Control method of cleaning device, cleaning device, and cleaning system

Abstract

A control method of a cleaning device, a cleaning device and a cleaning system, relate to the technical field of cleaning devices. The cleaning device comprises a body and a cleaning assembly; the cleaning assembly comprises a swing arm mechanism capable of rotating relative to the body to be in a retracted state and an outward swinging state, and has at least two preset positions in the outward swinging state, and the swing distance relative to the body is different at the at least two preset positions. The method comprises: identifying a cleaning scene in which the cleaning device is currently located, the cleaning scene comprising a body-enterable scene and a body-unenterable scene; when it is identified that the cleaning scene is the body-enterable scene, controlling the cleaning device to perform cleaning work with the swing arm mechanism in the retracted state; and when it is identified that the cleaning scene is the body-unenterable scene, controlling the cleaning device to perform cleaning work with the swing arm mechanism in one of the preset positions in the outward swinging state according to the cleaning scene. The cleaning device can adapt to cleaning in various scenes, improve the cleaning effect, and improve the user experience.

Description

Technical Field

[0001] This application relates to the field of cleaning equipment technology, and in particular to a control method for cleaning equipment, cleaning equipment, and cleaning system. Background Technology

[0002] With the rapid development of smart home technology, robotic vacuum cleaners have been widely used in indoor environments such as homes and offices. Their core function is to achieve automated floor cleaning through autonomous navigation and collaborative cleaning modules. Users have increasingly higher demands for cleaning effectiveness, paying particular attention to areas that are difficult to reach with traditional cleaning tools, such as the undersides of low furniture (often less than 12 cm high) and the baseboard area where walls meet floors. These areas easily accumulate dust, hair, and other pollutants, becoming cleaning blind spots and challenges that affect overall environmental hygiene.

[0003] In existing technologies, to expand the cleaning range, some robotic vacuum cleaners employ a dual-disc mopping system with outward expansion capabilities. This system typically allows for lateral movement of the mop assembly, extending a portion of the mop assembly beyond the robot's edge, thereby expanding the cleaning range and enabling the cleaning of low-lying areas, thus increasing the robot's coverage.

[0004] However, existing designs typically focus on cleaning the flat surfaces of the floor, and are still unable to effectively clean vertical or sloping surfaces (such as the baseboard area where the wall meets the floor), resulting in a limited cleaning range that cannot meet users' refined cleaning needs and leads to a poor user experience. Summary of the Invention

[0005] This application provides a control method for cleaning equipment, a cleaning equipment, and a cleaning system to solve the problems in the aforementioned related technologies.

[0006] To achieve the above objectives, the embodiments of this application provide the following technical solutions:

[0007] The first aspect of this application provides a control method for a cleaning device, applied to a cleaning device including a body and a cleaning component movably connected to the body; the cleaning component includes: a swing arm mechanism including a first end and a second end, the first end being connected to the body, the swing arm mechanism being rotatable relative to the body to be in an inward retracted state and an outward swing state, the swing arm mechanism having at least two preset positions in the outward swing state, the swing arm mechanism having different swing distances relative to the body in the at least two preset positions; and a floor cleaning module connected to the bottom of the swing arm mechanism, at least a portion of the structure of the floor cleaning module being exposed on the outside of the swing arm mechanism.

[0008] The control method includes: identifying the cleaning scenario in which the cleaning equipment is currently located, including scenarios where the equipment can enter and scenarios where the equipment cannot enter; when the cleaning scenario is identified as a scenario where the equipment can enter, controlling the cleaning equipment to perform cleaning work with the swing arm mechanism in an inward state; when the cleaning scenario is identified as a scenario where the equipment cannot enter, controlling the cleaning equipment to perform cleaning work with the swing arm mechanism in an outward state at one of the preset positions according to the cleaning scenario.

[0009] The cleaning equipment in this embodiment of the application, by including a swing arm mechanism that can rotate in multiple positions in the cleaning components and exposing the ground cleaning module to the bottom of the swing arm mechanism, enables the cleaning equipment to cope with various complex ground environments. Combined with a scene recognition control method, the cleaning equipment can intelligently and adaptively adjust to the working conditions.

