Cleaning method and system and storage medium

Abstract

The embodiment of the invention provides a cleaning method and system and a storage medium, and belongs to the technical field of cleaning equipment. The cleaning equipment comprises a machine body and a cleaning part connected to the machine body, the cleaning part is provided with a driving part, the driving part can drive the cleaning part to stretch out and draw back within the maximum external expansion range, and the cleaning method comprises the steps that in the external expansion state of the cleaning part, the cleaning equipment moves to the corner point of an obstacle and rotates; and the rotation angle is detected, and the external expansion distance of the cleaning piece is synchronously adjusted according to the change of the rotation angle so as to clean the corner point of the obstacle. By means of the stepless regulation and control mode that the external expansion distance of the cleaning piece is adjusted by detecting the rotation angle, continuous adjustment with higher precision is achieved, it is ensured that the cleaning piece achieves cleaning with the higher coverage rate on a complex geometric surface, and the continuous adjustment characteristic of stepless regulation and control enables cleaning equipment to operate more stably.

Description

Technical Field

[0001] This invention relates to the field of cleaning equipment technology, and more specifically to a cleaning method, system and storage medium. Background Technology

[0002] In the development of cleaning equipment, cleaning the corners of obstacles has always been a significant technical challenge.

[0003] When cleaning equipment approaches an obstacle such as an interior or exterior corner, its body becomes tangential to the corner, preventing the cleaning components from fully adhering to the corner area. To avoid direct collisions between cleaning components (such as roller brushes, side brushes, or mops) and the wall during rotation, existing products typically employ a retraction avoidance mechanism: the cleaning components automatically retract when the sensor detects proximity to a corner. While this design effectively prevents hard contact between mechanical parts and furniture, protecting both the machine and furniture from damage, it essentially sacrifices cleaning effectiveness in corner areas. Although this design effectively protects the machine and furniture from damage, it significantly limits the cleaning range, directly resulting in corner areas not receiving the necessary thorough cleaning. Over time, dust, hair, debris, and other contaminants tend to accumulate in these areas, gradually forming hard-to-clean dead zones, weakening the overall cleaning effect of the equipment, and particularly affecting the integrity and consistency of whole-house cleaning. Summary of the Invention

[0004] The purpose of this invention is to provide a cleaning method, system, and storage medium that solves the problem of cleaning dead spots and hygiene blind spots caused by the shrinkage and avoidance mechanism of traditional cleaning equipment.

[0005] To achieve the above objectives, embodiments of the present invention provide a cleaning method applied to a cleaning device. The cleaning device includes a body and a cleaning component connected to the body. The cleaning component has a driving member capable of driving the cleaning component to extend and retract within a maximum outward range. The cleaning method includes: With the cleaning component extended outwards, the cleaning device moves to the corner of the obstacle and rotates; The rotation angle is detected and the outward expansion distance of the cleaning component is adjusted synchronously according to the change of the rotation angle to perform cleaning operations on the corner points of obstacles.

[0006] Optionally, the cleaning method further includes: The cleaning equipment was moved to the work area; Detect the edge distance of the cleaning equipment; The outer expansion position of the cleaning component is determined based on the edge distance; The cleaning component is controlled to be in an expanded state according to the expansion setting to perform the cleaning operation.

[0007] Optionally, the cleaning device includes an edge sensor for detecting the edge distance of the cleaning device.

[0008] Optionally, the cleaning equipment is moved to the work area, including: Create an environmental map and delineate obstacle boundaries to determine the work area; Detect the location of obstacles within the working area; The cleaning equipment is driven to move along the boundary of obstacles within the work area.

[0009] Optionally, an environmental map is constructed and the obstacle range is delineated using a front-end sensor, which includes at least one of a binocular sensor, an LDS sensor, and a line laser sensor.

[0010] Optionally, driving the cleaning equipment to travel along the boundary of obstacles in the work area includes: Obtain the vertical distance between the cleaning equipment and the boundary plane containing the corner points of the obstacle; Detect whether the difference between the vertical distance and the preset distance is less than a first preset threshold; If the difference is less than a first preset threshold, it is determined that the cleaning equipment is moving along the obstacle; If the vertical distance is less than a first preset threshold, the walking path of the cleaning equipment is adjusted according to the vertical distance.

[0011] Optionally, driving the cleaning device to move along the boundary of an obstacle within the working area includes: Detect the edge distance of the cleaning equipment; When the edge distance of the cleaning device is detected to be within the maximum outward expansion range of the cleaning component, it is determined that the cleaning device is moving along the obstacle; When it is detected that the edge distance of the cleaning device is not within the maximum outward expansion range of the cleaning component, it is determined that the cleaning device is not moving along the obstacle, and the walking path of the cleaning device is adjusted according to the edge distance.

[0012] Optionally, in the expanded state of the cleaning component, the cleaning device moves to the corner of the obstacle and rotates, including: Detect whether the cleaning equipment is close to the corner of the obstacle; When the cleaning equipment approaches the corner of an obstacle, the cleaning equipment reduces its moving speed.

