Cleaning equipment control method and cleaning equipment

Abstract

The embodiment of the invention provides a cleaning equipment control method and cleaning equipment. The cleaning equipment comprises a machine body assembly and a floor brush assembly. The machine body assembly is rotationally connected with the ground brush assembly, and the ground brush assembly comprises a rolling brush and a power assisting assembly; the cleaning equipment has an upright state, and in the upright state, the floor brush assembly supports the machine body assembly and keeps the relative position relation between the machine body assembly and the floor brush assembly. The method comprises the steps that under the condition that cleaning equipment located on a to-be-cleaned face is in an upright state and meets preset conditions, a power assisting assembly is controlled to drive the cleaning equipment to autonomously move along a preset path, and a rolling brush is controlled to rotate to clean the to-be-cleaned face in the autonomous moving process; the autonomous movement of the predetermined path at least comprises a first linear movement along a first advancing direction of the initial orientation of the cleaning equipment, a first steering movement enabling the cleaning equipment to steer different from the first advancing direction, and a second steering movement enabling the cleaning equipment to restore to the first advancing direction after the first steering movement is completed.

Description

TECHNICAL FIELD

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

[0002] A household cleaning machine is mainly used for cleaning and washing the floor surface of a household. The cleaning machine can automatically spray water and clean the surface to be cleaned by a rolling brush, and suck the sewage and stains on the rolling brush into the sewage tank of the machine, so as to realize the functions of rapid cleaning and stain collection.

[0003] The cleaning action of the cleaning machine needs to be operated by the user through the handle. When the user is forced to interrupt the cleaning due to other factors, the cleaning machine can only stand upright in the original place and wait for the user to come back and start again. If the user leaves for a long time without starting the cleaning task again, the wet surface of the rolling brush of the cleaning machine will be in contact with the surface to be cleaned for a long time, which will cause damage to the surface to be cleaned if the surface to be cleaned is made of wood or the like.

[0004] Therefore, how to enable the cleaning machine to autonomously perform the cleaning task during the idle period when the user leaves, improve the intelligence of the cleaning machine, and reduce the damage to the ground caused by the long-time contact of the rolling brush with the ground, is a problem to be solved. SUMMARY

[0005] Therefore, the embodiments of the present application provide a cleaning equipment control method and cleaning equipment.

[0006] According to a first aspect of the embodiments of the present application, a cleaning equipment control method is provided, the cleaning equipment comprising: a body assembly and a floor brush assembly; the body assembly is rotationally connected with the floor brush assembly, the floor brush assembly comprises a rolling brush and a power-assisted assembly; the cleaning equipment has a standing state, in the standing state, the floor brush assembly supports the body assembly and maintains the relative positional relationship between the body assembly and the floor brush assembly. The method comprises: When the cleaning equipment located at the surface to be cleaned is in the standing state and meets a predetermined condition, the power-assisted assembly is controlled to drive the cleaning equipment to autonomously move along a predetermined path, and the rolling brush is controlled to rotate to clean the surface to be cleaned during the autonomous movement. The autonomous movement along the predetermined path at least comprises: a first straight-line movement in a first advancing direction of an initial orientation of the cleaning equipment, a first turning movement to turn the cleaning equipment to a direction different from the first advancing direction, and a second turning movement to restore the orientation of the cleaning equipment to the first advancing direction after completing the first turning movement.

[0007] In some embodiments, the autonomous movement along the predetermined path further comprises: a second linear movement in a second travel direction opposite to the first travel direction.

[0008] In some embodiments, a movement duration of the first linear movement is equal to a movement duration of the second linear movement; or; a movement distance of the first linear movement is equal to a movement distance of the second linear movement.

[0009] In some embodiments, the controlling the assisting assembly to drive the cleaning device to perform the first turning movement comprises: after the second linear movement is completed, controlling the assisting assembly to drive the cleaning device to perform the first turning movement based on a turning duration.

[0010] In some embodiments, the autonomous movement along the predetermined path further comprises: a third linear movement in the first travel direction after the second turning movement is completed; a fourth linear movement in the second travel direction after the third linear movement is completed.

[0011] In some embodiments, the autonomous movement along the predetermined path further comprises: a fifth linear movement in the second travel direction after the second turning movement is completed.

[0012] In some embodiments, the predetermined condition is satisfied, comprising at least one of: a movement instruction indicating the cleaning device to perform the autonomous movement is received; the cleaning device is in the upright state for a first duration.

[0013] In some embodiments, the assisting assembly comprises two assisting wheels with their axes located on the same line, and the axes of the assisting wheels are parallel to the rotation axis of the rolling brush. the assisting wheels are located at the rear side of the rolling brush in the first travel direction.

[0014] In some embodiments, the method further comprises: performing the first and second turning movements by differential rotation of the two assisting wheels.

[0015] In some embodiments, the method further comprises at least one of: when the cleaning device moves in the first travel direction, controlling the assisting wheels and the rolling brush to roll towards the first travel direction; The control device is configured to control the booster wheel to roll towards a second direction of movement opposite to the first direction of movement, and control the rolling brush to roll towards the first direction of movement when the cleaning device moves along the second direction of movement.

[0016] In some embodiments, the cleaning device comprises a pose sensor configured to determine a direction of movement of the cleaning device. The method further comprises: determining a difference between a current direction of movement of the cleaning device and a direction of the predetermined path based on a pose signal of the pose sensor, and adjusting the direction of movement of the cleaning device.

[0017] In some embodiments, the control of the booster assembly to drive the cleaning device to move autonomously along the predetermined path comprises: controlling the booster assembly to drive the cleaning device to move autonomously along the predetermined path for at least one round.

[0018] In some embodiments, the cleaning device comprises a proximity sensor disposed on the brush assembly and configured to determine a distance between the cleaning device and an obstacle. The method further comprises: controlling the booster wheel to be in an open or closed state in response to a detection signal of the proximity sensor during the control of the booster assembly to drive the cleaning device to move autonomously along the predetermined path.

[0019] According to a second aspect of embodiments of the present disclosure, a cleaning device is provided, which comprises a body assembly, a brush assembly, and a controller. The body assembly is rotationally connected to the brush assembly. The brush assembly comprises a rolling brush and a booster assembly. The cleaning device has an upright state, in which the brush assembly supports the body assembly and maintains a relative positional relationship between the body assembly and the brush assembly. The controller is configured to control the booster assembly to drive the cleaning device to move autonomously along a predetermined path when the cleaning device on a to-be-cleaned surface is in the upright state and meets a predetermined condition, and control the rolling brush to clean the to-be-cleaned surface during the autonomous movement. The autonomous movement at least comprises a first straight movement along a first direction of movement in which the cleaning device is initially oriented, a first turning movement to turn the cleaning device to a direction different from the first direction of movement, and a second turning movement to restore the cleaning device to be oriented towards the first direction of movement after the first turning movement.

