloud platform) through a network to realize the interaction between the cleaning device 102 and the base station 104 and / or the cloud platform 106.

[0029] The network can include but is not limited to at least one of the following: wired network, wireless network. The wired network can include but is not limited to at least one of the following: wide area network, metropolitan area network, local area network, and the wireless network can include but is not limited to at least one of the following: WIFI (Wireless Fidelity), Bluetooth, infrared. The network used by the cleaning device 102 to communicate with the base station 104 and / or the cloud platform 106 can be the same as or different from the network used by the base station 104 to communicate with the cloud platform 106. The cleaning device 102 can include but is not limited to: a sweeping robot, a washing robot, a robot integrating washing and sweeping, a self-cleaning device, etc.

[0030] The moving control method of the cleaning device in the embodiments of the present application can be executed by the cleaning device 102 and the cloud platform 106 independently or jointly. The cleaning device 102 can also execute the moving control method of the cleaning device in the embodiments of the present application by the client installed thereon.

[0031] Taking the cleaning device 102 as an example, the moving control method of the cleaning device in the embodiments is executed by the cleaning device 102, Figure 2 is a flowchart of an optional moving control method of a cleaning device according to the embodiments of the present application, as Figure 2 shown, the flow of the method can include the following steps: In step S202, in response to the obtained rotating instruction, the rotating part of the cleaning device is driven to rotate by the rotating driving part of the cleaning device to control the swinging part to swing, one end of the swinging part is connected with the cleaning part, and in the process of swinging of the swinging part, the cleaning part switches between the outward swinging state and the inward retracted state, the outward swinging state is a state that at least part of the cleaning part swings outward of the cleaning device, and the inward retracted state is a state that at least part of the cleaning part retracts inward of the cleaning device.

[0032] The moving control method of the cleaning device in the embodiments can be applied to the scenario that the cleaning device works in a target area. The target area can be an indoor area, for example, a user's home room, an office, a factory workshop, etc. The cleaning device can be installed with a cleaning part for cleaning the target area. The cleaning part can include but is not limited to at least one of the following: a roller brush (also known as a floor brush), a mop, etc., which can be circular, square, etc., and the cleaning part can be a rotatable structure.

[0033] The conventional cleaning part usually does not exceed the edge of the body of the cleaning device, and the cleaning part of the cleaning device cannot well complete the cleaning of the edge area when it reaches the edge place such as the corner of the wall or the leg of the table, In order to improve the efficiency of edge cleaning, in the embodiments, the cleaning part can be set as a part that can partially exceed the edge of the body of the cleaning device, and at the same time, considering that the cleaning part may be hindered from moving when it partially exceeds the edge of the body, the cleaning part can switch between the outward swinging state and the inward retracted state. Here, the outward swinging state can be a state that at least part of the cleaning part swings outward of the cleaning device, and the inward retracted state can be a state that at least part of the cleaning part retracts inward of the cleaning device.

[0034] In the embodiment, the rotating driving part, the rotating part, the swinging part and the cleaning part can be arranged inside the cleaning device. One end of the swinging part can be connected with the cleaning part, and the other end can be connected with the rotating module, and the rotation of the rotating module can be driven by the rotating driving part.

[0035] In the case that it is determined that the cleaning part of the cleaning device needs to be arranged beyond the edge of the machine body or not arranged beyond the edge of the machine body, the rotating driving part can be sent a rotating instruction. In the embodiment, in response to the obtained rotating instruction, the rotating part of the cleaning device can be driven to rotate by the rotating driving part of the cleaning device, the swinging part of the cleaning device can be controlled to swing, and the cleaning part can be switched between the outward swinging state and the inward retracting state in the process of swinging of the swinging part.

[0036] In step S204, the detection part on the rotating driving part detects the detection trigger element on the rotating part to determine the running state of the cleaning part, wherein the detection trigger element is used to control the position to which the rotating part is allowed to rotate.

[0037] In order to avoid that the swinging part swings too much due to over-rotation of the rotating part, and then the cleaning part is outwardly swung or inwardly retracted too much, and the cleaning efficiency is affected, in the embodiment, the detection part on the rotating driving part can detect the detection trigger element on the rotating part to determine the running state of the cleaning part. Here, the detection trigger element can be used to control the position to which the rotating part is allowed to rotate. The running state can be used to represent the current state of the cleaning part, including the inward retracting state and the outward swinging state.

[0038] Optionally, the detection part on the rotating driving part can be fixed, and the position of the detection trigger element on the rotating part relative to the rotating part is fixed, and the detection trigger element can rotate with the rotating part in the process of rotation of the rotating part.

[0039] Optionally, the detection of the detection trigger element on the rotating part by the detection part on the rotating driving part can mean that the detection part detects whether the detection trigger element appears or not. In the case of normal rotation, the detection trigger element can rotate from a position far away from the detection part to a position close to the detection part. The detection part can be a sensor, whether the detection trigger element is detected can be determined by whether the touch of the detection trigger element is sensed or not. The detection part can also be a signal receiver, whether the detection trigger element is detected can be determined by whether the signal sent by the detection trigger element is received or not and the signal strength. The detection part can also be other types of parts, which are not limited in the embodiment.

[0040] Optionally, after the detection component detects that the detection trigger element is rotated to a certain position, a rotation-to-position instruction can be issued to control the rotation driving component to stop driving the rotating component to rotate, so as to control the maximum range of the cleaning component to retract or swing out, and avoid affecting the cleaning efficiency of the cleaning device.

[0041] In the case where it is determined that the running state of the cleaning component is abnormal, the cleaning device is controlled to perform a specified operation to restore the running state of the cleaning component to normal.

[0042] According to the detection result of the detection component on the detection trigger element, it can be determined that the running state of the cleaning component is in the retracting or swinging state, and in addition, it can be determined whether the running state of the cleaning component is normal. For example, after the rotating driving component works for a period of time, the detection component still does not detect the detection trigger element, or the distance between the detection trigger element and the detection component is still far, it can be determined that the running state of the cleaning component is abnormal. In addition, the above abnormality may be caused by the blocking of the rotating component, the swinging component or the like of the cleaning device, or the blocking of the cleaning component by an obstacle.

[0043] In the case where it is determined that the running state of the cleaning component is abnormal, the cleaning device is controlled to perform a specified operation to restore the running state of the cleaning component to normal.

[0044] Optionally, the specified operation can include but is not limited to controlling the rotating driving component to drive the rotating component to rotate in the opposite direction as before, or controlling the body of the cleaning device to move in the other direction, etc.