[0010] Specifically, when an open area accessible to the machine is detected, the swing arm mechanism is retracted, allowing the cleaning equipment to maintain a compact form and perform routine cleaning. When a low-lying or narrow area inaccessible to the machine is detected, the swing arm mechanism is switched to different preset positions in the outward swing state. For example, the swing arm mechanism can extend under shallow furniture for extended cleaning, or it can be switched to another preset position in even lower or extremely narrow gaps, allowing the floor cleaning module to reach as far as possible. This control scheme, which links scene recognition with the switching of preset positions of the swing arm mechanism, enables the cleaning equipment to automatically select the appropriate cleaning configuration based on environmental characteristics. This ensures efficient cleaning in regular areas without human intervention and effectively covers edges, low-lying and narrow spaces that traditional cleaning equipment cannot reach, significantly improving cleaning coverage and adaptability to complex scenes.

[0011] In one possible implementation, the swing arm mechanism includes a side, and when the ground cleaning module is installed to the second end of the swing arm mechanism, the portion of the ground cleaning module extending beyond the side is larger than the portion extending beyond the second end; the preset positions include an inward folding position and an outward swinging position; wherein, when the swing arm mechanism is in the outward swinging position, the swing arm mechanism swings outward a maximum distance relative to the machine body; when the swing arm mechanism is in the inward folding position, the side of the swing arm mechanism is approximately parallel to the traveling direction of the machine body, so that the side of the ground cleaning module extending beyond the side of the swing arm mechanism with the largest dimension is located on one side of the width direction of the machine body.

[0012] By refining the outward swing state into inward and outward swing positions with different geometric features, this cleaning device gains the ability to perform precise operations to cope with different spatial constraints. When the swing arm mechanism is in the outward swing position, it can extend outward to the maximum extent, effectively expanding the lateral coverage of a single cleaning and improving cleaning efficiency in spacious, low-ceilinged spaces such as under beds and sofas. When the swing arm mechanism is in the inward swing position, by changing the relative posture of the swing arm mechanism and the main body, the floor cleaning module extends out to the maximum extent, thereby reaching extremely narrow areas that traditional cleaning components cannot reach, such as even lower spaces, narrow gaps, and the edges of furniture that are close to the ground, further extending the cleaning coverage.

[0013] In one possible implementation, the non-accessible scenario includes a first scenario and a second scenario. The first scenario is configured as a scenario where the ground cleaning module can enter but the swing arm mechanism cannot, and the second scenario is configured as a scenario where the swing arm mechanism can enter. When the cleaning scenario is identified as a non-accessible scenario, the cleaning equipment is controlled to perform cleaning operations in one of the preset positions of the swing arm mechanism in an outward swing state, according to the cleaning scenario. This includes: when the cleaning scenario is identified as the first scenario, the cleaning equipment is controlled to perform cleaning operations in an inward folded position; when the cleaning scenario is identified as the second scenario, the cleaning equipment is controlled to perform cleaning operations in either an outward swing position or an inward folded position.

[0014] By further dividing inaccessible areas into a first scenario accessible only to the floor cleaning module and a second scenario accessible only to the swing arm mechanism, and matching different swing arm positions (inward or outward) to each scenario, precise adaptation of cleaning strategies can be achieved. For the first scenario (such as extremely low gaps), controlling the swing arm mechanism to use the inward fold position maximizes the penetration depth of the floor cleaning module, ensuring effective cleaning. For the second scenario (such as the bottom of furniture of normal height), the outward fold position can be used to expand cleaning coverage, or the inward fold position can be used for deep cleaning. This hierarchical control based on spatial accessibility reduces the risk of ineffective mechanical movements or collisions, significantly improving the intelligence and safety of the cleaning process.

[0015] In one possible implementation, controlling the cleaning equipment to perform cleaning operations with the swing arm mechanism in the inward folded position includes: first controlling the swing arm mechanism to move to the outward swing position, and then controlling the swing arm mechanism to move to the inward folded position to perform the control operation.

[0016] By setting a fixed sequence of movements—first outward swinging, then inward folding—precise and reliable control of the swing arm mechanism's transition to the inward folding position can be achieved. Specifically, this control sequence first utilizes the ample operating space provided by the outward swinging position to fully unfold the swing arm mechanism from the compact outline of the machine body. This creates interference-free initial conditions for subsequent inward folding. Then, the swing arm mechanism is controlled to fold inward to the inward folding position. This step-by-step operation ensures that the movement trajectory of the swing arm mechanism remains within a controllable range during complex spatial transformations, avoiding collisions or accidental interference with other components of the machine body that might occur if the switch to the inward folding position is performed directly, thus improving safety.