[0020] In some embodiments, the autonomous movement along the predetermined path further comprises: a second linear movement in a second travel direction opposite to the first travel direction.

[0021] In some embodiments, a movement duration of the first linear movement is equal to a movement duration of the second linear movement; or; a movement distance of the first linear movement is equal to a movement distance of the second linear movement.

[0022] In some embodiments, the controller is specifically configured to: after the second linear movement is completed, control the assisting assembly to drive the cleaning device to perform the first turning movement based on a turning duration.

[0023] In some embodiments, the autonomous movement of the predetermined path further comprises: a third linear movement in the first travel direction after the second turning movement is completed; a fourth linear movement in the second travel direction after the third linear movement is completed.

[0024] In some embodiments, the autonomous movement of the predetermined path further comprises: a fifth linear movement in the second travel direction after the second turning movement is completed.

[0025] In some embodiments, the predetermined condition is satisfied, including at least one of: a movement instruction indicating the cleaning device to perform the autonomous movement is received; the cleaning device is in the upright state for a first duration.

[0026] In some embodiments, the assisting assembly comprises two assisting wheels with their axes located on the same line, and the axes of the assisting wheels are parallel to the rotation axis of the roller brush. the assisting wheels are located at the rear side of the roller brush in the first travel direction.

[0027] In some embodiments, the controller is further configured to: perform the first turning movement and the second turning movement by controlling differential rotation of the two assisting wheels.

[0028] In some embodiments, the controller is further configured to at least one of: when the cleaning device moves in the first travel direction, control the assisting wheels and the roller brush to roll towards the first travel direction; when the cleaning device moves in a second travel direction opposite to the first travel direction, control the assisting wheels to roll towards the second travel direction, and control the roller brush to roll towards the first travel direction.

[0029] In some embodiments, the cleaning device comprises a pose sensor configured to determine a moving direction of the cleaning device; The controller is further configured to: determine a difference between a current moving direction of the cleaning device and a direction of the predetermined path based on a pose signal of the pose sensor, and adjust the moving direction of the cleaning device.

[0030] In some embodiments, the controller is specifically configured to comprise: control the power-assisted component to drive the cleaning device to perform at least one round of autonomous movement along the predetermined path.

[0031] In some embodiments, the cleaning device comprises a proximity sensor disposed on the brush assembly and configured to determine a distance between the cleaning device and an obstacle; The controller is further configured to: In the process of controlling the power-assisted component to drive the cleaning device to perform autonomous movement along the predetermined path, the controller is further configured to control the power-assisted wheel to be in an open or closed state in response to a detection signal of the proximity sensor.

[0032] Embodiments of the present disclosure provide a cleaning device control method and a cleaning device. The cleaning device comprises a body assembly and a brush assembly; the body assembly is rotationally connected to the brush assembly, and the brush assembly comprises a rolling brush and a power-assisted component; the cleaning device has an upright state, in which the brush assembly supports the body assembly and maintains a relative positional relationship between the body assembly and the brush assembly; the method comprises: when the cleaning device located on a to-be-cleaned surface is in the upright state and meets a predetermined condition, controlling the power-assisted component to drive the cleaning device to perform autonomous movement along a predetermined path, and controlling the rolling brush to rotate to clean the to-be-cleaned surface in the process of performing the autonomous movement; wherein the autonomous movement along the predetermined path at least comprises: first straight-line movement in a first advancing direction of an initial orientation of the cleaning device, first turning movement to turn the cleaning device to a direction different from the first advancing direction, and second turning movement to restore the cleaning device to the first advancing direction after completing the first turning movement. In this way, starting autonomous movement and cleaning when the predetermined condition is met can reduce damage caused by long-time contact and soaking of the rolling brush of the cleaning device with the to-be-cleaned surface. Through the straight-line movement along the predetermined path, the cleaning device can automatically perform a cleaning task when a user is not present, and through the turning movement, the cleaning coverage area of the cleaning device when automatically performing a cleaning task can be increased, and the cleaning effect can be improved. Meanwhile, the utilization efficiency of the cleaning device is improved. BRIEF DESCRIPTION OF DRAWINGS

[0033] Figure 1A cleaning device structure schematic diagram according to an exemplary embodiment Figure One ; Figure 2 A cleaning device structure schematic diagram according to an exemplary embodiment Figure Two ; Figure 3 A cleaning device control method flowchart diagram according to an exemplary embodiment Figure 4 A cleaning device moving path schematic diagram according to an exemplary embodiment Figure One ; Figure 5 A cleaning device moving path schematic diagram according to an exemplary embodiment Figure Two ; Figure 6 A cleaning device moving path schematic diagram according to an exemplary embodiment Figure Three ; Figure 7 A cleaning device moving path schematic diagram according to an exemplary embodiment Figure Four ; Figure 8 A cleaning device moving path schematic diagram according to an exemplary embodiment Figure Five ; Figure 9 A cleaning device moving path schematic diagram according to an exemplary embodiment Figure Six ; Figure 10 A cleaning device moving path schematic diagram according to an exemplary embodiment Figure Seven ; Figure 11 A cleaning device moving path schematic diagram according to an exemplary embodiment Figure Eight . DETAILED DESCRIPTION

[0034] In order to make the technical solutions and beneficial effects of the present application more obvious and easy to understand, the following will be described in detail by means of specific embodiments. The drawings are not necessarily drawn to scale, and local features can be enlarged or reduced to more clearly show the details of local features; unless otherwise defined, the technical and scientific terms used herein have the same meaning as the technical and scientific terms in the technical field to which the present application belongs.

[0035] The embodiments of the present disclosure are not exhaustive, but only illustrate some embodiments, and are not specific limitations on the protection scope of the present disclosure. In the case of no contradiction, each step in an embodiment can be implemented as an independent embodiment, and the steps can be combined arbitrarily, for example, the scheme after removing part of the steps in an embodiment can also be implemented as an independent embodiment, and the order of the steps in an embodiment can be exchanged arbitrarily, in addition, the optional implementation manners in an embodiment can be combined arbitrarily; in addition, the embodiments can be combined arbitrarily, for example, part or all steps of different embodiments can be combined arbitrarily, an embodiment can be combined with optional implementation manners of other embodiments arbitrarily.

[0036] In each embodiment of the present disclosure, the terms and / or descriptions between the embodiments are consistent if there is no special description and logical conflict, and can be referred to each other, and the technical features in different embodiments can be combined to form new embodiments according to their inherent logical relationship.

[0037] The terms used in the embodiments of the present disclosure are only for the purpose of describing the specific embodiments, and not as a limitation on the present disclosure.