[0045] Through the above steps S202 to S206, in response to the obtained rotation instruction, the rotating component of the cleaning device is driven to rotate by the rotating driving component of the cleaning device, to control the swinging component to swing, one end of the swinging component is connected with the cleaning component, and in the process of swinging of the swinging component, the cleaning component switches between the swinging-out state and the retracting-in state, the swinging-out state is a state that at least part of the cleaning component swings out of the cleaning device, and the retracting-in state is a state that at least part of the cleaning component retracts into the cleaning device; the detection trigger element on the rotating component is detected by the detection component on the rotating driving component, to determine the running state of the cleaning component, wherein the detection trigger element is used to control the position to which the rotating component is allowed to rotate; in the case where it is determined that the running state of the cleaning component is abnormal, the cleaning device is controlled to perform a specified operation to restore the running state of the cleaning component to normal, thereby solving the problem of low accuracy of state judgment in the prior art that the running state of the cleaning device is judged according to the stay time, and improving the accuracy of state judgment.

[0046] In one example embodiment, the running state of the cleaning component is determined by detecting the detection trigger element on the rotating component by the detection component on the rotating driving component, including: S11, in the case that the first detection trigger element on the rotating component is detected by the first detection component on the rotating driving component, it is determined that the rotating component rotates to a first preset position along a first rotating direction, wherein in the first preset position, the cleaning component is in the outward swinging state and swings outward to the most outward position allowed to swing outward; S12, in the case that the second detection trigger element on the rotating component is detected by the second detection component on the rotating driving component, it is determined that the rotating component rotates to a second preset position along a second rotating direction, wherein in the second preset position, the cleaning component is in the inward retracting state and retracts inward to the most inward position allowed to retract inward.

[0047] In order to facilitate the detection of the rotating trigger element by the detection component, in the embodiment, the detection component can include a first detection component and a second detection component, and the detection trigger element can include a first detection trigger element and a second detection trigger element. Correspondingly, the first detection component can be used to detect the first detection trigger element, and the second detection component can be used to detect the second detection trigger component.

[0048] For example, as shown in Figure 3 , the rotating component 1 can be connected with the swinging component 2 through the rotating center 6, the first detection component 4 and the second detection component 5 can be installed on the rotating driving component 3, and the first rotating trigger element 7 and the second rotating trigger element 8 (as shown in Figure 4 ) can be provided on the rotating component 1. In the embodiment, in the case that the first detection trigger element on the rotating component is detected by the first detection component on the rotating driving component, it is determined that the rotating component rotates to a first preset position along a first rotating direction. In the case that the second detection trigger element on the rotating component is detected by the second detection component on the rotating driving component, it is determined that the rotating component rotates to a second preset position along a second rotating direction. Here, in the first preset position, the cleaning component is in the outward swinging state and swings outward to the most outward position allowed to swing outward. In the second preset position, the cleaning component is in the inward retracting state and retracts inward to the most inward position allowed to retract inward.

[0049] The above-mentioned first rotating direction can be the counterclockwise direction as shown in Figure 3 , and the second rotating direction can be the clockwise direction as shown in Figure 3 . The above-mentioned most outward position and the most inward position can be positions defined based on the limitation of the first preset position and the second preset position respectively.

[0050] For example, as shown in Figure 3As shown, the second rotating trigger element rotates to a position adjacent to the second detection component, i.e., a second preset position, and the cleaning component is in a retracted state and retracted to the most retracted position allowed to be retracted. Figure 4 As shown, the first rotating trigger element rotates to a position adjacent to the first detection component, i.e., a first preset position, and the cleaning component is in an extended state and extended to the most extended position allowed to be extended.

[0051] By this embodiment, the running state of the cleaning component is determined by the positions to which the two detection trigger elements detected by the two detection components rotate, which can improve the limiting efficiency of the moving range of the cleaning component, and further improve the cleaning efficiency of the cleaning device. In an example embodiment, the rotating component can be connected with the rotating driving component through a gear, the first detection trigger element can be a tooth protruding on the gear, the second detection trigger element can be another tooth protruding on the gear, and the first detection trigger element and the second detection trigger element are located on two sides of the rotating driving component.

[0052] For example, as shown in Figure 3 and Figure 4 The rotating driving component 3 is connected with the rotating component 1 through a gear, the rotating driving component has a first detection component 4 and a second detection component 5 on two sides respectively, and the gear of the rotating component 1 has a first rotating trigger element 7 and a second rotating trigger element 8 protruding more than other gears on two ends respectively.

[0053] In an example embodiment, after determining that the rotating component rotates to the first preset position along the first rotating direction, the above method further includes: S21, sending an extended-to-position instruction to the rotating driving component through the first detection component to instruct the rotating driving component to stop driving the rotating component to continue rotating along the first rotating direction.

[0054] In this embodiment, after determining that the rotating component rotates to the first preset position along the first rotating direction, an extended-to-position instruction can be sent to the rotating driving component through the first detection component to instruct the rotating driving component to stop driving the rotating component to continue rotating along the first rotating direction.

[0055] Optionally, the above extended-to-position instruction can be sent directly by the first detection component to the rotating driving component, or can be sent by the platform or the cleaning device to the rotating driving component after the platform or the cleaning device feeds back the detection result, and this embodiment does not limit this.

[0056] By this embodiment, the rotating driving component is sent an extended-to-position instruction through the first detection component to stop the rotation of the rotating component, which can improve the efficiency of stopping the rotation of the rotating component and avoid that the moving range of the cleaning component is too large.

[0057] In one example embodiment, after determining that the rotating component rotates to the first preset position along the first rotating direction, the above method further comprises: S31, in response to the acquired first state switching instruction, driving the rotating component to rotate along the second rotating direction by the rotating driving component, so as to control the working state of the cleaning component to switch from the outward swinging state to the inward retracting state.

[0058] In the case where the cleaning component needs to switch to the inward retracting state after determining that the rotating component rotates to the first preset position along the first rotating direction, the cleaning component can be controlled to switch from the outward swinging state to the inward retracting state by sending the first state switching instruction.

[0059] Optionally, the above first state switching instruction can be sent to the rotating driving component by the cleaning device, or can be sent to the rotating driving component by the platform or the client of the cleaning device, and the present embodiment does not limit this. In addition, the first state switching instruction can be automatically generated by the cleaning device according to the information of the current environment in combination with the position and state of the cleaning device (for example, the cleaning device is not in the area requiring edge cleaning, the cleaning work is completed, or there is an obstacle and the cleaning component needs to be retracted to avoid, etc.), or can be issued by the user of the cleaning device through the client.