[0013] Optionally, in the expanded state of the cleaning component, when the cleaning device moves to the corner of the obstacle and rotates, it further includes: Detect whether the cleaning equipment has moved to the corner of the obstacle; When the cleaning equipment moves to the corner of the obstacle, the cleaning equipment stops moving and rotates. The drive cleaning component is retracted from the outward expansion state to the downward position.

[0014] Optionally, detecting the rotation angle and synchronously adjusting the outward extension distance of the cleaning component according to the change in the rotation angle to perform cleaning operations on the corner points of the obstacle includes: Get the rotation angle; Detect the perpendicular distance between the rotation center of the cleaning component and the boundary of the corner point of the obstacle; The estimated outward expansion distance of the cleaning component is calculated based on the rotation angle and vertical distance. Obtain historical cleaning records to determine collision avoidance distances; The target outward expansion distance is determined based on the estimated outward expansion distance and anti-collision distance of the cleaning component; Detect whether the obstacle is a rigid obstacle or a flexible obstacle; When the obstacle is detected to be a rigid obstacle, the cleaning component is adjusted to extend beyond the target distance to perform the cleaning operation; When the obstacle is detected to be a flexible obstacle, the cleaning component is adjusted to extend to a distance slightly greater than the target outward extension distance to perform the cleaning operation.

[0015] Optionally, a pressure sensor or a front-end sensor can be used to detect whether the obstacle is a rigid obstacle or a flexible obstacle.

[0016] Optionally, adjusting the extension of the cleaning component to the target outward distance for cleaning operation includes: Detect whether the target outward expansion distance of the cleaning component is the maximum outward expansion distance; When the target outward extension distance of the cleaning component is the maximum outward extension distance, the cleaning component is driven to extend from the descending position.

[0017] Optionally, the cleaning component is adjusted to extend to the target outward distance for cleaning operations, including driving the cleaning component to swing in a fan shape around the rotation center.

[0018] Optionally, adjusting the extension of the cleaning component to the target outward distance for cleaning operation further includes: Detect whether the extension length of the cleaning component is equal to the target outward expansion distance; When the extension length of the cleaning room is equal to the target outward expansion distance, the cleaning component is driven to retract to clean the floor.

[0019] Optionally, the cleaning component can be extended to the target outward distance for cleaning operations, including using an optical coupler sensor or a pressure sensor to detect the extension length of the cleaning component.

[0020] Optionally, the cleaning method further includes: Detect the edge distance of the cleaning equipment; Detect the extension / retraction length of the currently cleaned component; Adjust the extension length of the current cleaning component according to the edge distance; Drive the cleaning equipment to move along the other boundary of the obstacle.

[0021] Optionally, the cleaning method further includes: Acquire cleaning data for obstacle corners; The cleaning equipment synchronizes the cleaning data; Calculate the degree of dirtiness at the corners of the obstacles based on the cleaning data; If the level of dirt is less than a second preset threshold, the work area is determined to be clean enough. If the level of dirt does not exceed the second preset threshold, the cleaning equipment is driven to move back to the work area for secondary cleaning.

[0022] On the other hand, the present invention also provides a cleaning system, the cleaning system comprising: Cleaning equipment; A cleaning component, disposed on the cleaning equipment, is used to perform the cleaning method as described above to clean obstacles.

[0023] In another aspect, the present invention also provides a computer-readable storage medium storing instructions for being read by a machine to cause the machine to perform any of the cleaning methods described above.

[0024] Through the above technical solutions, this invention provides a cleaning method, equipment, and storage medium. By real-time detection and adjustment of the edge distance, the cleaning component maintains the optimal contact distance with the obstacle at all times; by dynamically adjusting the outward expansion distance of the cleaning component, the cleaning component can closely fit the corner points of the obstacle; by coordinating the contraction and extension of the cleaning component with rotation, further cleaning of the corner area is achieved; and by synchronously adjusting the outward expansion distance of the cleaning component according to the rotation angle, the cleaning process is ensured to be stable and safe. Compared with the prior art, this invention not only achieves comprehensive cleaning of the corner points of the obstacle but also avoids collisions between the cleaning equipment and the corner points of the obstacle, thus improving cleaning efficiency and reliability.

[0025] Other features and advantages of the embodiments of the present invention will be described in detail in the following detailed description section. Attached Figure Description

[0026] The accompanying drawings are provided to further illustrate embodiments of the present invention and form part of the specification. They are used together with the following detailed description to explain the embodiments of the present invention, but do not constitute a limitation thereof. In the drawings: Figure 1 This is a flowchart of a cleaning method according to one embodiment of the present invention; Figure 2 This is a flowchart of a cleaning method according to one embodiment of the present invention; Figure 3 This is a flowchart illustrating the process of driving a cleaning device to a work area according to one embodiment of the present invention; Figure 4 This is a flowchart illustrating, according to an embodiment of the present invention, whether a cleaning device moves along the boundary of an obstacle corner point; Figure 5 This is a flowchart illustrating, according to an embodiment of the present invention, whether a cleaning device moves along the boundary of an obstacle corner point; Figure 6 This is a flowchart illustrating the deceleration of a cleaning device according to an embodiment of the present invention; Figure 7 This is a flowchart illustrating the adjustment of the outer expansion distance of the cleaning component according to one embodiment of the present invention; Figure 8 This is a flowchart illustrating the determination of the timing for the cleaning component to extend, according to one embodiment of the present invention; Figure 9 This is a flowchart of a cleaning method according to one embodiment of the present invention; Figure 10 This is a flowchart of a cleaning method according to one embodiment of the present invention. Detailed Implementation