[0017] In one possible implementation, the cleaning equipment includes a scene recognition module, which includes a height detection unit for detecting the accessible height of obstacles around the machine. Recognizing the current cleaning scene of the cleaning equipment includes: controlling the height detection unit to detect the accessible height of obstacles around the machine; when the accessible height is greater than the height of the machine, the cleaning scene is determined to be an accessible scene; when the accessible height is less than the height of the machine but greater than the height of the swing arm mechanism, the cleaning scene is determined to be a second scene; when the accessible height is less than the height of the swing arm mechanism but greater than the height of the ground cleaning module, the cleaning scene is determined to be a first scene; wherein the height of the swing arm mechanism is less than the height of the machine.

[0018] By setting up a height detection unit and establishing a three-level comparison logic between the accessible height and the machine height, the swing arm mechanism height, and the floor cleaning module height, automated and quantitative identification of low-ceilinged spaces to the side can be achieved. This solution can clearly distinguish between open areas where the machine can move freely, medium-height areas where only the swing arm mechanism can enter, and extremely low-height areas where only the floor cleaning module can penetrate. This identification method based on physical dimensions provides an objective and reliable basis for subsequent selection of the correct working position of the swing arm mechanism (retracted, outward, or folded), which is conducive to realizing automated and intelligent cleaning of cleaning equipment.

[0019] In one possible implementation, identifying the cleaning scene in which the cleaning equipment is currently located includes: controlling the scene identification module to perform detection when the distance between the cleaning equipment and surrounding obstacles is greater than a first preset distance; wherein the first preset distance is greater than or equal to the maximum distance between the outer edge of the ground cleaning module and the machine body when the swing arm mechanism is in the outward swing position.

[0020] By specifying that scene recognition should be initiated when the distance to an obstacle exceeds a first preset distance (i.e., the maximum extension distance of the swing arm mechanism when fully extended), sufficient prediction and decision-making time can be provided for the cleaning equipment. This ensures that the system has completed scene assessment and determined a reasonable cleaning posture before the swing arm mechanism or the main body contacts the obstacle. This proactive detection mechanism allows sufficient swing space for the swing arm mechanism, preventing collisions with obstacles during extension. It effectively avoids collisions due to insufficient swing space caused by late recognition, ensuring the safety of the cleaning equipment when transitioning between different scenarios.

[0021] In one possible implementation, when the cleaning scenario is identified as the first scenario, the method further includes: controlling the cleaning equipment to move toward the obstacle, so that the cleaning equipment drives the ground cleaning module into the space below the obstacle to perform cleaning operations.

[0022] When a scenario (such as a low gap) is identified where only the ground cleaning module can access from the side, the cleaning device actively moves towards the obstacle until the ground cleaning module enters the space beneath the obstacle, enabling active cleaning of extremely narrow areas. Compared to related technologies where cleaning devices can only hover or detour around similar scenarios, this solution, through precise proximity positioning of the device, ensures that the cleaning component, positioned in an inward fold, can accurately and fully extend into the target area to perform cleaning. This expands the cleaning boundary of the device and improves the coverage of the cleaning space.

[0023] In one possible implementation, when the cleaning scenario is identified as the second scenario, the method further includes: controlling the swing arm mechanism to enter the area below the obstacle to perform the cleaning operation, while controlling the machine body not to enter the area below the obstacle; after the cleaning operation is completed in the second scenario, controlling the swing arm mechanism to switch to the retracted state.

[0024] When the second scenario is identified as accessible to the swing arm mechanism, the swing arm mechanism carries the ground cleaning module into the area below the obstacle for operation. Simultaneously, the machine body is positioned outside the area below the obstacle, and after operation, the swing arm mechanism is retracted to its inward position. This avoids collisions with the obstacle and prevents damage to the machine. Furthermore, the movable swing arm mechanism can cover low-lying areas, and after operation, it returns to its compact form for easy turning or passage through narrow passages. This ensures effective cleaning of low-lying areas while maintaining the overall mobility and passability of the cleaning equipment.

[0025] In one possible implementation, the scene recognition module includes a depth detection unit, which is used to detect the accessible depth of obstacles around the machine body; identifying the cleaning scene where the cleaning equipment is currently located includes: controlling the depth detection unit to detect the accessible depth of obstacles around the machine body;

[0026] Controlling the cleaning equipment to perform cleaning operations with the swing arm mechanism in an outward swing position or an inward fold position includes: if the accessible depth is greater than or equal to a second preset distance, controlling the swing arm mechanism to switch to the outward swing position to perform cleaning operations; if the accessible depth is less than the second preset distance, controlling the swing arm mechanism to switch to the inward fold position to perform cleaning operations; wherein, when the second preset distance is greater than or equal to the swing arm mechanism in the inward fold position, the floor cleaning module exceeds the maximum width of the machine body.