[0038] In the embodiments of the present disclosure, unless otherwise specified, the elements expressed in singular form, such as "one", "a", "the", "above", "said", "preceding", "this" and the like, can represent "one and only one", and can also represent "one or more", "at least one" and the like. For example, in the case of using articles such as "a", "an", "the" and the like in English, the noun after the article can be understood as singular expression, and can also be understood as plural expression.

[0039] In the embodiments of the present disclosure, "plurality" means two or more.

[0040] In some embodiments, the terms "at least one of", "one or more", "a plurality of", "multiple" and the like can be replaced with each other.

[0041] In some embodiments, the description of "at least one of A, B", "A and / or B", "A in one case, B in another", "one of A or B", etc. can include the following technical solutions according to the situation: in some embodiments, A (A is executed regardless of B); in some embodiments, B (B is executed regardless of A); in some embodiments, A and B are selected from A and B (A and B are selectively executed); in some embodiments, A and B (A and B are executed). When there are more branches such as A, B, C, etc., the above is similar.

[0042] In some embodiments, the description of "A or B" and the like can include the following technical solutions according to the situation: in some embodiments, A (A is executed regardless of B); in some embodiments, B (B is executed regardless of A); in some embodiments, A and B are selected from A and B (A and B are selectively executed). When there are more branches such as A, B, C, etc., the above is similar.

[0043] The prefix words "first", "second" and the like in the embodiments of the present disclosure are only used to distinguish different description objects, and do not constitute a limitation on the position, order, priority, value or content of the description object. The description of the description object should be referred to the description in the context of the claims or embodiments, and should not be limited by the prefix word. For example, the description object is "field", and the ordinal words before "field" in "first field" and "second field" do not limit the position or order between "fields", and "first" and "second" do not limit whether the "fields" modified by them are in the same message or not, nor limit the order of "first field" and "second field". For another example, the description object is "level", and the ordinal words before "level" in "first level" and "second level" do not limit the priority between "levels". For another example, the value of the description object is not limited by the ordinal word, and can be one or more. For example, "first device", the value of "device" can be one or more. In addition, the objects modified by different prefix words can be the same or different, for example, the description object is "device", and "first device" and "second device" can be the same device or different devices, and their types can be the same or different; for another example, the description object is "information", and "first information" and "second information" can be the same information or different information, and their contents can be the same or different.

[0044] In some embodiments, "including A", "containing A", "for indicating A", "carrying A" can be interpreted as directly carrying A, or indirectly indicating A.

[0045] In some embodiments, the terms "…", "determining …", "in the case of …", "when …", "when …", "if …", etc. can be replaced with each other.

[0046] In some embodiments, the terms "greater than", "greater than or equal to", "not less than", "more than", "more than or equal to", "not less than", "higher than", "higher than or equal to", "not lower than", "above", and the like can be replaced with each other, and the terms "less than", "less than or equal to", "not greater than", "fewer than", "fewer than or equal to", "not more than", "lower than", "lower than or equal to", "not higher than", "below", and the like can be replaced with each other.

[0047] In addition, each element, each row, or each column in the table of the embodiments of the present disclosure can be implemented as an independent embodiment, and any combination of any element, any row, or any column can also be implemented as an independent embodiment.

[0048] Specifically, referring to FIGS. 1 and 2, Figure 1 and Figure 2 As shown, the cleaning device at least includes a body assembly 1 and a floor brush assembly 2; the body assembly 1 (not shown) is rotationally connected with the floor brush assembly 2, the top of the body assembly 1 is provided with a handle 11, and the floor brush assembly 2 can move on a surface to be cleaned.

[0049] In one possible implementation, the user can realize the movement of the floor brush assembly 2 on the surface to be cleaned and control the moving direction of the floor brush assembly 2 by pushing and pulling the handle 11.

[0050] In one possible implementation, the floor brush assembly 2 at least has a partial driving force for driving the movement of the body assembly 1, the user provides partial or full driving force for the movement of the floor brush assembly 2 through the handle 11, and the user can realize the control of the moving direction of the floor brush assembly 2 through the handle 11.

[0051] In one possible implementation, the floor brush assembly 2 can include a floor brush body 21, a controller (not shown), a power-assisted assembly 22, and a rolling brush 23.

[0052] In one possible implementation, the floor brush assembly 2 and / or the body assembly 1 further include a sensing system (not shown).

[0053] In one possible implementation, the cleaning device further includes a clean water tank, a sewage tank, and a dust suction device. Any one of the clean water tank, the sewage tank, and the dust suction device can be arranged on the floor brush assembly 2 or the body assembly 1.

[0054] The above controller can include a microcontroller unit (MCU). Of course, the above controller can also include other devices capable of having a control function.

[0055] In one possible implementation, the above-mentioned rolling brush 23 is located in the main brush cavity at the bottom of the floor brush body 21. The main brush cavity is in communication with the suction channel of the cleaning device.

[0056] In one possible implementation, the cleaning device further comprises a water spraying device for spraying clean water from the clean water tank to the rolling brush 23 and a water squeezing strip for scraping the dirty water generated after cleaning the surface to be cleaned off the rolling brush 23 and sucking the dirty water into the dirty water tank by the suction device.

[0057] Referring to Figure 1 and Figure 2 , the assisting assembly 22 is arranged on the floor brush body 21 and is used to support the movement of the floor brush assembly 2. The assisting assembly 22 can be powered.

[0058] The above-mentioned sensor system can include at least one of a visual sensor, a laser sensor, a gyroscope, an accelerometer, a speed sensor, a mechanical sensor, an infrared sensor, an ultrasonic sensor, a visual sensor, etc. to obtain at least one of the motion state information, the position information and the obstacle information of the cleaning device.

[0059] The household floor washing machine mainly relies on manual operation of the user for cleaning. When the user interrupts the cleaning task and makes the floor washing machine in an upright state, the wet rolling brush surface will be in contact with the surface to be cleaned for a long time. This long soaking, especially for materials such as wood floors, can cause damage to the floor. In addition, the existing floor washing machine cannot autonomously perform the cleaning task during the idle period when the user leaves, which limits the intelligent level of the device.

[0060] The embodiment provides a cleaning device control method, the cleaning device comprising: a body assembly and a floor brush assembly; the body assembly is rotationally connected with the floor brush assembly, and the floor brush assembly comprises a rolling brush and an assisting assembly; the cleaning device has an upright state, and in the upright state, the floor brush assembly supports the body assembly and maintains the relative positional relationship between the body assembly and the floor brush assembly. As Figure 3 shown, the specific steps of the method include: Step 301: When the cleaning device located at the surface to be cleaned is in the upright state and meets a predetermined condition, the assisting assembly is controlled to drive the cleaning device to move autonomously along a predetermined path, and the rolling brush is controlled to rotate to clean the surface to be cleaned during the autonomous movement.