[0027] The embodiments of the present disclosure will now be described with reference to the accompanying drawings. However, it should be understood that these descriptions are exemplary only and are not intended to limit the scope of the disclosure. In the following detailed description, numerous specific details are set forth to provide a thorough understanding of the embodiments of the present disclosure for ease of explanation. However, it will be apparent that one or more embodiments may be practiced without these specific details. Furthermore, descriptions of well-known structures and techniques are omitted in the following description to avoid unnecessarily obscuring the concepts of the present disclosure.

[0028] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit this disclosure. The terms “comprising,” “including,” etc., as used herein indicate the presence of the stated features, steps, operations, and / or components, but do not exclude the presence or addition of one or more other features, steps, operations, or components.

[0029] The accompanying drawings show some block diagrams and / or flowcharts. It should be understood that some blocks or combinations thereof in the block diagrams and / or flowcharts can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when executed by the processor, these instructions can create means for implementing the functions / operations described in these block diagrams and / or flowcharts. The technology of this disclosure can be implemented in the form of hardware and / or software (including firmware, microcode, etc.). Additionally, the technology of this disclosure can take the form of a computer program product on a computer-readable storage medium storing instructions, which can be used by or in conjunction with an instruction execution system. To achieve the above objectives, the technical solution adopted by the present invention is as follows: In the development of cleaning equipment, cleaning the corners of obstacles has always been a significant technical challenge.

[0030] When cleaning equipment approaches an obstacle such as an inner or outer corner of a wall, its body becomes tangential to the corner, preventing the cleaning components from fully conforming to the corner area. To avoid direct collisions between cleaning components (such as roller brushes, side brushes, or mops) and the wall during rotation, existing products typically employ a retraction avoidance mechanism: when a sensor detects proximity to a corner, the cleaning components automatically retract. While this design effectively prevents hard contact between mechanical parts and furniture, protecting both the machine and furniture from damage, it essentially comes at the cost of sacrificing cleaning effectiveness in corner areas.

[0031] While this design effectively protects machines and furniture from damage, it significantly limits the cleaning range, directly resulting in corner areas not receiving the thorough cleaning they deserve.

[0032] To overcome the shortcomings of existing technologies, after repeated consideration and verification, the inventors discovered that by detecting the dynamic distance between the cleaning device and the corner boundary of an obstacle, the expansion of the cleaning component can be controlled in real time, precisely delivering the cleaning component to corner areas that traditional devices cannot cover. Specifically, when the device moves to the corner of an obstacle, the cleaning component retracts and rotates in place, while simultaneously adjusting the expansion distance according to the change in the rotation angle, thereby greatly improving the cleaning coverage and cleaning effect.

[0033] In view of this, this application provides a cleaning method for cleaning components, which detects changes in the rotation angle and synchronously adjusts the outward expansion distance of the cleaning components according to the changes in the rotation angle to perform cleaning operations on the corners of obstacles. The outward expansion mechanism of the cleaning components allows cleaning components such as mops and brushes to fit closely against the inner wall of the corner, further removing contaminants in the corner area and improving the cleaning coverage.

[0034] The contents of this application will now be described in detail with reference to the accompanying drawings, so that those skilled in the art can have a clearer and more detailed understanding of the contents of this application.

[0035] In this embodiment, the present invention provides a cleaning method applied to a cleaning device. The cleaning device includes a main body and a cleaning component connected to the main body. The cleaning component has a driving component capable of driving the cleaning component to expand to multiple settings. Further, Figure 1 This is a flowchart of a cleaning method according to an embodiment of the present invention, in which the cleaning method includes: In step S1, with the cleaning component extended outwards, the cleaning device moves to the corner of the obstacle and rotates. The corner of the obstacle can be a wall corner, and the shape of the corner can be a right angle, an acute angle, or an obtuse angle. It can also be an irregularly shaped obstacle, such as a plush toy, a beanbag, or a curtain.

[0036] In step S2, the rotation angle is detected and the outward expansion distance of the cleaning component is adjusted synchronously according to the change in rotation angle to perform cleaning operations on the corner points of the obstacle. The cleaning component may include, but is not limited to, a track cleaning cloth, a roller, etc.

[0037] In steps S1 and S2, highly efficient cleaning of obstacle corners is achieved through precise and coordinated steps. The cleaning component, in conjunction with a compound action of rotation in place, continuously monitors changes in the rotation angle and synchronously adjusts the outward expansion distance of the cleaning component. This solves the technical pain point of traditional cleaning equipment's difficulty in handling dust accumulation in corners, while also avoiding the need for manual intervention, significantly improving the automation level of cleaning operations and the quality of edge cleaning.