[0060] In the present embodiment, in response to the acquired first state switching instruction, the rotating component can be driven to rotate along the second rotating direction by the rotating driving component, so as to control the working state of the cleaning component to switch from the outward swinging state to the inward retracting state.

[0061] According to the present embodiment, the switching of the cleaning component from outward swinging to inward retracting is triggered according to the state switching instruction, which can improve the efficiency of the working state switching of the cleaning component, and further improve the flexibility of the cleaning device.

[0062] In one example embodiment, after determining that the rotating component rotates to the second preset position along the second rotating direction, the above method further comprises: S41, sending an inward retraction to position instruction to the rotating driving component by the second detection component, so as to instruct the rotating driving component to stop driving the rotating component to continue rotating along the second rotating direction.

[0063] In the present embodiment, after determining that the rotating component rotates to the second preset position along the second rotating direction, the inward retraction to position instruction can be sent to the rotating driving component by the second detection component, so as to instruct the rotating driving component to stop driving the rotating component to continue rotating along the second rotating direction.

[0064] The sending mode of the above inward retraction to position instruction can be similar to the description of the foregoing outward swinging to position instruction, and the present embodiment does not repeat it here.

[0065] By the embodiment, the second detection component sends a retraction to position instruction to the rotating driving component to stop the rotation of the rotating component, so that the efficiency of stopping the rotation of the rotating component can be improved, and the moving range of the cleaning component can be avoided to be too large.

[0066] In one example embodiment, after determining that the rotating component rotates to the second preset position along the second rotating direction, the above method further comprises: S51, in response to the acquired second state switching instruction, the rotating component is driven to rotate along the first rotating direction by the rotating driving component, so as to control the working state of the cleaning component to switch from the retracted state to the outward swinging state.

[0067] After determining that the rotating component rotates to the second preset position along the second rotating direction, in the case that the cleaning component needs to switch to the outward swinging state, the second state switching instruction can be sent to control the cleaning component to switch from the retracted state to the outward swinging state.

[0068] The above-mentioned second state switching instruction can be similar to the description of the first state switching instruction, and the embodiment will not be repeated here.

[0069] In the embodiment, in response to the acquired second state switching instruction, the rotating component can be driven to rotate along the first rotating direction by the rotating driving component, so as to control the working state of the cleaning component to switch from the retracted state to the outward swinging state.

[0070] Through the embodiment, the switching of the cleaning component from the retracted state to the outward swinging state is triggered according to the state switching instruction, so that the efficiency of switching the working state of the cleaning component can be improved, and the flexibility of the cleaning equipment can be improved.

[0071] In one example embodiment, the detection component on the rotating driving component detects the detection trigger element on the rotating component to determine the running state of the cleaning component, and further comprises: S61, in the process of driving the rotating component to rotate along the first rotating direction by the rotating driving component, in the case that the first detection component does not detect the first detection trigger element within a first time range, it is determined that the outward swinging state of the cleaning equipment is abnormal; S62, in the process of driving the rotating component to rotate along the second rotating direction by the rotating driving component, in the case that the second detection component does not detect the second detection trigger element within a second time range, it is determined that the retracted state of the cleaning equipment is abnormal.

[0072] When the detection trigger element is detected by the detection component, the first time range and the second time range can be set in advance according to the rotating time corresponding to the retracted state and the outward swinging state of the cleaning component under normal circumstances, so as to judge whether the running state of the cleaning component of the cleaning equipment is abnormal.

[0073] In the present embodiment, during the process that the rotating component is driven to rotate along the first rotating direction by the rotating driving component, if the first detection component does not detect the first detection trigger element within the first time range, it can be determined that the outward swinging state of the cleaning device is abnormal.

[0074] Correspondingly, during the process that the rotating component is driven to rotate along the second rotating direction by the rotating driving component, if the second detection component does not detect the second detection trigger element within the second time range, it can be determined that the inward shrinking state of the cleaning device is abnormal. The first time range and the second time range can be the same or different, which is not limited in the present embodiment.

[0075] For example, taking the cleaning device as the machine, the inward shrinking state as the inward shrinking working condition, the outward shrinking state as the outward shrinking working condition, the rotating driving component as the rotating driving module, the first detection trigger element as the detection element 1, the second detection trigger element as the detection element 2, and the first time range and the second time range being the same as time T, for example, as shown in Figure 5 Step S501, the machine is started.

[0076] Step S502, it is analyzed whether the cleaning component of the machine needs to be in the inward shrinking working condition. If yes, step S503 is executed, otherwise, step S510 is executed.

[0077] Step S503, in the case that the cleaning component of the machine needs to be in the inward shrinking working condition, it is judged whether the detection element 2 is working (i.e., rotating). If yes, step S509 is executed, otherwise, step S504 is executed.

[0078] Step S504, in the case that the detection element 2 is not working, the rotating driving module is controlled to rotate forward (i.e., rotate in the clockwise direction).

[0079] Step S505, it is judged whether the detection element 2 is working within time T, i.e., whether the detection element 2 rotates to the position that can trigger the detection module within time T. If yes, step S509 is executed, otherwise, step S506 is executed.

[0080] Step S506, in the case that the detection element 2 cannot rotate to the position that can trigger the detection module within time T, it is determined that the machine may have abnormality such as locked-rotor, jamming, etc., and the escape operation is executed.

[0081] Step S507, it is judged whether the machine escapes successfully within time T1. If yes, step S509 is executed, otherwise, step S508 is executed.

[0082] Step S508, an abnormality warning is issued, and the work is stopped.

[0083] Step S509, it is determined that the machine is running normally, and the work is stopped.​

[0084] Step S510, in the case where the cleaning component of the machine does not need to be in the retracted condition, it is determined whether the cleaning component needs to be in the outward swinging condition, if yes, step S511 is executed, otherwise, step S513 is executed.

[0085] Step S511, in the case where the cleaning component of the machine needs to be in the outward swinging condition, it is determined whether the detection element 1 is working, i.e. whether the detection element 1 rotates to the position that can trigger the detection module, if yes, step S512 is executed, otherwise, step S514 is executed.

[0086] Step S512, it is determined that the machine is running normally, and the work is stopped.

[0087] Step S513, an abnormality warning is issued, and the work is stopped.