[0027] By detecting the accessible depth beneath obstacles using a depth detection unit before performing cleaning operations in the second scenario, a reasonable basis can be provided for adjusting the position of the swing arm mechanism. When a large spatial depth is detected (greater than a second preset distance, typically associated with the maximum protrusion distance of the ground cleaning module in the inward folding position), selecting the outward swinging position can leverage the wide lateral coverage of the swing arm mechanism for efficient cleaning. Conversely, when the depth is shallow, the inward folding position is selected to achieve deep cleaning. This dual judgment combining height and depth information makes the cleaning strategy more refined and better adaptable to low-ceilinged spaces with various complex geometries.

[0028] In one possible implementation, the inaccessible scenario includes a third scenario, which is configured as an area where edge cleaning operations need to be performed; the preset positions include an edge position, where when the swing arm mechanism is in the edge position, the swing distance of the swing arm mechanism relative to the body is less than the swing distance of the swing arm mechanism relative to the body when it is in the inward folded position, and in the width direction of the body, the outer edge of the ground cleaning module reaches or exceeds the maximum width of the body; when the cleaning scenario is identified as an inaccessible scenario, the cleaning equipment is controlled to perform cleaning operations in one of the preset positions where the swing arm mechanism is in the outward swing state, including: when the cleaning scenario is identified as a third scenario, the cleaning equipment is controlled to perform cleaning operations in the edge position where the swing arm mechanism is in the edge position.

[0029] By defining a third scenario where edge cleaning needs to be performed and configuring it with an edge position where the swing distance is smaller than the inward fold position, the cleaning device's passability and fit during edge cleaning can be improved. In the edge position, the swing arm mechanism and cleaning components are retracted to the side of the machine in a more compact manner, allowing the cleaning device to move smoothly in narrow passages close to the edges of walls or furniture, avoiding collisions.

[0030] In one possible implementation, the scene recognition module includes an edge detection unit; to identify the cleaning scene in which the cleaning equipment is currently located, the edge detection unit is controlled to detect the lateral distance between one side of the machine body and the surrounding obstacles; if the lateral distance is continuously less than or equal to a first distance threshold while the cleaning equipment is traveling in the current direction for more than a preset distance, and the fluctuation value of the lateral distance is less than the fluctuation threshold, then the cleaning scene is determined to be a third scene.

[0031] By monitoring the lateral distance between one side of the machine and obstacles using an edge detection unit, and setting two conditions—continuous proximity (exceeding a preset travel distance but less than a threshold) and stable distance (fluctuations less than a threshold)—to determine the third scene, intelligent recognition of truly continuous edges can be achieved. This logic can effectively distinguish between continuous walls and discrete obstacles such as table and chair legs, avoiding false triggering of edge cleaning modes. Only when the continuous and stable proximity condition is met will the system determine that a scene requires fine edge cleaning, thus improving the accuracy of scene recognition and the targeting of edge cleaning actions.

[0032] In one possible implementation, the edge detection unit includes at least one ranging sensor disposed on the side of the fuselage for transmitting detection signals and receiving echoes to calculate the lateral distance.

[0033] By using a ranging sensor (such as an infrared, laser, or ultrasonic sensor) located on the side of the aircraft as an edge detection unit, a reliable, real-time, and cost-effective technical means can be provided to identify edge scenes.

[0034] In one possible implementation, the swing arm mechanism includes a first swing arm and a second swing arm. One end of the first swing arm is rotatably connected to the machine body, and the other end is rotatably connected to the second swing arm. The end of the first swing arm connected to the machine body is configured as the first end, and the end of the second swing arm away from the first swing arm is configured as the second end. The ground cleaning module is mounted on the second swing arm. The rotation of the second swing arm relative to the first swing arm can change the relative position of the second swing arm and the machine body, thereby changing the relative position of the largest exposed portion of the ground cleaning module on the outside of the swing arm mechanism and the machine body.

[0035] By designing the swing arm mechanism as a two-section structure with a first and second swing arm rotatably connected, the posture flexibility and spatial adaptability of the cleaning component can be significantly enhanced. The first swing arm can extend the cleaning component laterally by swinging relative to the body. The second swing arm can finely adjust the orientation and extension amount of the floor cleaning module by rotating relative to the first swing arm. This provides a reliable mechanical basis for switching between various positions such as retracted, outward swing, inward folding, and edge-following.