[0038] Compared to stepless adjustment of the cleaning attachment's length, stepless adjustment allows for more precise and continuous adjustment, enabling the device to achieve multi-angle cleaning posture adjustments with minimal space occupation. This fine control is more suitable for cleaning complex areas such as corners and furniture edges, ensuring higher coverage and friction of the cleaning cloth on complex geometric surfaces. Furthermore, the stepless continuous adjustment characteristic makes the cleaning equipment operate more smoothly, avoiding the jerky feeling when switching between levels. During the movement of the cleaning equipment, this smooth adjustment of the cleaning attachment length provides a more comfortable operating experience, reduces mechanical shock, and extends the equipment's lifespan.

[0039] In one embodiment of the present invention, in order to ensure thorough cleaning of the obstacle boundary, the cleaning device needs to be driven as close as possible to the obstacle boundary. Specifically, this can be as follows: Figure 2 As shown: In step S3, the cleaning equipment is moved to the work area.

[0040] In step S4, the edge distance of the cleaning device is detected. The edge distance is the vertical distance from the cleaning device to the boundary of the obstacle corner.

[0041] In step S5, the outer expansion position of the cleaning component is determined based on the edge distance.

[0042] In step S6, the cleaning component is controlled to be in an expanded state according to the expansion gear position to perform the cleaning operation.

[0043] In steps S3 to S6, this cleaning method achieves cleaning of corner areas and other obstacle points through dynamic detection and coordinated control of the cleaning component's outward expansion. In step S3, the cleaning equipment autonomously navigates to the work area, laying the foundation for subsequent cleaning operations. In step S4, sensors detect in real time the vertical distance between the equipment and the obstacle corner boundary, i.e., the edge distance, providing a precise basis for distance adjustment. In steps S5 and S6, the equipment intelligently adjusts the edge distance to the outward expansion range of the cleaning component, ensuring that the cleaning component can approach the obstacle boundary without collision.

[0044] In this embodiment, the method for detecting the distance can be one of various methods known to those skilled in the art. In a preferred example of the invention, the cleaning device also includes an edge sensor, which can be a linear laser sensor to detect the edge distance of the cleaning device. The linear laser sensor can achieve close-range wide-angle recognition, and can stably detect even complex edge areas such as low baseboards and under sofas and coffee tables. This allows the cleaning device to accurately maintain a very close edge distance, significantly improving the dust removal rate of corners and reducing cleaning dead spots. At the same time, by measuring the dynamic distance to obstacles such as walls and furniture in real time with high precision, unnecessary collisions can be effectively reduced. This not only reduces the risk of the device getting stuck, but also makes its cleaning action smoother, thereby improving the overall cleaning efficiency.

[0045] In this embodiment, step S3 is used to drive the cleaning equipment to the work area that needs to be cleaned. The specific steps for moving the cleaning equipment to the work area can take many forms known to those skilled in the art. In one example of the present invention, step S3 may include, for example... Figure 3 The method shown. In this Figure 3 In this context, step S3 may further include the following steps: In step S31, an environmental map is constructed and the scope of obstacles is delineated to determine the work area.

[0046] In step S32, the location of obstacles within the working area is detected.

[0047] In step S33, the cleaning equipment is driven to move along the boundary of obstacles in the work area.

[0048] In steps S31 to S33, constructing an environmental map and delineating obstacle areas accurately determines the work area, preventing cleaning equipment from operating ineffectively in non-target areas and significantly improving cleaning efficiency. By actively conforming to obstacle boundaries, the system avoids hard collisions with obstacles while achieving comprehensive coverage of complex areas such as corners and furniture edges, significantly improving overall cleaning effectiveness and coverage. Simultaneously, real-time updates to the environmental map and dynamic detection of obstacle positions enable the equipment to adapt to changing working environments and effectively handle unexpected obstacles, further enhancing the stability and reliability of the cleaning process.

[0049] In one embodiment of the invention, a front-end sensor is used to construct an environmental map and delineate obstacle boundaries. This front-end sensor includes at least one of a binocular sensor, an LDS sensor, and a line laser sensor. Through multi-sensor fusion, obstacle boundaries can be delineated more accurately, thereby defining a clear working area.

[0050] In one embodiment of the present invention, in step S13, the cleaning device is driven to walk along the boundary of the obstacle in the work area to clean the boundary of the obstacle. To ensure the cleaning efficiency of the boundary, the vertical distance to the plane containing the corner of the obstacle can be obtained in real time, and the device can be confirmed to be walking stably along the boundary by determining whether the distance is a constant value. Specifically, as shown... Figure 4 As shown, it includes the following steps: In step S331, the vertical distance between the cleaning device and the plane containing the boundary of the corner point of the obstacle is obtained.

[0051] In step S332, it is detected whether the difference between the vertical distance and the preset distance is less than the first preset threshold.

[0052] In step S333, if the difference is less than a first preset threshold, it is determined that the cleaning equipment is moving along the obstacle.

[0053] In step S334, if the vertical distance is less than the first preset threshold, the walking path of the cleaning equipment is adjusted according to the vertical distance.