[0061] The autonomous movement along the predetermined path at least includes: a first straight line movement in a first advancing direction of an initial orientation of the cleaning device, a first turning movement to turn the cleaning device to a direction different from the first advancing direction, and a second turning movement to restore the orientation of the cleaning device to the first advancing direction after completing the first turning movement.

[0062] Here, the cleaning equipment control method can be implemented by the controller of the cleaning equipment, such as a floor scrubber. The assist component can be a part of the floor brush assembly used to drive the cleaning equipment to move.

[0063] In one possible implementation, the power assist component can provide propulsion for forward, backward, and steering. For example, the power assist component can be implemented using powered casters, tracks, and / or wheels.

[0064] The upright position refers to the posture in which the cleaning equipment can stand stably and vertically on the ground when it is not cleaning or moving, in which case the floor brush assembly bears the weight of the main body assembly.

[0065] In one possible implementation, the cleaning device being in the upright state can include the cleaning device being positioned on the surface to be cleaned and in an upright state. Here, when the cleaning device is located at the base station, autonomous movement may not be triggered.

[0066] Predefined conditions may include specific conditions that trigger the cleaning equipment to initiate autonomous movement and cleaning tasks, such as a user-defined time point or a specific environmental condition detected by the equipment.

[0067] Autonomous movement along a predetermined path allows cleaning equipment to move along a pre-set path or pattern on the surface to be cleaned without human intervention.

[0068] The initial direction of travel for the cleaning equipment can be the direction the user is facing when they are holding the cleaning equipment. For example, the direction the user is moving forward when holding the cleaning equipment.

[0069] In one possible implementation, the roller brush is located at one end of the floor brush assembly, and the orientation of the end where the roller brush is located can be used as the first direction of travel.

[0070] In some embodiments, the assisting component includes two assisting wheels with their axes aligned on the same straight line, the axes of which are parallel to the rotation axis of the roller brush; the assisting wheels are located on the rear side of the roller brush in the first direction of travel.

[0071] like Figure 1 and Figure 2 As shown, specifically, the assist assembly includes two assist wheels with their axes aligned on the same straight line. These two assist wheels can be located at the bottom of the cleaning device, sharing a common axis of rotation, for supporting and driving the cleaning device. The assist wheels can be equipped with a drive component to drive the assist wheels and move the cleaning device.

[0072] The differential speed can be generated by equipping each booster wheel with an independent driving motor, and adjusting the rotating speed or rotating direction of the two motors to generate the differential speed, so as to realize the accurate steering of the cleaning device. Alternatively, the relative rotating speed of the two booster wheels can be controlled by a common driving source in combination with a differential mechanism or an independent braking mechanism to achieve the steering purpose.

[0073] The axis of the booster wheel is parallel to the rotating axis of the roller brush, and the parallel relationship improves the coordination of the booster wheel and the roller brush when the cleaning device moves.

[0074] The booster wheel can be arranged at the rear side of the roller brush in the first advancing direction, as shown in FIGS. 1A and 1B, and the booster wheel can provide a pushing force when the cleaning device moves in the first advancing direction. Figure 1 2 The booster wheel can be arranged at the rear side of the roller brush in the first advancing direction, as shown in FIGS. 1A and 1B, and the booster wheel can provide a pushing force when the cleaning device moves in the first advancing direction.

[0075] The first straight movement can be a straight movement of the cleaning device in the first advancing direction under the driving of the booster wheel. The first steering movement can be a movement in which the cleaning device changes its advancing direction to a new direction different from the first advancing direction, so as to cover a different area from the cleaning area when the cleaning device moves in the first straight movement, and increase the cleaning area of the cleaning device.

[0076] The second steering movement can be a movement in which the cleaning device changes its advancing direction again after completing the first steering movement, so as to restore or approach the initial first advancing direction. Since the cleaning device such as a scrubber does not have a positioning function, the state of the cleaning device can be determined by restoring to the first advancing direction, and subsequent further control can be facilitated.

[0077] In one possible implementation, the first steering movement and the second steering movement include steering during movement. The cleaning device can move while steering, so that the cleaning device can cover more areas without staying in place.

[0078] Specifically, the roller brush and the booster assembly can be integrated inside the floor brush assembly. The roller brush can be a cylindrical brush head, which is driven by a motor to rotate at a high speed, and removes stains on the ground in a physical friction manner. The booster assembly can be composed of one or more booster wheels, which are driven by independent motors or a common motor with the roller brush to provide the power required for the movement of the cleaning device. For example, the booster assembly can include two booster wheels at the bottom of the floor brush assembly, and the device can be controlled to move forward or backward by controlling the rotation of the booster wheels.

[0079] ​The cleaning device is designed to be stably in an upright state. In this state, the bottom of the brush assembly is in contact with the surface to be cleaned and bears the weight of the body assembly, thereby supporting the entire device. The rotating connection mechanism between the body assembly and the brush assembly can be locked or self-locked by gravity to maintain the relative positional relationship between the two and ensure that the device does not tip over when it is upright. For example, a mechanical limiting structure can be provided at the connection between the body assembly and the brush assembly, which can prevent the body assembly from further tilting forward or backward when the device is in an upright position.

[0080] When the cleaning device is in an upright state and meets a predetermined condition, the autonomous movement function can be started. The predetermined condition can be a simple timer, such as automatically triggering after the device is placed upright for a period of time, or a start signal sent by the user through the device interface or remote controller. When the predetermined condition is met, the controller sends a driving instruction to the booster assembly to start working, thereby pushing the cleaning device to move along a predetermined path. For example, the control system can send a start signal to the motor of the booster assembly to make the motor rotate at a predetermined speed and direction, thereby driving the device to start moving.

[0081] While the cleaning device is moving autonomously, the roller brush is also driven to rotate by the control system. The rotation of the roller brush can be synchronized with the movement of the device to ensure that the roller brush can continuously brush the ground in the area where the device moves. For example, when the booster assembly drives the device to move forward, the motor of the roller brush is also activated to rotate at a predetermined speed, thereby completing the cleaning work on the path where the device moves.

[0082] The predetermined path of autonomous movement can include multiple stages. One of the stages is the first straight movement, i.e. the cleaning device moves in a straight line in the first direction of travel along its initial orientation for a distance. For example, the cleaning device can be programmed to first move straight forward for a fixed distance, such as one meter, to clean the area in front of it after starting.

[0083] After completing the first straight movement, the cleaning device performs a first turning movement to change its direction of travel. This turning can be achieved by controlling the left and right booster wheels of the booster assembly to rotate at different speeds or directions, thereby making the device turn in an arc. For example, the device can be controlled to turn left or right by a predetermined angle, such as 45 degrees, so that it faces a new direction that is 45 degrees from the initial first direction of travel.