[0036] In related technologies, robotic vacuum cleaners typically feature an expandable mop assembly, but these are usually single-arm designs with limited outward swing distance. This limits their ability to clean corners and low-lying areas, resulting in numerous cleaning dead zones. While extending the robotic arm would increase the outward swing distance, it would require more internal and swing space. However, the internal space of a robotic vacuum cleaner is limited, necessitating a small overall size to ensure good maneuverability. Therefore, this application's embodiment designs the swing arm mechanism as a structure including a first and second swing arm, balancing the issues of outward swing distance and internal space. Furthermore, the multiple outward swing positions address both the potential for interference from obstacles due to a large outward swing distance and the insufficient cleaning caused by a small outward swing distance.

[0037] In one possible implementation, when the swing arm mechanism is in the retracted state, the rotation angle between the first swing arm and the body is at its minimum, and the rotation angle between the first swing arm and the second swing arm is at its minimum; and / or, when the swing arm mechanism is in the folded-in position, the rotation angle between the first swing arm and the body is at its maximum, and the rotation angle between the first swing arm and the second swing arm is at its minimum; and / or, when the swing arm mechanism is in the edge-side position, the rotation angle between the first swing arm and the body is greater than zero and less than the rotation angle between the first swing arm and the body when the swing arm mechanism is in the folded-in position, and the rotation angle between the first swing arm and the second swing arm is at its minimum; and / or, when the swing arm mechanism is in the outward-swinging position, the rotation angle between the first swing arm and the body is at its maximum, and the rotation angle between the first swing arm and the second swing arm is at its maximum.

[0038] By clearly defining the quantitative relationship between four typical positions—inward retraction, inward folding, along the edge, and outward swing—and the two rotation angles (minimum or maximum value) of the first and second swing arms, a clear and unique action target can be provided for the control program. For example, the inward folding position corresponds to the first swing arm swinging out to its maximum (to make room) and the second swing arm folding inward to its minimum (to maximize the protrusion of the floor cleaning module); the along-the-edge position corresponds to the first swing arm retracting inward to its minimum (for overall compactness) and the second swing arm rotating to a specific angle (to make the floor cleaning module laterally fit). This angle mapping relationship transforms complex spatial position control into precise angle control of the two drive joints, enabling the control system to accurately and repeatedly position each preset position through the drive motor. This reliably achieves closed-loop control from scene recognition to mechanical execution, ensuring that various cleaning strategies can be accurately and physically reproduced.

[0039] In one possible implementation, the ground cleaning module is connected between the first and second ends of the swing arm mechanism, or connected to the second end of the swing arm mechanism.

[0040] By configuring the floor cleaning module to be connected to either the middle (between the first and second ends) or the end (second end) of the swing arm mechanism, the design flexibility of the cleaning equipment can be improved. Connecting the floor cleaning module to the middle allows the center of gravity of the second swing arm to be closer to the center, thus making the floor cleaning module more stable during cleaning operations. Connecting the floor cleaning module to the end allows it to extend further when folded inwards, thereby expanding the cleaning coverage area.

[0041] In one possible implementation, the cleaning component includes a drive module comprising: a first drive structure connected to a first swing arm for driving the swing arm mechanism to rotate relative to the body between an inward retracted position and an outward swing position; and a second drive structure connected to a second swing arm for driving the second swing arm to rotate relative to the first swing arm, thereby moving the swing arm mechanism from the outward swing position to an inward folded position. Controlling the cleaning device to perform cleaning work with the swing arm mechanism in the inward retracted state includes: controlling the first drive structure and the second drive structure to respectively drive the first and second swing arms to rotate, so that the swing arm mechanism performs cleaning work in the inward retracted state. Controlling the cleaning device to perform cleaning work with the swing arm mechanism in one of the preset positions in the outward swing state includes: controlling the first drive structure and the second drive structure to respectively drive the first and second swing arms to rotate, so that the swing arm mechanism performs cleaning work in the outward swing state.

[0042] By setting independent first and second drive structures to control the rotation of the first and second swing arms respectively, decoupled control of the two degrees of freedom of the swing arm mechanism can be achieved. This allows for more precise and independent adjustment of the lateral extension range of the swing arm mechanism and the protrusion posture of the cleaning component (through the second drive structure), thereby enabling efficient and reliable combination of multiple preset cleaning positions (retracted, outward swing, inward fold, along the edge, etc.), providing direct and efficient execution assurance for implementing adaptive cleaning methods in complex scenarios.