[0054] In steps S331 to S334, during the process of the cleaning equipment moving along the obstacle boundary, accurate edge-following navigation is ensured by real-time monitoring of the stability of the vertical distance between the equipment and the obstacle corner boundary plane. When the difference is less than a first preset threshold, it is determined that the cleaning equipment is moving along the obstacle. When the vertical distance is less than the first preset threshold, the walking path of the cleaning equipment is adjusted according to the vertical distance. If distance fluctuations are detected, the walking path is dynamically corrected by adjusting the wheel speed difference between the left and right drive wheels. Setting the first preset threshold allows for quick determination of whether the equipment is moving along the obstacle boundary through a pre-set safety distance standard. In actual cleaning environments, factors such as obstacle shape and ground flatness may cause slight fluctuations in the vertical distance. Directly measuring whether it is a constant value may frequently trigger misjudgments due to these fluctuations. The first preset threshold allows for a certain distance deviation; if it is less than the first preset threshold, it is determined to be stable, making the cleaning equipment more tolerant of environmental changes and improving its stability and reliability in complex scenarios.

[0055] On the other hand, edge sensors can be used to detect the distance along the edge to confirm whether the cleaning equipment is moving stably along the boundary. Specifically, such as... Figure 5 As shown, it includes the following steps: In step S335, the edge distance of the cleaning equipment is detected.

[0056] In step S336, when it is detected that the edge distance of the cleaning device is within the maximum outward expansion range of the cleaning component, it is determined that the cleaning device is moving along the obstacle.

[0057] In step S337, when it is detected that the edge distance of the cleaning device is not within the maximum outward expansion range of the cleaning component, it is determined that the cleaning device is not traveling along the obstacle, and the travel path of the cleaning device is adjusted according to the edge distance.

[0058] When a turning point is detected at the boundary line, the cleaning equipment is controlled to reduce its forward speed and increase the sampling frequency to prepare for cleaning the corner points. Specifically, in one embodiment of the invention, such as Figure 6 As shown, the cleaning method may also include: In step S101, it is detected whether the cleaning equipment is close to the corner of the obstacle.

[0059] In step S102, when the cleaning equipment approaches the corner of the obstacle, the cleaning equipment reduces its moving speed.

[0060] In step S103, it is detected whether the cleaning equipment has moved to the corner of the obstacle.

[0061] In step S104, when the cleaning device moves to the corner of the obstacle, the cleaning device stops moving and rotates.

[0062] In step S105, the drive cleaning component is retracted from the outward expansion state to the downward position.

[0063] In steps S101 to S105, when the device is detected approaching the corner of an obstacle, the moving speed is actively reduced and the cleaning component is driven to retract, allowing the cleaning device to approach the corner area in a more stable posture. This reduces the inertial impact of the device at the corner, protecting the mechanical structure and reducing potential damage to the ground or obstacles caused by sudden stops or turns.

[0064] In existing technologies, cleaning equipment often lacks a precise linkage mechanism between dynamic distance and cleaning component expansion when dealing with obstacle corners, resulting in low cleaning coverage, significant corner residue, and lag in cleaning component adjustment, which can easily cause equipment jamming or cleaning blind spots. Therefore, in this embodiment, the present invention employs a stepless adjustment technology that synchronously adjusts the cleaning component expansion distance based on changes in rotation angle, achieving continuous and smooth cleaning coverage. Specifically, as... Figure 7 As shown, the cleaning method also includes the following steps: In step S21, the rotation angle is obtained.

[0065] In step S22, the perpendicular distance between the rotation center of the cleaning component and the boundary of the corner point of the obstacle is detected.

[0066] In step S23, the estimated outward expansion distance of the cleaning component is calculated based on the rotation angle and the vertical distance. In one example of the present invention, specifically, the estimated outward expansion distance of the cleaning component is calculated according to formula (1), including: (1) in, For the estimated outward expansion distance of the cleaning component, The perpendicular distance between the center of rotation of the cleaning component and the boundary of the corner point of the obstacle. It represents the rotation angle.

[0067] In step S24, historical cleaning records are obtained to determine the anti-collision distance.

[0068] In step S25, the target outward expansion distance is determined based on the estimated outward expansion distance and the anti-collision distance of the cleaning component. A preset anti-collision distance is set using historical cleaning records, and the actual outward expansion distance is the calculated outward expansion distance of the cleaning component minus the preset collision distance.

[0069] In step S26, it is detected whether the obstacle is a rigid obstacle or a flexible obstacle.

[0070] In step S27, when the obstacle is detected to be a rigid obstacle, the cleaning component is adjusted to extend to the target outward distance to perform the cleaning operation.

[0071] In step S28, when the obstacle is detected to be a flexible obstacle, the cleaning component is adjusted to extend slightly beyond the target outward distance to perform the cleaning operation. If the sensor identifies the obstacle as a flexible obstacle, such as a plush toy, curtain, or beanbag, the cleaning component can extend beyond the preset target outward distance.