[0084] After completing the first turning movement, the cleaning device performs a second turning movement. The purpose of the second turning movement is to make the cleaning device return to or approach its initial first direction of travel in order to perform subsequent cleaning or movement tasks.

[0085] In one possible implementation, the steering angle of the first steering movement is opposite to that of the second steering movement. For example, if the first steering movement is a 45-degree left turn, then the second steering movement could be a 45-degree right turn, thereby causing the device to face back towards its original direction of travel.

[0086] Thus, by initiating autonomous movement and cleaning when predetermined conditions are met, damage caused by prolonged contact and immersion of the cleaning equipment's roller brush with the surface to be cleaned can be reduced. Through linear movement along a preset path, the cleaning equipment can automatically perform cleaning tasks when the user is not present. By changing direction, the cleaning coverage area can be increased, improving cleaning effectiveness. This also enhances the utilization efficiency of the cleaning equipment.

[0087] In some embodiments, the method further includes: The first steering movement and the second steering movement are performed by the differential rotation of the two assist wheels.

[0088] Differential rotation refers to two drive wheels that rotate at different speeds. For example, ... Figure 2 As shown, when the cleaning equipment needs to turn left while moving in the first direction of travel, the rotational speed of the left assist wheel can be controlled to be lower than that of the right assist wheel, or the left assist wheel can be rotated in the opposite direction while the right assist wheel rotates in the forward direction, thereby generating a torque that causes the cleaning equipment to turn to the left. Conversely, when the cleaning equipment needs to turn right while moving in the first direction of travel, the rotational speed of the right assist wheel can be controlled to be lower than that of the left assist wheel, or the right assist wheel can be rotated in the opposite direction while the left assist wheel rotates in the forward direction. This differential rotation mechanism allows the cleaning equipment to flexibly adjust its direction of travel to achieve the first and second turning movements within a predetermined path.

[0089] In some embodiments, the autonomous movement along the predetermined path further includes: After completing the first linear movement, a second linear movement is performed in a second direction of travel opposite to the first direction of travel.

[0090] After the first linear movement is completed, it may include: the first linear movement has reached a preset distance or time. For example, the control system can calculate the movement distance based on the encoder data of the drive motor of the assist component, or time the movement based on a preset movement duration.

[0091] The second direction of travel, which is opposite to the first direction of travel, may include a reversal of the drive direction of the assist component of the cleaning device after it has completed the movement in the first direction of travel, so that the cleaning device can move along a path that is completely opposite to the previous direction of travel.

[0092] The second straight movement can be a movement of the cleaning device along a second direction of travel while maintaining a straight path. The distance or duration of the straight movement can be the same as the first straight movement, or can be adjusted according to cleaning needs, for example by controlling the driving speed and duration of the power-assisted component to accurately control, or by inertial measurement unit (IMU) or odometer data to ensure the straightness and distance of the movement, etc.

[0093] After completing the first straight movement, the cleaning device performs a second straight movement in the opposite direction, thereby achieving reciprocating cleaning in the same area. The reciprocating cleaning mode increases the number of cleaning covers for the same cleaning surface, effectively compensating for the cleaning omissions that may be caused by single-direction straight movement.

[0094] In some embodiments, the moving duration of the first straight movement is equal to the moving duration of the second straight movement; or; the moving distance of the first straight movement is equal to the moving distance of the second straight movement.

[0095] Here, since the cleaning device such as a scrubber has the ability to determine its own position information, after the first straight movement, the second straight movement in the opposite direction is performed, the purpose of which is to enable the cleaning device to return to the position and attitude (such as orientation) before the first straight movement as much as possible, so as to facilitate subsequent control. Therefore, the duration or distance of the second straight movement can be controlled to enable the cleaning device to return to the position and attitude before the first straight movement as much as possible.

[0096] To ensure the consistency of the first straight movement and the second straight movement in the time dimension, various ways can be adopted. For example, the cleaning device can be built-in a timing module, which starts timing when the power-assisted component drives the cleaning device to perform the first straight movement, and stops driving when the preset first moving duration is reached; then, when performing the second straight movement, the timing module is started again, and the power-assisted component drives the cleaning device to reach the same second moving duration as the first moving duration.

[0097] To ensure the consistency of the first straight movement and the second straight movement in the spatial dimension, various ways can be adopted. For example, the cleaning device can integrate an odometer or encoder for accurately measuring the number of rotations of the power-assisted component or the actual moving distance of the cleaning device. During the first straight movement, the moving distance of the cleaning device from the starting point to the ending point is recorded, and when performing the second straight movement, the power-assisted component is controlled to drive the cleaning device to move a distance equal to the recorded distance.

[0098] Figure 4 A schematic diagram of the moving path of the cleaning device in the top view is shown. As shown in FIG. 1, the cleaning device 100 moves along a first direction of travel to perform a first straight movement, and then moves along a second direction of travel to perform a second straight movement. Figure 4As shown, the path of the first linear movement is indicated by arrow A, and the path of the second linear movement is indicated by arrow B. By controlling the movement duration of the second linear movement to be equal to the movement duration of the first linear movement, or controlling the movement distance of the second linear movement to be equal to the movement distance of the first linear movement, the cleaning device can return to the pose before the first linear movement.

[0099] By controlling the duration or distance of the second linear movement, the consistency of the position of the cleaning device before and after completing the first linear movement and the second linear movement is improved, which facilitates the determination of the pose of the cleaning device by the controller and facilitates subsequent control, thereby improving the accuracy of subsequent control.

[0100] In some embodiments, the control of the power-assisted assembly to drive the cleaning device to perform the first turning movement comprises: After completing the second linear movement, the power-assisted assembly is controlled to drive the cleaning device to perform the first turning movement based on a turning duration.

[0101] Here, the first turning movement can include a left turning movement or a right turning movement in the direction of the first movement state. Here, the first turning movement can include an arc turning movement.

[0102] The turning of the cleaning device can be achieved by differential rotation of the power-assisted wheels. The specific implementation is as described above, and will not be repeated here.

[0103] The first turning movement is started immediately after the cleaning device completes the second linear movement in the second movement direction opposite to the first movement direction. The turning duration can refer to a preset time length for completing a turning action. Driving the cleaning device to perform the first turning movement based on the turning duration means that the controller of the cleaning device will instruct the power-assisted assembly to operate in a specific manner (e.g., at a constant speed difference or a constant turning angular velocity) until the preset duration is reached. For example, the controller can start a timer, and when the timer reaches the preset turning duration, stop or change the driving state of the power-assisted assembly. This time-based control method provides a clear end condition for the turning action, making the turning process predictable and repeatable.