[0088] Step S514, in the case where the detection element 1 is not working, the rotating driving module is controlled to reverse (i.e. rotate in the counterclockwise direction), and rotate to the position that the detection element 1 is working.

[0089] Step S515, it is determined whether the detection element 1 is working within the time T, if yes, step S512 is executed, otherwise, step S516 is executed.

[0090] Step S516, in the case where the detection element 1 cannot rotate to the position that can trigger the detection module within the time T, it is determined that the machine may have abnormality such as locked-rotor or stuck, and a stuck-removing operation is performed.

[0091] Step S517, it is determined whether the machine successfully removes the stuck within the time T1, if yes, step S512 is executed, otherwise, step S518 is executed.

[0092] Step S518, an abnormality warning is issued, and the work is stopped.

[0093] According to the embodiment, it is determined whether the cleaning device has abnormality according to the rotating time, which can improve the efficiency and accuracy of determining whether the cleaning device has abnormality.

[0094] In one exemplary embodiment, in the case where it is determined that the running state of the cleaning component is abnormal, the cleaning device is controlled to perform a specified operation to restore the running state of the cleaning component to normal, comprising: S71, in the case where it is determined that the outward swinging state of the cleaning device is abnormal, the rotating component is driven to rotate along the second rotating direction by the rotating driving component; S72, in the case where the second detection component detects the second detection triggering element within a third time range, it is determined that the running state of the cleaning device is restored to normal.

[0095] In a case where it is determined that the running state of the cleaning component is abnormal, the specified operation performed by the control cleaning device can be to control the rotating component to reverse. In the embodiment, in a case where it is determined that the outward swinging state of the cleaning device is abnormal, the rotating component can be driven to rotate along the second rotating direction by the rotating driving component.

[0096] In a case where the second detection component detects the second detection trigger element within the third time range, it can be determined that the outward swinging state abnormality can be caused by the fact that the outward swinging cannot be rotated to the position due to the obstruction, and in a case where the inward shrinking is normally completed, it can be determined that the running state of the cleaning device returns to normal. Here, the third time range can be the same as or different from the sizes of the aforementioned first time range and the second time range, and the embodiment is not limited in this regard.

[0097] Optionally, in a case where the outward swinging state abnormality occurs at different positions and the inward shrinking is normally completed, it can be determined that the outward swinging state abnormality can be caused by the fact that the components inside the cleaning device cannot normally rotate, and an abnormal alarm information can be directly sent to prompt the user to check the cleaning device. Through the embodiment, in a case where the outward swinging state of the cleaning component is abnormal, the running state of the cleaning device can be restored by reversing the rotating component, and the efficiency of the cleaning device in escaping from the trouble can be improved.

[0098] In an example embodiment, the above method further includes: S81, in a case where the second detection component does not detect the second detection trigger element within the third time range, the rotating driving component is controlled to stop driving the rotating component to rotate, and an abnormal alarm information is sent.

[0099] In a case where the outward swinging state of the cleaning device is abnormal, and the rotating component is driven to rotate along the second rotating direction by the rotating driving component, in a case where the second detection component does not detect the second detection trigger element within the third time range, it indicates that the outward swinging state and the inward shrinking state of the cleaning device are both abnormal, the rotating driving component can be controlled to stop driving the rotating component to rotate, and an abnormal alarm information can be sent.

[0100] Through the embodiment, in a case where the outward swinging state and the inward shrinking state are both abnormal, an abnormal alarm information is directly sent, the cleaning device can be prevented from wasting a long time in self-escaping from the trouble, and the intelligence of the cleaning device can be improved.

[0101] In an example embodiment, in a case where it is determined that the running state of the cleaning component is abnormal, the specified operation performed by the control cleaning device is to control the rotating component to reverse. In the embodiment, in a case where it is determined that the outward swinging state of the cleaning device is abnormal, the rotating component can be driven to rotate along the second rotating direction by the rotating driving component. S91, in the case of determining that the retraction state of the cleaning device is abnormal, controlling the cleaning device to move a distance along a target direction, and driving the rotating component to rotate along a second rotating direction by the rotating driving component; S92, in the case of detecting the second detection trigger element by the second detection component within a fourth time range, determining that the running state of the cleaning device returns to normal.

[0102] Due to the abnormality of the retraction state of the cleaning device, it may be that the cleaning component cannot be retracted due to the blocking of external obstacles, etc. In this embodiment, in the case of determining that the retraction state of the cleaning device is abnormal, the cleaning device can be controlled to move a distance along a target direction. At the same time, after determining that the cleaning device may leave the obstacle, the cleaning component can be controlled to retract again, that is, the rotating component is driven to rotate along a second rotating direction by the rotating driving component. Here, the target direction can be a direction different from the moving direction of the cleaning device before the abnormality of the retraction state.

[0103] In the case of detecting the second detection trigger element by the second detection component within a fourth time range from the start of driving the rotating component to rotate along the second rotating direction, it can be determined that the running state of the cleaning device returns to normal. The fourth time range can be the same as the aforementioned first time range, second time range or third time range, or can be different.

[0104] Optionally, in the case of determining that the retraction state of the cleaning device is abnormal, the cleaning component can also be controlled to move in a direction opposite to the previous retraction state, that is, the rotating component is driven to rotate along a first rotating direction by the rotating driving component. And in the case of detecting the first detection trigger element by the first detection module within a fifth time range, it is determined that the running state of the cleaning device returns to normal. Here, the fifth time range can be the same as the aforementioned first time range, second time range, third time range or fourth time range, or can be different.

[0105] Through the present embodiment, in the case of determining that the retraction state of the cleaning component is abnormal, the cleaning device is controlled to leave the current area and retracts again to restore the running state of the cleaning device, which can improve the escape efficiency of the cleaning device.

[0106] In one exemplary embodiment, the above method further comprises: S101, in the case of not detecting the second detection trigger element by the second detection component within a fourth time range, controlling the rotating driving component to stop driving the rotating component to rotate, and issuing an abnormal alarm information.

[0107] From the beginning of the driving rotating part rotating along the second rotating direction, in the case that the second detection part does not detect the second detection trigger element in the fourth time range, it can be determined that the operation state of the cleaning device cannot be restored to normal by replacing the location of the device, in the embodiment, the rotating driving part can be controlled to stop driving the rotating part to rotate, and abnormal alarm information can be sent.