[0072] In steps S21 to S28, by detecting the rotation angle of the cleaning equipment, the movement posture of the cleaning equipment around the obstacle can be perceived in real time. Simultaneously, the vertical distance between the rotation center of the cleaning component and the boundary of the obstacle corner is measured, providing key parameters for subsequent calculations. Based on the real-time data of the rotation angle and vertical distance, the optimal outward extension distance of the cleaning component is dynamically calculated. By setting an anti-collision distance, collisions between the cleaning component and the corner are prevented. Finally, by adjusting the extension of the cleaning component to the target outward extension distance, precise cleaning coverage of the obstacle corner is achieved. This stepless adjustment method, which synchronously adjusts the outward extension distance of the cleaning component according to changes in the rotation angle, enables continuous and smooth changes in the cleaning coverage area. Compared to traditional fixed outward extension or graded adjustment methods, stepless adjustment further eliminates cleaning blind spots, ensuring that the machine always maintains close contact with the corners when turning and cleaning along edges. By responding in real time to changes in the equipment's movement state, the cleaning equipment achieves dynamic matching between cleaning intensity and coverage area, avoiding both mechanical interference caused by excessive outward extension and cleaning omissions caused by insufficient outward extension. This intelligent adjustment mechanism significantly improves the cleaning effect in complex corner areas, enabling cleaning equipment to autonomously adapt to diverse home environment layouts.

[0073] In one embodiment of the present invention, a pressure sensor or a front-end sensor is used to detect whether an obstacle is a rigid obstacle or a flexible obstacle. The pressure sensor, through contact measurement, can accurately distinguish between rigid and flexible obstacles, while the front-end sensor, such as a binocular sensor, enables dynamic environmental monitoring through non-contact measurement.

[0074] In this embodiment, the timing of the cleaning component's extension can be varied and known to those skilled in the art. In one example of the invention, the extension of the cleaning component is adjusted when the outward extension distance of the cleaning component is at its maximum. Specifically, as... Figure 8 As shown, it includes the following steps: In step S271, it is detected whether the target outward expansion distance of the cleaning component is the maximum outward expansion distance.

[0075] In step S272, when the target outward expansion distance of the cleaning component is the maximum outward expansion distance, the cleaning component is driven to extend from the descending position.

[0076] To enhance the cleaning effect at corners, the cleaning component is driven to swing in a fan shape around the rotation center when extended to the target outward distance. This swinging cleaning method combines the positioning advantage of the rotation center with the adjustability of the cleaning component, allowing the device to flexibly adjust the cleaning trajectory in complex boundary environments, avoiding cleaning blind spots caused by mechanical structure limitations, and significantly improving the thoroughness and uniformity of corner cleaning. Furthermore, for stubborn stains in corners, such as pet paw prints and kitchen grease, this invention further enhances the cleaning effect by repeatedly extending and retracting the cleaning component. Specifically, as... Figure 8 As shown, the cleaning method also includes: In step S273, it is detected whether the extension length of the cleaning component is equal to the corresponding outward expansion distance of the cleaning component.

[0077] In step S274, when the extension length of the cleaning component is equal to the corresponding outward expansion distance of the cleaning component, the cleaning component is driven to retract to clean the floor.

[0078] In steps S273 to S274, when the system detects that the length of the cleaning component has reached the preset outward expansion distance, the system automatically drives the cleaning component to retract, which enhances physical friction. When the cleaning component retracts, the scraping force of the cloth on the stain is greatly increased, effectively peeling off stubborn marks and making it easy to thoroughly remove stubborn stains.

[0079] Considering the need to detect the extension length of the cleaning component to adjust it during the rotation of the cleaning equipment, a method can be used. Photoresistors can be symmetrically arranged on both sides of the cleaning component, and a bridge circuit can be used to detect changes in luminous flux. When the cleaning component extends or retracts, the resistance of the photoresistors changes accordingly, and the extension length can be determined through circuit analysis. This method is low-cost, but the surface of the photoresistors is prone to dust accumulation or contamination, leading to decreased sensitivity. Furthermore, the precision resistive elements of the bridge circuit are susceptible to parameter shifts during mechanical vibration, requiring frequent maintenance. Therefore, in one embodiment of this invention, an optocoupler sensor is installed on the cleaning equipment. Multiple optocouplers are used. By detecting changes in the position of a light-shielding plate or reflective mark that moves with the cleaning component, the extension length of the cleaning component is accurately calculated, thereby achieving monitoring of the extension length. The optocoupler sensor adopts a closed optical structure, which can effectively resist interference from dust, water mist, and other elements in the working environment of the cleaning equipment. Its anti-contamination capability is superior to traditional mechanical limit switches, making it more suitable for the humid and dusty conditions commonly encountered in cleaning equipment. In addition, its fast response speed (typically down to the microsecond level) enables it to track the positional changes of the cleaning components during the extension and retraction process in real time, providing timely positional information for the outward expansion control of the cleaning components of the cleaning equipment.

[0080] To thoroughly clean the boundary of the obstacle, after completing the cleaning operation at the diagonal points, the cleaning equipment retracts its cleaning components and travels along the other boundary of the obstacle. Specifically, as shown... Figure 9 As shown, it includes the following steps: In step S7, the edge distance of the cleaning equipment is detected.

[0081] In step S8, the extension length of the current cleaning component is detected.