[0104] After the cleaning device completes the second linear movement, the power-assisted assembly is controlled to drive the cleaning device to perform the first turning movement based on a preset turning duration. The preset turning duration ensures that each turning action is completed within a fixed time frame, thereby improving the accuracy and repeatability of the turning, and enabling the cleaning device to more accurately follow a predetermined path for autonomous movement.

[0105] Here, the first turning movement is used to enable the cleaning device to move out of the cleaning range generated by performing the first linear movement and / or the second linear movement, so as to enable the cleaning device to move to an uncleaned area, thereby improving the cleaning coverage. Precise turning helps the cleaning device to more effectively cover the surface to be cleaned, avoid cleaning blind spots, and improve overall cleaning efficiency.

[0106] The cleaning device performs a first turning movement as shown in Figure 5 The cleaning device performs a first turning movement as shown in Figure 5 The path of the first turning movement is shown by arrow C. After completing the first turning movement, the cleaning device performs a second turning movement as shown in Figure 6 The path of the second turning movement is shown by arrow D. The second turning movement can be a movement in which the cleaning device changes its direction of travel again after completing the first turning movement, so as to restore or approach the initial first direction of travel. Since the cleaning device such as a washing machine does not have a positioning function, restoring the direction of travel to the first direction of travel can make the state of the cleaning device clear, thereby facilitating further control.

[0107] In some embodiments, the autonomous movement along the predetermined path further comprises: a third linear movement in the first direction of travel after completing the second turning movement; a fourth linear movement in the second direction of travel after completing the third linear movement.

[0108] Here, the distance of the third linear movement can be determined based on the distance of the first linear movement.

[0109] The distance between the position of the cleaning device before the first linear movement and the position of the cleaning device when the third linear movement is completed is equal to the distance of the first linear movement in the first direction of travel. As shown in Figure 7 The path of the third linear movement is shown by arrow E. The position of the cleaning device when the third linear movement is completed is on the same horizontal line (the first direction of travel as the vertical line) as the position of the cleaning device when the first linear movement is completed.

[0110] In one possible implementation, the movement duration of the fourth linear movement is equal to the movement duration of the second linear movement, or; the movement distance of the fourth linear movement is equal to the movement distance of the second linear movement, as shown in Figure 7 The path of the fourth linear movement is shown by arrow F. The position of the cleaning device when the fourth linear movement is completed is on the same horizontal line (the first direction of travel as the vertical line) as the position of the cleaning device before the first linear movement.

[0111] As shown in Figure 8As shown, by performing a first linear movement and a second linear movement, the cleaning device cleans the first cleaning area (as indicated by arrow X). By performing a first rotational movement, a second rotational movement, a third linear movement, and a fourth linear movement, the cleaning device cleans the second cleaning area (as indicated by arrow Y). Figure 8 The first cleaning area and the second cleaning area are two parallel areas. This expands the coverage area of ​​the automatic cleaning equipment.

[0112] Here, the distance between the first and second cleaning areas can be adjusted by changing the steering duration of the first steering movement, achieving seamless connection or partial overlap, thereby reducing blind spots in automatic cleaning.

[0113] In some embodiments, the autonomous movement along the predetermined path further includes: After completing the second turning movement, a fifth linear movement is performed along the second direction of travel.

[0114] like Figures 6 to 8 As shown, after the cleaning equipment performs the second turning movement, the position of the cleaning equipment is not at the same level as the position after the first linear movement (the first direction of travel is taken as the vertical line), so a third linear movement is required.

[0115] like Figure 9 As shown, if the position of the cleaning equipment after performing the second turning movement is at the same level as the position after performing the first straight movement (with the first direction of travel as the vertical line), then the cleaning equipment can directly perform the fifth straight movement. The position of the cleaning equipment when completing the fifth straight movement is at the same level as the position of the cleaning equipment before performing the first straight movement (with the first direction of travel as the vertical line).

[0116] Thus, through the first rotary movement, the second rotary movement, and the fifth linear movement, the cleaning equipment achieves cleaning of the second cleaning area (such as...). Figure 8 Cleaning of the area indicated by the middle arrow Y. Improving cleaning efficiency.

[0117] In some embodiments, controlling the assist component to drive the cleaning device to move autonomously along a predetermined path includes: The assist component is controlled to drive the cleaning device to perform at least one round of autonomous movement along the predetermined path.

[0118] Here, a round of autonomous movement may include all or part of the following: first linear movement, second linear movement, third linear movement, fourth linear movement, fifth linear movement, first turning movement, and second turning movement.

[0119] The final position of the previous round of autonomous movement can be taken as the initial position of the next round of autonomous movement. For example, after the cleaning device completes the first linear movement, the second linear movement, the first turning movement, the second turning movement, the third linear movement, and the fourth linear movement, the position after the fourth linear movement can be taken as the starting position for a new round of autonomous movement, and a new round of first linear movement, second linear movement, first turning movement, second turning movement, third linear movement, and fourth linear movement can be performed. Alternatively, as shown in FIG. 8, the position after the fourth linear movement can be taken as the starting position for a new round of autonomous movement, and a new round of first turning movement (C'), second turning movement (D'), third linear movement (E'), and fourth linear movement (F') can be performed. Figure 10

[0120] In this way, when the cleaning device repeatedly performs the predetermined path, the number of cleaning times and the coverage range of the same area can be significantly increased, ensuring that even stubborn stains or areas that are easily missed in a single cleaning can be fully cleaned. This iterative cleaning process improves the thoroughness and efficiency of overall cleaning, enabling the cleaning device to better adapt to different levels of cleaning needs.

[0121] In some embodiments, the predetermined condition is satisfied, including at least one of: receiving a movement instruction indicating that the cleaning device performs the autonomous movement; the cleaning device being in the upright state for a first duration.

[0122] Receiving a movement instruction indicating that the cleaning device performs the autonomous movement can include a signal or command for directly instructing the cleaning device to move linearly, and / or a signal or command sent by the user to the cleaning device through an external system for starting the autonomous movement cleaning process of the cleaning device. The movement instruction can be directly input through a user interface (e.g., physical buttons on the cleaning device, touch screen), or wireless instruction sent through a smartphone application (APP) connected to the cleaning device. When the user selects the "autonomous cleaning" mode through the APP and confirms, the APP will generate and send the corresponding movement instruction to the cleaning device. In addition, the movement instruction can also be issued by an external smart home system or a voice assistant device. For example, when the smart home system detects that the user is away from home or receives a cleaning request through a voice instruction, it can send a preset movement instruction to the cleaning device, thereby triggering the autonomous movement of the cleaning device.