[0108] Optionally, when the cleaning device is restored to normal in the manner of driving the rotating part to rotate along the first rotating direction by the rotating driving part as described above, if the first detection module does not detect the first detection trigger element in the fifth time range, the rotating driving part can also be controlled to stop driving the rotating part to rotate, and abnormal alarm information can be sent.

[0109] Through the embodiment, in the case that the cleaning device cannot be restored to normal after the cleaning device is controlled to perform the specified operation, abnormal alarm information can be directly sent, which can avoid wasting a long time for the cleaning device to escape from the trouble by itself, and improve the intelligence of the cleaning device.

[0110] In one example embodiment, the above method further comprises: S111, obtaining position information of the cleaning device, wherein the position information of the cleaning device is used to indicate the position of the cleaning device in the cleaning area; S112, in the case that the distance between the cleaning device and the edge of the cleaning area is less than or equal to the preset distance threshold according to the position information of the cleaning device, generating a first rotating instruction, wherein the first rotating instruction is used to instruct the rotating driving part to drive the driving part to rotate along the first rotating direction; S113, in the case that the distance between the cleaning device and the edge of the cleaning area is greater than the preset distance threshold according to the position information of the cleaning device, and the cleaning part is in the outward swinging state, generating a second rotating instruction, wherein the second rotating instruction is used to instruct the rotating driving part to drive the driving part to rotate along the second rotating direction.

[0111] When the cleaning device is in the working state, whether it needs to perform the edge cleaning can be determined according to the position of the cleaning device, and whether the instruction for controlling the cleaning part to retract or swing outward is needed to be sent can be determined correspondingly. In the embodiment, for the cleaning device in the working state, the position information of the cleaning device can be obtained. Here, the position information of the cleaning device can be used to indicate the position of the cleaning device in the cleaning area.

[0112] In a case where it is determined according to the position information of the cleaning device that the distance between the cleaning device and the edge of the cleaning area is less than or equal to a preset distance threshold, it is indicated that the cleaning device is close to the edge of the cleaning area, and edge cleaning is needed, and the first rotation instruction can be generated. Here, the preset distance threshold can be a preset distance threshold. The first rotation instruction can be used to instruct the rotation driving component to drive the driving component to rotate in the first rotation direction.

[0113] In a case where it is determined according to the position information of the cleaning device that the distance between the cleaning device and the edge of the cleaning area is greater than the preset distance threshold, and the cleaning component is in the outward swinging state, the second rotation instruction can be generated. Here, the second rotation instruction is used to instruct the rotation driving component to drive the driving component to rotate in the second rotation direction.

[0114] Through the present embodiment, the control of the outward swinging or inward shrinking of the cleaning component is determined according to the position of the cleaning device and the distance from the edge of the cleaning area, which can improve the flexibility of the cleaning device and improve the efficiency of edge cleaning.

[0115] The movement control method of the cleaning device in the present embodiment will be explained and described below in combination with optional examples. In the optional examples, the cleaning device is a cleaning robot, and the first time range and the second time range are time T.

[0116] The present optional example provides a kind of swing type cleaning module motion control method, as shown in Figure 3 And Figure 4 The flow of the movement control method of the cleaning device in the present optional example can include the following steps: Step 1, determine the running state (inward shrinking or outward swinging) of the cleaning component according to the current position of the cleaning robot.

[0117] Step 2, when the cleaning component is in the inward shrinking state and the cleaning component needs to swing outward, control the swing component 2 to swing outward along the rotation center 6, and when the rotating component 1 turns to a certain position within time T, the detection trigger element 7 on the rotating component 1 triggers the detection component 4, thereby giving a detection rotation module rotation to position instruction, and the rotation driving component 3 stops working.

[0118] Step 3, when the detection trigger element 7 does not trigger the detection component 4 within time T, it is determined that the cleaning device has an abnormality, and a trouble shooting operation is performed.

[0119] Step 4, when the trouble shooting is not successful within time T1, an abnormality warning is issued.

[0120] Step 5, when the cleaning component is in the outward swing state and needs to be retracted, the swing component 2 is controlled to swing inward along the rotation center 6, and when the rotating component 1 rotates to a certain position within a time T, the detection trigger element 8 on the rotating component 1 triggers the detection component 5, thereby giving a detection rotating module rotation to position instruction, and the rotating driving component 3 stops working.

[0121] Step 6, when the detection trigger element 8 does not trigger the detection component 5 within a time T, it is determined that the cleaning device has an abnormality, and a disentanglement operation is performed.

[0122] Step 7, when the disentanglement is not successful within a time T1, an abnormality warning is given.

[0123] According to the optional example, whether the cleaning component needs to swing outward is determined according to the position of the cleaning device in the cleaning area, which can improve the cleaning efficiency of the cleaning area. In addition, whether the cleaning device is in a trapped state is determined according to the rotation time of the outward swing or the inward retraction state, which can improve the accuracy of the judgment of the running state of the cleaning device.

[0124] It should be noted that, for the foregoing method embodiments, in order to simply describe, they are all expressed as a series of action combinations, but those skilled in the art should know that the present application is not limited to the action sequence described, because according to the present application, certain steps can be performed in other sequences or simultaneously. Secondly, those skilled in the art should know that the embodiments described in the specification all belong to preferred embodiments, and the actions and modules involved are not necessarily essential to the present application.

[0125] From the above description of the embodiments, those skilled in the art can clearly understand that the method according to the above embodiments can be realized by means of software and a necessary general hardware platform, and of course it can also be realized by hardware, but in many cases the former is a better embodiment. Based on such understanding, the technical solutions of the present application can be embodied in the form of a software product, which is stored in a storage medium (such as a ROM (Read-Only Memory), a RAM (Random Access Memory), a magnetic disk, an optical disk), and includes a plurality of instructions for causing an end device (which can be a mobile phone, a computer, a server, or a network device) to execute the method described in each embodiment of the present application.

[0126] According to another aspect of the embodiments of the present application, a mobile control device of a cleaning device for implementing the above-mentioned mobile control method of the cleaning device is also provided. Figure 6 is a structural block diagram of an optional mobile control device of a cleaning device according to the embodiments of the present application, like Figure 6As shown, the apparatus can include: The first driving unit 602 is configured to drive the rotating component of the cleaning device to rotate through the rotating driving component of the cleaning device in response to the obtained rotating instruction, so as to control the swinging component of the cleaning device to swing, wherein one end of the swinging component is connected with the cleaning component, and the cleaning component switches between the outward swinging state and the inward retracting state in the process of swinging of the swinging component, the outward swinging state is a state that at least part of the cleaning component swings outward of the cleaning device, and the inward retracting state is a state that at least part of the cleaning component retracts inward of the cleaning device. The detection unit 604 is connected with the first driving unit 602 and is configured to detect the detection trigger element on the rotating component through the detection component on the rotating driving component, so as to determine the running state of the cleaning component, wherein the detection trigger element is configured to control the position to which the rotating component is allowed to rotate. The first control unit 606 is connected with the detection unit 604 and is configured to control the cleaning device to perform a specified operation to restore the running state of the cleaning component to normal in the case that the running state of the cleaning component is determined to be abnormal.