[0082] In step S9, the extension length of the current cleaning component is adjusted according to the distance along the edge. In step S10, the cleaning device is driven to move along the other boundary of the obstacle. While moving along the other boundary of the obstacle, the cleaning device also determines the outward expansion position of the cleaning component based on the distance along the edge, and controls the cleaning component to be in an outward expansion state according to the outward expansion position for cleaning operations.

[0083] In steps S7 to S10, the cleaning completion status is detected in real time and corner cleaning data is obtained. After confirming that the corner cleaning meets the standard, the cleaning component is actively driven to extend to adjust the device posture. Then, continuous cleaning is carried out along the other boundary of the obstacle, ensuring the cleaning efficiency of the obstacle boundary.

[0084] Furthermore, to ensure the complete removal of stubborn stains from corners, in this implementation method, such as Figure 10 As shown, the cleaning method also includes: In step S11, cleaning data of the corner points of the obstacles is obtained.

[0085] In step S12, the cleaning equipment synchronizes cleaning data. When the cleaning equipment moves, it can synchronize the obstacle images captured by the camera, and combine them with the color difference or particulate matter readings detected by the dirt sensor at that point. This cleaning data is used together to calculate the degree of dirt at the corner of the obstacle, thereby supporting the judgment that the cleaning meets the standards.

[0086] In step S13, the degree of dirtiness at the corner of the obstacle is calculated based on the cleaning data.

[0087] In step S14, if the level of dirt is less than the second preset threshold, the work area is determined to be clean enough.

[0088] In step S15, if the degree of dirtiness is not greater than the second preset threshold, the cleaning device is driven to move to the work area again for secondary cleaning.

[0089] In steps S11 to S15, by uploading data and analyzing the dirt levels at corners, intelligent identification and secondary cleaning of stubborn stains are achieved. When the dirt level in a corner area exceeds the standard, the cleaning equipment is actively driven back to that area for targeted re-cleaning, ensuring that areas prone to dirt accumulation, such as corners, reach a thorough cleaning standard. This closed-loop feedback mechanism based on actual cleaning results effectively solves the problem of residual stains in corners, significantly improves the cleaning quality of complex areas such as furniture edges and corners, and makes the overall cleaning effect more reliable and comprehensive.

[0090] On the other hand, this invention provides a cleaning system comprising a cleaning device and a cleaning component. The cleaning component is mounted on the cleaning device and is used to perform any of the cleaning methods described above to clean obstacles. This dynamic control mechanism completely solves the cleaning blind spot problem caused by the retraction and avoidance of traditional cleaning devices, significantly improving the cleaning effect in complex areas such as corners and furniture edges. Simultaneously, by adjusting the outward expansion distance of the cleaning component in different settings, it avoids hard collisions between the device and the wall surface while achieving further coverage of corner crevices. Furthermore, this cleaning system enhances the adaptability of the device to different environmental conditions, enabling safe and efficient cleaning of tile, wood, and painted walls, providing important technical support for the intelligent upgrading of cleaning equipment.

[0091] In another aspect, the present invention also provides a computer-readable storage medium storing instructions for being read by a machine to cause the machine to perform the cleaning method described above.

[0092] Through the above technical solutions, this invention provides a cleaning method, equipment, and storage medium. By real-time detection and adjustment of the edge distance, the cleaning component maintains the optimal contact distance with the obstacle at all times; by dynamically adjusting the outward expansion distance of the cleaning component, the cleaning component can closely fit the corner points of the obstacle; by coordinating the contraction and extension of the cleaning component with rotation, further cleaning of the corner area is achieved; and by synchronously adjusting the outward expansion distance of the cleaning component according to the rotation angle, the cleaning process is ensured to be stable and safe. Compared with the prior art, this invention not only achieves comprehensive cleaning of the corner points of the obstacle but also avoids collisions between the cleaning equipment and the corner points of the obstacle, thus improving cleaning efficiency and reliability.

[0093] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0094] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0095] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0096] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0097] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0098] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0099] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0100] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0101] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A cleaning method applied to cleaning equipment, characterized in that, The cleaning equipment includes a body and a cleaning component connected to the body. The cleaning component has a driving component that can drive the cleaning component to extend and retract within a maximum outward range. The cleaning method includes: With the cleaning component extended outwards, the cleaning device moves to the corner of the obstacle and rotates; The rotation angle is detected and the outward expansion distance of the cleaning component is adjusted synchronously according to the change of the rotation angle to perform cleaning operations on the corner points of obstacles.

2. The cleaning method according to claim 1, characterized in that, The cleaning method further includes: The cleaning equipment was moved to the work area; Detect the edge distance of the cleaning equipment; The outer expansion position of the cleaning component is determined based on the edge distance; The cleaning component is controlled to be in an expanded state according to the expansion setting to perform the cleaning operation.

3. The cleaning method according to claim 2, characterized in that, The cleaning device includes an edge sensor for detecting the edge distance of the cleaning device.

4. The cleaning method according to claim 2, characterized in that, The cleaning equipment is moved to the work area, including: Create an environmental map and delineate obstacle boundaries to determine the work area; Detect the location of obstacles within the working area; The cleaning equipment is driven to move along the boundary of obstacles within the work area.

5. The cleaning method according to claim 4, characterized in that, An environmental map is constructed and obstacle ranges are delineated using front-end sensors, including at least one binocular sensor, LDS sensor, and line laser sensor.