[0123] ​The first duration of the cleaning device in the upright state can include a duration in which the cleaning device remains stationary or does not perform a cleaning operation in the upright state. The first duration can be a preset fixed time value, for example, 5 minutes, 10 minutes, or 30 minutes. The controller of the cleaning device continuously monitors whether the device is in the upright state and starts a timer. Once the timer reaches the preset first duration and the device is still in the upright state, autonomous movement is triggered. The first duration can also be dynamically adjusted, for example, based on historical usage patterns of the cleaning device, current power level, or environmental humidity, and other factors, and calculated and adjusted in real time by an intelligent algorithm inside the cleaning device.

[0124] By determining whether to perform autonomous movement through user instructions or the duration of the upright state, a more flexible and reliable triggering mechanism is provided, ensuring that the cleaning device can start autonomous movement in time when the user leaves or idles, thereby effectively avoiding the damage caused by the long-time contact of the roller brush with the surface to be cleaned, especially for sensitive materials such as wood floors, significantly reducing the risk of damage. At the same time, the utilization efficiency of the cleaning device is improved.

[0125] In some embodiments, the method further comprises at least one of: when the cleaning device moves in the first direction of travel, controlling the power-assisted wheels and the roller brushes to roll towards the first direction of travel; when the cleaning device moves in a second direction of travel opposite to the first direction of travel, controlling the power-assisted wheels to roll towards the second direction of travel, and controlling the roller brushes to roll towards the first direction of travel.

[0126] Here, the dust suction device of the cleaning device is provided with a sewage suction port at the bottom of the brush assembly, for sucking the sewage scraped off from the roller brush into the sewage tank. The sewage suction port is usually arranged behind the roller brush in the first direction of travel. Therefore, whether the cleaning device moves in the first direction of travel or in the second direction of travel, the roller brushes can roll towards the first direction of travel to throw the sewage towards the sewage suction port direction, reducing the situation that the roller brushes roll towards the second direction of travel to throw the sewage outside the brush assembly, improving the cleaning effect.

[0127] In some embodiments, the cleaning device comprises a pose sensor for determining the direction of movement of the cleaning device; The method further comprises determining the difference between the current direction of movement of the cleaning device and the direction of the predetermined path based on the pose signal of the pose sensor, and adjusting the direction of movement of the cleaning device.

[0128] Here, the pose sensor can include at least one of a gyroscope and a magnetometer.

[0129] The magnetometer can be used to determine the orientation of the cleaning device in the initial state, and the orientation of the cleaning device in the initial state is taken as the first travel direction.

[0130] The magnetometer can determine the deviation of the current orientation of the cleaning device from the first travel direction in the process of the cleaning device performing straight movement and / or turning movement.

[0131] The gyroscope can be used to sense the angular velocity of the cleaning device in the process of the cleaning device performing straight movement and / or turning movement.

[0132] The controller of the cleaning device receives real-time direction data from the pose sensor and compares it with the target direction of the current stage in the pre-planned predetermined path. This comparison can calculate an angle difference or vector difference to quantify the deviation between the actual travel direction of the cleaning device and the expected direction. After determining the difference between the current movement direction and the direction of the predetermined path, the control system of the cleaning device generates corresponding control instructions according to the size and direction of the difference to correct the travel direction of the cleaning device. For example, by adjusting the rotation speed or turning angle of the assisted components (such as differential drive assisted wheels), a correction torque can be generated to make the cleaning device turn towards the direction of the predetermined path.

[0133] For example, the cleaning device takes the orientation of the cleaning device determined by the magnetometer in the initial state as the first travel direction. When the cleaning device performs the first straight movement, if the current orientation sensed by the magnetometer deviates from the first travel direction, the controller can adjust the differential speed of the assisted wheels to correct the direction deviation. This effectively reduces the path deviation caused by external interference or control errors, significantly improves the accuracy and reliability of autonomous movement, ensures the cleaning coverage and cleaning effect, and reduces the risk of collision or jamming of the device during movement.

[0134] In some embodiments, the cleaning device comprises a side proximity sensor arranged on the brush assembly for determining the distance between the cleaning device and an obstacle; The method further comprises: during the process of controlling the assisted components to drive the cleaning device to perform autonomous movement along the predetermined path, controlling the assisted wheels to be in an open or closed state in response to the detection signal of the side proximity sensor.

[0135] The side proximity sensor can be used to detect the distance between the cleaning device and the surrounding obstacles in real time. Its main function is to provide accurate distance information so that the cleaning device can perceive potential obstacles in its working environment. The side proximity sensor can use ultrasonic sensors, infrared distance sensors, and laser radars, etc.

[0136] In response to the detection signal of the edge sensor, the control mechanism that controls the on / off state of the booster wheel aims to dynamically adjust the moving state of the cleaning device according to the obstacle information provided by the edge sensor, so as to avoid collision or make necessary path adjustment. Specifically, when the edge sensor detects that the distance between the cleaning device and the obstacle is less than the preset safety threshold, the controller can immediately issue an instruction to turn off the booster wheel, so that the cleaning device stops moving and avoids collision with the obstacle. Alternatively, when the edge sensor detects that the obstacle is located on one side of the direction in which the cleaning device travels, the controller can selectively turn on or off part of the booster wheel or adjust the rotating speed of the booster wheel through differential control according to the position and distance information of the obstacle, so that the cleaning device turns to bypass the obstacle. When detecting the obstacle, the controller can also first reduce the rotating speed of the booster wheel to slow down the cleaning device, and at the same time start a more detailed path planning or obstacle avoidance algorithm to determine whether to stop, turn, or pass slowly. This technical feature ensures the safety of the cleaning device during autonomous movement, and through precise control of the booster wheel, the device can respond to environmental changes in a timely manner, effectively reducing the risk of collision.

[0137] As shown in FIG. 8, when the cleaning device performs a second straight-line movement (the path shown by arrow B), if the controller determines based on the detection signal that there is an obstacle on one side of the cleaning device, after completing the second straight-line movement, the controller can control the booster assembly to stop rotating, i.e., not to perform the first turning movement to turn to that side. Alternatively, the controller can also control the booster assembly to perform the first turning movement to turn to the other side. Figure 11 By controlling the start / stop of the booster assembly based on the detection signal of the edge sensor, the safety, stability and reliability of the autonomous movement of the cleaning device in a complex environment are significantly improved, and potential damage to the device itself and the home environment is effectively avoided, so that the cleaning device can efficiently and safely complete the cleaning task without human intervention, further improving the intelligent level of the device.

[0138] The embodiments of the present disclosure also provide a cleaning device, a body assembly, a brush assembly and a controller; the body assembly is rotationally connected with the brush assembly, and the brush assembly comprises a rolling brush and a booster assembly; the cleaning device has a standing state, in which the brush assembly supports the body assembly and maintains the relative positional relationship between the body assembly and the brush assembly.