[0127] It should be noted that the first driving unit 602 in this embodiment can be configured to perform the above step S202, the detection unit 604 in this embodiment can be configured to perform the above step S204, and the first control unit 606 in this embodiment can be configured to perform the above step S206.

[0128] Through the above modules, the rotating component of the cleaning device is driven to rotate through the rotating driving component of the cleaning device in response to the obtained rotating instruction, so as to control the swinging component of the cleaning device to swing, wherein one end of the swinging component is connected with the cleaning component, and the cleaning component switches between the outward swinging state and the inward retracting state in the process of swinging of the swinging component, the outward swinging state is a state that at least part of the cleaning component swings outward of the cleaning device, and the inward retracting state is a state that at least part of the cleaning component retracts inward of the cleaning device; the detection trigger element on the rotating component is detected through the detection component on the rotating driving component, so as to determine the running state of the cleaning component, wherein the detection trigger element is configured to control the position to which the rotating component is allowed to rotate; and the cleaning device is controlled to perform a specified operation to restore the running state of the cleaning component to normal in the case that the running state of the cleaning component is determined to be abnormal, which can solve the problem that the accuracy of state judgment is low in the prior art according to the stay time to judge the running state of the cleaning device, and improve the accuracy of judging the running state of the cleaning device.

[0129] In one example embodiment, the detection unit includes: The first determining module is configured to determine that the rotating component rotates to a first preset position along a first rotating direction when the first detection trigger element on the rotating component is detected by the first detection component on the rotating driving component, wherein, at the first preset position, the cleaning component is in an outward swinging state and swings outward to a most outward position allowed to be swung to. The second determining module is configured to determine that the rotating component rotates to a second preset position along a second rotating direction when the second detection trigger element on the rotating component is detected by the second detection component on the rotating driving component, wherein, at the second preset position, the cleaning component is in an inward retracting state and retracts inward to a most inward position allowed to be retracted to.

[0130] In an example embodiment, the rotating component is connected to the rotating driving component through a gear, the first detection trigger element is a tooth protruding from the gear, the second detection trigger element is another tooth protruding from the gear, and the first detection trigger element and the second detection trigger element are located on two sides of the rotating driving component.

[0131] In an example embodiment, the device further comprises: The first sending unit is configured to send an outward swinging to position instruction to the rotating driving component through the first detection component to instruct the rotating driving component to stop driving the rotating component to continue rotating along the first rotating direction after determining that the rotating component rotates to the first preset position along the first rotating direction.

[0132] In an example embodiment, the device further comprises: The second driving unit is configured to drive the rotating component to rotate along the second rotating direction through the rotating driving component to control the working state of the cleaning component to switch from the outward swinging state to the inward retracting state in response to the acquired first state switching instruction after determining that the rotating component rotates to the first preset position along the first rotating direction.

[0133] In an example embodiment, the device further comprises: The second sending unit is configured to send an inward retracting to position instruction to the rotating driving component through the second detection component to instruct the rotating driving component to stop driving the rotating component to continue rotating along the second rotating direction after determining that the rotating component rotates to the second preset position along the second rotating direction.

[0134] In an example embodiment, the device further comprises: The third driving unit is configured to drive the rotating component to rotate along the first rotating direction through the rotating driving component to control the working state of the cleaning component to switch from the inward retracting state to the outward swinging state in response to the acquired second state switching instruction after determining that the rotating component rotates to the second preset position along the second rotating direction.

[0135] In an example embodiment, the detection unit further includes: The third determination module is configured to determine that the outward swing state of the cleaning device is abnormal in a case where the first detection component does not detect the first detection trigger element within a first time range during a process in which the rotating component is driven to rotate along the first rotating direction by the rotating driving component. The fourth determination module is configured to determine that the inward swing state of the cleaning device is abnormal in a case where the second detection component does not detect the second detection trigger element within a second time range during a process in which the rotating component is driven to rotate along the second rotating direction by the rotating driving component.

[0136] In an example embodiment, the first control unit includes: The driving module is configured to drive the rotating component to rotate along the second rotating direction by the rotating driving component in a case where the outward swing state of the cleaning device is determined to be abnormal. The fifth determination module is configured to determine that the running state of the cleaning device returns to normal in a case where the second detection component detects the second detection trigger element within a third time range.

[0137] In an example embodiment, the apparatus further includes: The second control unit is configured to control the rotating driving component to stop driving the rotating component to rotate and issue an abnormal alarm information in a case where the second detection component does not detect the second detection trigger element within the third time range.

[0138] In an example embodiment, the first control unit includes: The execution module is configured to control the cleaning device to move a distance along a target direction and drive the rotating component to rotate along the second rotating direction by the rotating driving component in a case where the inward swing state of the cleaning device is determined to be abnormal. The sixth determination module is configured to determine that the running state of the cleaning device returns to normal in a case where the second detection component detects the second detection trigger element within a fourth time range.

[0139] In an example embodiment, the apparatus further includes: The execution unit is configured to control the rotating driving component to stop driving the rotating component to rotate and issue an abnormal alarm information in a case where the second detection component does not detect the second detection trigger element within the fourth time range.

[0140] In an example embodiment, the apparatus further includes: The acquisition unit is configured to acquire position information of the cleaning device, wherein the position information of the cleaning device is used to indicate a position of the cleaning device in a cleaning area. The first generating unit is configured to generate a first rotating instruction in a case where the distance between the cleaning device and the edge of the cleaning area is less than or equal to the preset distance threshold according to the position information of the cleaning device, wherein the first rotating instruction is used to instruct the rotating driving component to drive the driving component to rotate in a first rotating direction. The second generating unit is configured to generate a second rotating instruction in a case where the distance between the cleaning device and the edge of the cleaning area is greater than the preset distance threshold and the cleaning component is in the outward swinging state according to the position information of the cleaning device, wherein the second rotating instruction is used to instruct the rotating driving component to drive the driving component to rotate in a second rotating direction.