6. The cleaning method according to claim 4, characterized in that, Driving the cleaning equipment along the boundaries of obstacles in the work area includes: Obtain the vertical distance between the cleaning equipment and the boundary plane containing the corner points of the obstacle; Detect whether the difference between the vertical distance and the preset distance is less than a first preset threshold; If the difference is less than a first preset threshold, it is determined that the cleaning equipment is moving along the obstacle; If the vertical distance is less than a first preset threshold, the walking path of the cleaning equipment is adjusted according to the vertical distance.

7. The cleaning method according to claim 4, characterized in that, Driving the cleaning equipment to move along the boundary of an obstacle within the work area includes: Detect the edge distance of the cleaning equipment; When the edge distance of the cleaning device is detected to be within the maximum outward expansion range of the cleaning component, it is determined that the cleaning device is moving along the obstacle; When it is detected that the edge distance of the cleaning device is not within the maximum outward expansion range of the cleaning component, it is determined that the cleaning device is not moving along the obstacle, and the walking path of the cleaning device is adjusted according to the edge distance.

8. The cleaning method according to claim 1, characterized in that, In the expanded state of the cleaning component, the cleaning device moves to the corner of the obstacle and rotates, including: Detect whether the cleaning equipment is close to the corner of the obstacle; When the cleaning equipment approaches the corner of an obstacle, the cleaning equipment reduces its moving speed.

9. The cleaning method according to claim 8, characterized in that, In the expanded state of the cleaning component, the cleaning device moves to the corner of the obstacle and rotates, further comprising: Detect whether the cleaning equipment has moved to the corner of the obstacle; When the cleaning equipment moves to the corner of the obstacle, the cleaning equipment stops moving and rotates. The drive cleaning component is retracted from the outward expansion state to the downward position.

10. The cleaning method according to claim 1, characterized in that, Detecting the rotation angle and synchronously adjusting the outward extension distance of the cleaning component according to the change of the rotation angle to perform cleaning operations on the corner points of obstacles, including: Get the rotation angle; Detect the perpendicular distance between the rotation center of the cleaning component and the boundary of the corner point of the obstacle; The estimated outward expansion distance of the cleaning component is calculated based on the rotation angle and vertical distance. Obtain historical cleaning records to determine collision avoidance distances; The target outward expansion distance is determined based on the estimated outward expansion distance and anti-collision distance of the cleaning component; Detect whether the obstacle is a rigid obstacle or a flexible obstacle; When the obstacle is detected to be a rigid obstacle, the cleaning component is adjusted to extend beyond the target distance to perform the cleaning operation; When the obstacle is detected to be a flexible obstacle, the cleaning component is adjusted to extend to a distance slightly greater than the target outward extension distance to perform the cleaning operation.

11. The cleaning method according to claim 10, characterized in that, Pressure sensors or front-end sensors are used to detect whether an obstacle is a rigid obstacle or a flexible obstacle.

12. The cleaning method according to claim 10, characterized in that, Adjusting the extension of the cleaning component to the target outward distance for cleaning operation includes: Detect whether the target outward expansion distance of the cleaning component is the maximum outward expansion distance; When the target outward extension distance of the cleaning component is the maximum outward extension distance, the cleaning component is driven to extend from the descending position.

13. The cleaning method according to claim 12, characterized in that, Adjusting the cleaning component to extend beyond the target distance for cleaning operations includes driving the cleaning component to swing in a fan shape around the rotation center.

14. The cleaning method according to claim 13, characterized in that, Adjusting the extension of the cleaning component to the target outward distance for cleaning operation further includes: Detect whether the extension length of the cleaning component is equal to the target outward expansion distance; When the extension length of the cleaning room is equal to the target outward expansion distance, the cleaning component is driven to retract to clean the floor.

15. The cleaning method according to claim 14, characterized in that, Adjusting the extension of the cleaning component to the target outward distance for cleaning operations includes using an optical coupler sensor or a pressure sensor to detect the extension length of the cleaning component.

16. The cleaning method according to claim 4, characterized in that, The cleaning method further includes: Detect the edge distance of the cleaning equipment; Detect the extension / retraction length of the currently cleaned component; Adjust the extension length of the current cleaning component according to the edge distance; Drive the cleaning equipment to move along the other boundary of the obstacle.

17. The cleaning method according to claim 16, characterized in that, The cleaning method further includes: Acquire cleaning data for obstacle corners; The cleaning equipment synchronizes the cleaning data; Calculate the degree of dirtiness at the corners of the obstacles based on the cleaning data; If the level of dirt is less than a second preset threshold, the work area is determined to be clean enough. If the level of dirt does not exceed the second preset threshold, the cleaning equipment is driven to move back to the work area for secondary cleaning.

18. A cleaning system, characterized in that, The cleaning system includes: Cleaning equipment; A cleaning component, disposed on the cleaning equipment, is used to perform a cleaning operation on an obstacle as described in any one of claims 1 to 17.

19. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores instructions for being read by a machine to cause the machine to perform the cleaning method as described in any one of claims 1 to 17.

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