[0139] ​The controller is configured to: in a case where the cleaning device at the cleaning surface to be cleaned is in the upright state and a predetermined condition is met, control the power-assisted assembly to drive the cleaning device to move autonomously along a predetermined path, and control the roller brush to clean the cleaning surface during the autonomous movement; and wherein the autonomous movement at least includes: a first straight-line movement in a first advancing direction of an initial orientation of the cleaning device, a first turning movement to turn the cleaning device to a direction different from the first advancing direction, and a second turning movement to restore the cleaning device to the first advancing direction after completion of the first turning movement.

[0140] In one possible implementation, the cleaning device includes the scrubber as described in any of the above embodiments.

[0141] In one possible implementation, the controller performs the method for controlling the cleaning device as described in any of the above embodiments, which will not be repeated here.

[0142] A specific example is provided in combination with the above embodiments for illustration.

[0143] I. Automatic cleaning condition triggering of the scrubber 1. The user triggers the scrubber to enter the automatic cleaning mode after pressing the self-cleaning button at the handle for a certain period of time. 2. The device actively detects and enters the automatic cleaning mode after a certain period of time in the upright state (and a prompt is issued without response). II. Cleaning path planning and starting, as shown. Figure 7

[0144] 1. Start (before / when), the device uses the gyroscope or other angle sensor or body pose sensor to calibrate the direction (0° in front) as the first advancing direction. 2.

First forward cleaning

[0145] 2.1 Correction when the body moves forward / backward: The gyroscope of the body is used to determine whether the body moves along a straight line. If it is detected that the body deviates from the advancing direction, the power-assisted wheels are used to correct the deviation and return to the advancing route. 3.

First backward cleaning

[0146] ​4、

Second forward cleaning

Second backward cleaning

[0147] 6、

The Nth round of forward and backward cleaning

[0148] In the description of the specification, the description of "one embodiment", "some embodiments", "illustrative embodiment", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in combination with the embodiments or examples are included in at least one embodiment or example of the present application. In the specification, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the described specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0149] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, but not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A cleaning device control method characterized by, The cleaning device comprises a body assembly and a floor brush assembly; the body assembly is rotationally connected with the floor brush assembly; the floor brush assembly comprises a rolling brush and a power-assisted assembly; the cleaning device has an upright state, in which the floor brush assembly supports the body assembly and maintains a relative positional relationship between the body assembly and the floor brush assembly; The method comprises: When the cleaning device located at the cleaning surface is in the upright state and meets a predetermined condition, the power-assisted assembly is controlled to drive the cleaning device to move autonomously along a predetermined path, and the rolling brush is controlled to rotate to clean the cleaning surface during the autonomous movement; The autonomous movement along the predetermined path at least comprises: a first straight-line movement in a first advancing direction in which the cleaning device initially faces, a first turning movement to turn the cleaning device to a direction different from the first advancing direction, and a second turning movement to restore the cleaning device to face the first advancing direction after the first turning movement.

2. The method of claim 1, wherein, The autonomous movement along the predetermined path further comprises: After the first straight-line movement is completed, a second straight-line movement in a second advancing direction opposite to the first advancing direction.

3. The method of claim 2, wherein: The moving time length of the first straight-line movement is equal to the moving time length of the second straight-line movement; or The moving distance of the first straight-line movement is equal to the moving distance of the second straight-line movement.

4. The method of claim 2, wherein, The control of the power-assisted assembly to drive the cleaning device to move in the first turning movement comprises: After the second straight-line movement is completed, the power-assisted assembly is controlled to drive the cleaning device to move in the first turning movement based on a turning time length.

5. The method of claim 2, wherein, The autonomous movement along the predetermined path further comprises: After the second turning movement is completed, a third straight-line movement in the first advancing direction; After the third straight-line movement is completed, a fourth straight-line movement in the second advancing direction.

6. The method of claim 2, wherein, The autonomous movement along the predetermined path further comprises: After the second turning movement is completed, a fifth straight-line movement in the second advancing direction.

7. The method according to any one of claims 1 to 6, characterized in that, The met predetermined condition comprises at least one of: Receiving a movement instruction indicating that the cleaning device moves autonomously; The cleaning device is in the upright state for a first time length.

8. The method according to any one of claims 1 to 6, characterized in that, The power-assisted assembly comprises two power-assisted wheels with their axes located on the same straight line, and the axes of the power-assisted wheels are parallel to the rotating axis of the rolling brush; The power-assisted wheels are arranged at the rear side of the rolling brush in the first advancing direction.

9. The method of claim 8, wherein, The method further comprises: The first turning movement and the second turning movement are performed by differential rotation of the two power-assisted wheels.

10. The method of claim 8, wherein, The method further comprises at least one of: When the cleaning device moves in the first advancing direction, the power-assisted wheels and the rolling brush are controlled to roll towards the first advancing direction; When the cleaning device moves in the second advancing direction opposite to the first advancing direction, the power-assisted wheels are controlled to roll towards the second advancing direction, and the rolling brush is controlled to roll towards the first advancing direction.

11. The method according to any one of claims 1 to 6, characterized in that, The cleaning device comprises a pose sensor for determining the moving direction of the cleaning device; The method further comprises: determining a difference between a current moving direction of the cleaning device and a direction of the predetermined path based on the pose signal of the pose sensor, and adjusting the moving direction of the cleaning device.

12. The method according to any one of claims 1 to 6, characterized in that, The control of the power-assisted component to drive the autonomous movement of the cleaning device along the predetermined path comprises: controlling the power-assisted component to drive the cleaning device to perform at least one round of the autonomous movement along the predetermined path.

13. The method according to any one of claims 1 to 6, characterized in that, The cleaning device comprises a proximity sensor arranged on the floor brush assembly to determine a distance between the cleaning device and an obstacle; The method further comprises: In the process of controlling the power-assisted component to drive the autonomous movement of the cleaning device along the predetermined path, the power-assisted wheel is controlled to be in an open or closed state in response to the detection signal of the proximity sensor.

14. A cleaning apparatus, characterized by The machine body assembly, the floor brush assembly and the controller; the machine body assembly is rotationally connected with the floor brush assembly, and the floor brush assembly comprises a rolling brush and a power-assisted component; The cleaning device has an upright state, and in the upright state, the floor brush assembly supports the machine body assembly and maintains a relative positional relationship between the machine body assembly and the floor brush assembly. The controller is configured to: when the cleaning device on the to-be-cleaned surface is in the upright state and meets a predetermined condition, control the power-assisted component to drive the autonomous movement of the cleaning device along a predetermined path, and control the rolling brush to clean the to-be-cleaned surface in the process of the autonomous movement; wherein the autonomous movement at least comprises: a first straight-line movement in a first advancing direction of an initial orientation of the cleaning device, a first turning movement to turn the cleaning device to a direction different from the first advancing direction, and a second turning movement to restore the cleaning device to the first advancing direction after completing the first turning movement.

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