[0141] It should be noted that the above modules and the examples and application scenarios realized by the corresponding steps are the same, but are not limited to the content disclosed in the above embodiments. It should be noted that the above modules as part of the device can run in the hardware environment as shown in Figure 1 The hardware environment includes a network environment.

[0142] According to another aspect of the embodiments of the present application, a storage medium is also provided. Optionally, in the present embodiment, the above-mentioned storage medium can be used to execute the program code of any one of the above-mentioned moving control methods of the cleaning device in the embodiments of the present application.

[0143] Optionally, in the present embodiment, the above-mentioned storage medium can be located on at least one of the plurality of network devices in the network shown in the above-mentioned embodiments.

[0144] Optionally, in the present embodiment, the storage medium is configured to store program code for executing the following steps: S1, in response to the obtained rotating instruction, driving the rotating component of the cleaning device to rotate through the rotating driving component of the cleaning device, to control the swinging component of the cleaning device to swing, wherein one end of the swinging component is connected to the cleaning component, and in the process of swinging of the swinging component, the cleaning component switches between the outward swinging state and the inward retracting state, the outward swinging state is a state in which at least part of the cleaning component swings outward of the cleaning device, and the inward retracting state is a state in which at least part of the cleaning component retracts inward of the cleaning device; S2, detecting the detection trigger element on the rotating component through the detection component on the rotating driving component, to determine the running state of the cleaning component, wherein the detection trigger element is used to control the position to which the rotating component is allowed to rotate; S3, in a case where the running state of the cleaning component is determined to be abnormal, controlling the cleaning device to perform a specified operation, so as to restore the running state of the cleaning component to normal.

[0145] Optionally, specific examples in the embodiment can refer to the examples described in the above embodiments, and details thereof are not described herein again.

[0146] Optionally, in the embodiment, the storage medium can include, but is not limited to, a U disk, a ROM, a RAM, a mobile hard disk, a magnetic disk or an optical disk, and various storage program codes.

[0147] According to another aspect of the embodiment of the present application, an electronic device for implementing the mobile control method of the cleaning device is also provided, which can be a server, a terminal, or a combination thereof.

[0148] Figure 7 is a structural block diagram of an optional electronic device according to the embodiment of the present application, as shown in Figure 7 including a processor 702, a communication interface 704, a memory 706 and a communication bus 708, wherein the processor 702, the communication interface 704 and the memory 706 complete mutual communication through the communication bus 708, wherein, the memory 706 is configured to store a computer program; the processor 702 is configured to execute the computer program stored in the memory 706 to implement the following steps: S1, in response to the obtained rotating instruction, driving the rotating part of the cleaning device through the rotating driving part of the cleaning device to rotate, to control the swinging part of the cleaning device to swing, wherein one end of the swinging part is connected with the cleaning part, and the cleaning part switches between an outward swinging state and an inward retracting state in the process of swinging of the swinging part, the outward swinging state is a state that at least part of the cleaning part swings outward of the cleaning device, and the inward retracting state is a state that at least part of the cleaning part retracts inward of the cleaning device; S2, detecting the detection trigger element on the rotating part through the detection part on the rotating driving part to determine the running state of the cleaning part, wherein the detection trigger element is used to control the position to which the rotating part is allowed to rotate; S3, in the case that the running state of the cleaning part is determined to be abnormal, controlling the cleaning device to perform a specified operation to make the running state of the cleaning part normal.

[0149] Optionally, in the embodiment, the communication bus can be a PCI (Peripheral Component Interconnect, Peripheral Component Interconnect) bus, or an EISA (Extended Industry Standard Architecture, Extended Industry Standard Architecture) bus, etc. The communication bus can be divided into an address bus, a data bus, a control bus, etc. For the convenience of representation, Figure 7 ​Only one bus or one type of bus can be present, but it is contemplated that more than one bus, and / or other communication means, can be present in the electronic device. The communication interface allows for data to be transferred between the electronic device and other devices.

[0150] The memory described above can include a RAM, and can also include a non-volatile memory, for example, at least one disk memory. Alternatively, the memory can also be at least one storage device located away from the aforementioned processor.

[0151] As an example, the memory 706 described above can include, but is not limited to, the first driving unit 602, the detection unit 604 and the first control unit 606 in the mobile control device of the cleaning device described above. In addition, other module units in the mobile control device of the cleaning device described above can also be included, but are not limited to, and will not be described in this example.

[0152] The processor described above can be a general-purpose processor, and can include, but is not limited to, a CPU (Central Processing Unit), a NP (Network Processor), etc. It can also be a DSP (Digital Signal Processing), an ASIC (Application Specific Integrated Circuit), an FPGA (Field-Programmable Gate Array) or other programmable logic device, a discrete gate or transistor logic device, a discrete hardware component.

[0153] Alternatively, the specific examples in the present embodiment can refer to the examples described in the above embodiments, and the present embodiment will not be described here.

[0154] Those skilled in the art can understand that Figure 7 The structure shown is only schematic, and the device implementing the mobile control method of the cleaning device can be a terminal device, which can be a smart phone (such as an Android phone, an iOS phone, etc.), a tablet computer, a palm computer, a Mobile Internet Device (MID), a PAD, etc. Figure 7 It does not limit the structure of the electronic device described above. For example, the electronic device can also include more or less components (such as network interfaces, display devices, etc.) than Figure 7 shown, or have a different configuration than Figure 7 shown.

[0155] Those skilled in the art can understand that all or part of the steps of various methods in the above embodiments can be completed by a program instructing the terminal device related hardware, and the program can be stored in a computer readable storage medium, which can include a flash disk, a ROM, a RAM, a magnetic disk or an optical disk, etc.

[0156] The serial numbers of the embodiments of the present application are only for description, and do not represent the advantages and disadvantages of the embodiments.

[0157] The integrated units in the above embodiments, if realized in the form of software function units and sold or used as independent products, can be stored in the above computer readable storage medium. Based on such understanding, the technical solutions of the present application essentially or the parts that make contributions to the prior art or all or part of the technical solutions can be embodied in the form of a software product, which is stored in a storage medium and includes a plurality of instructions for causing one or more computer devices (which can be personal computers, servers or network devices, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present application.

[0158] In the above embodiments of the present application, the description of each embodiment has its own focus, and the parts not described in detail in a certain embodiment can be referred to the relevant description of other embodiments.

[0159] In the several embodiments provided by the present application, it should be understood that the disclosed client can be implemented in other ways. Among them, the above-mentioned device embodiments are only schematic, for example, the division of the units is only a logical function division, and there can be another division way in actual implementation, for example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the units shown or discussed can be indirect coupling or communication connection through some interface, unit or module, and can be electrical or other forms.

[0160] The units described as separate components can or can not be physically separate, and the components shown as units can or can not be physical units, that is, they can be located in one place or distributed on multiple network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the scheme provided in the embodiments.

[0161] In addition, the functional units in each embodiment of the present application can be integrated in one processing unit, or each unit can exist physically, or two or more units can be integrated in one unit. The above integrated unit can be realized in the form of hardware or software function unit.

[0162] The above merely describes the preferred embodiments of the present application, and it should be pointed out that, for those skilled in the art, some improvements and refinements can be made without departing from the principles of the present application, and these improvements and refinements should also be considered as the protection scope of the present application.

Claims

1. A moving control method of a cleaning device, characterized by, The method comprises: In the case that the cleaning component of the cleaning device is in an outward swinging state, a first state switching instruction is obtained; wherein the first state switching instruction is automatically generated by the cleaning device according to current environmental information and its own position and state, or is issued by a user through a client; After determining that the cleaning component is in an outward swinging state, the rotating component is driven to rotate in a second rotating direction by the rotating driving component of the cleaning device in response to the first state switching instruction, so as to control the cleaning component to switch from the outward swinging state to an inward retracting state; Wherein, the cleaning component is in the outward swinging state is determined by the following way: the first detection component on the rotating driving component detects the first detection trigger element on the rotating component, so as to determine that the rotating component has rotated to a first preset position, and in the first preset position, the cleaning component is in the outward swinging state.

2. The method of claim 1, wherein, The first state switching instruction generated by the cleaning device automatically includes at least one of the following situations: according to the position information, it is determined that the cleaning device has left the edge of the cleaning area; It is determined that the cleaning task has been completed; or it is detected that there is an obstacle in front and it is judged that the cleaning component needs to be retracted to avoid.

3. The method of claim 2, wherein, The rotating component is connected with the rotating driving component through a gear, the first detection trigger element is a tooth protruding from the gear, the second detection trigger element is another tooth protruding from the gear, and the first detection trigger element and the second detection trigger element are located on both sides of the rotating driving component.

4. The method of claim 2, wherein, After determining that the rotating component has rotated to the first preset position, the method further comprises: The outward swinging to position instruction is sent to the rotating driving component through the first detection component, so as to instruct the rotating driving component to stop driving the rotating component to continue rotating in the original direction.

5. The method of claim 2, wherein, After the cleaning component switches from the outward swinging state to the inward retracting state, the method further comprises: The inward retracting to position instruction is sent to the rotating driving component through the second detection component on the rotating driving component, so as to instruct the rotating driving component to stop driving the rotating component to continue rotating in the second rotating direction.

6. The method of claim 2, wherein, After the cleaning component switches from the outward swinging state to the inward retracting state, the method further comprises: In response to the obtained second state switching instruction, the rotating component is driven to rotate in a first rotating direction by the rotating driving component, so as to control the working state of the cleaning component to switch from the inward retracting state to the outward swinging state.

7. The method of claim 6, wherein, The method further comprises: In the process of driving the rotating component to rotate in the first rotating direction by the rotating driving component, if the first detection component does not detect the first detection trigger element within a first time range, it is determined that the outward swinging state of the cleaning device is abnormal; In the process of driving the rotating component to rotate in the second rotating direction by the rotating driving component, if the second detection component on the rotating driving component does not detect the second detection trigger element within a second time range, it is determined that the inward retracting state of the cleaning device is abnormal.

8. The method of claim 7, wherein, The method further comprises: In a case where it is determined that the outward swing state of the cleaning device is abnormal, the rotating member is driven to rotate in the second rotating direction by the rotating driving component; In a case where the second detection component detects the second detection trigger element within a third time range, it is determined that the operating state of the cleaning device returns to normal.

9. The method of claim 8, wherein, The method further comprises: In a case where the second detection component does not detect the second detection trigger element within the third time range, the rotating driving component is controlled to stop driving the rotating member to rotate, and an abnormal alarm information is sent out.

10. The method of claim 7, wherein, The method further comprises: In a case where it is determined that the inward swing state of the cleaning device is abnormal, the cleaning device is controlled to move a distance in a target direction, and the rotating member is driven to rotate in the second rotating direction by the rotating driving component; In a case where the second detection component detects the second detection trigger element within a fourth time range, it is determined that the operating state of the cleaning device returns to normal.

11. The method of claim 10, wherein, The method further comprises: In a case where the second detection component does not detect the second detection trigger element within the fourth time range, the rotating driving component is controlled to stop driving the rotating member to rotate, and an abnormal alarm information is sent out.

12. The method according to any one of claims 1 to 11, characterized in that, The method further comprises: Obtaining position information of the cleaning device, wherein the position information of the cleaning device is used to represent the position of the cleaning device in a cleaning area; In a case where it is determined according to the position information of the cleaning device that the distance between the cleaning device and the edge of the cleaning area is less than or equal to a preset distance threshold, a first rotating instruction is generated, wherein the first rotating instruction is used to instruct the rotating driving component to drive the driving member to rotate in a first rotating direction; In a case where it is determined according to the position information of the cleaning device that the distance between the cleaning device and the edge of the cleaning area is greater than a preset distance threshold, and the cleaning member is in the outward swing state, a second rotating instruction is generated, wherein the second rotating instruction is used to instruct the rotating driving component to drive the driving member to rotate in a second rotating direction.

13. A mobile control device for a cleaning apparatus, characterized in that Comprise: The second driving unit is used to obtain a first state switching instruction in a case where the cleaning member of the cleaning device is in an outward swing state; wherein the first state switching instruction is automatically generated by the cleaning device according to current environment information and its own position and state, or is issued by a user through a client; and in response to the first state switching instruction, the rotating member is driven to rotate in a second rotating direction by the rotating driving component of the cleaning device, so as to control the cleaning member to switch from the outward swing state to an inward swing state.

14. A computer readable storage medium, characterized in that, The computer readable storage medium comprises a stored program, wherein the program executes the method of any one of claims 1 to 12 when running. 15.An electronic device comprising a memory and a processor, the electronic device characterized by, The memory stores a computer program, and the processor is configured to execute the method of any one of claims 1 to 12 by the computer program.

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