[0043] A second aspect of this application provides a cleaning device for executing the control method of any one of the first aspects; wherein the cleaning device includes a body and a cleaning component movably connected to the body; the cleaning component includes: a swing arm mechanism, including a first end and a second end, the first end being connected to the body, the swing arm mechanism being rotatable relative to the body to be in an inward retracted state and an outward swing state, the swing arm mechanism having at least two preset positions in the outward swing state, the swing arm mechanism having different swing distances relative to the body in the at least two preset positions; and a floor cleaning module connected to the bottom of the swing arm mechanism, at least a portion of the structure of the floor cleaning module being exposed on the outside of the swing arm mechanism.

[0044] The cleaning device in this application embodiment integrates a swing arm mechanism that can rotate in multiple positions, an exposed floor cleaning module, and a control system that executes the aforementioned control method. It can automatically adjust the posture of the swing arm mechanism according to whether the space in front is an open area, the bottom of low furniture, a narrow gap, or a corner of a wall, thereby achieving almost no blind spots in various complex home environments.

[0045] A third aspect of this application provides a cleaning system, including the cleaning equipment of the second aspect and a base station for the cleaning equipment to interface with.

[0046] The cleaning system in this embodiment, by setting up the cleaning equipment described in the second aspect, can autonomously handle cleaning tasks from open ground to various edges, low-lying areas, and narrow spaces due to its good scene adaptability and cleaning coverage. This can significantly reduce the need for manual intervention and spot cleaning, and improve the user experience. Attached Figure Description

[0047] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0048] Figure 1 This is a schematic diagram of the structure of a cleaning device provided in an embodiment of this application;

[0049] Figure 2 This is a schematic diagram of the swing arm mechanism of a cleaning device in the outward swing position, provided in an embodiment of this application.

[0050] Figure 3 A schematic diagram of the swing arm mechanism of a cleaning device in the inward folding position, provided in an embodiment of this application;

[0051] Figure 4 A schematic diagram of the swing arm mechanism of a cleaning device in the edge position provided in an embodiment of this application;

[0052] Figure 5 This is a schematic diagram of the structure of a cleaning component of a cleaning device provided in an embodiment of this application;

[0053] Figure 6 This is an exploded structural diagram of a cleaning component of a cleaning device provided in an embodiment of this application;

[0054] Figure 7 This is a schematic diagram illustrating the change of a cleaning component of a cleaning device between an inward folding position and an outward swinging position, as provided in an embodiment of this application.

[0055] Figure 8 A schematic diagram illustrating the change of a cleaning component of a cleaning device between an inwardly retracted position and an outwardly swinging position, provided in an embodiment of this application.

[0056] Figure 9 A schematic diagram of the frame of a cleaning device provided in an embodiment of this application;

[0057] Figure 10 A flowchart illustrating a control method for a cleaning device provided in an embodiment of this application;

[0058] Figure 11 This application provides an illustration of a usage scenario for a cleaning device. Figure 1 ;

[0059] Figure 12 This application provides an illustration of a usage scenario for a cleaning device. Figure 2 ;

[0060] Figure 13 This application provides an illustration of a usage scenario for a cleaning device. Figure 3 ;

[0061] Figure 14 This application provides an illustration of a usage scenario for a cleaning device. Figure 4 .

[0062] Explanation of reference numerals in the attached figures:

[0063] 10. Cleaning equipment; 20. Body; 30. Cleaning components; 40. Control module; 50. Scene recognition module; 100. Mounting base; 200. Swing arm mechanism; 210. First swing arm; 220. Second swing arm; 221. First end; 222. Second end; 300. Ground cleaning module; 400. Angle detection module; 500. Drive module; 510. First drive structure; 520. Second drive structure; 540. Second elastic element. Detailed Implementation

[0064] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0065] Existing cleaning devices, such as robotic vacuum cleaners, typically have cleaning components (like side brushes, main brushes, or mops) fixed to the bottom or side of the machine. When performing edge cleaning, they primarily move the entire machine close to the wall, utilizing fixed or outward-expanding side cleaning components. However, when encountering the undersides of low furniture, narrow crevices, or complex corners, the machine's height or width limitations prevent it from entering, resulting in cleaning blind spots. Some solutions attempt to use easily pop-out side brushes, but their cleaning range is limited, their movement is limited, and they cannot clean low gaps under sofas, cabinets, or other furniture that the machine cannot reach, impacting the user experience.

[0066] To address the aforementioned technical problems, this application provides a cleaning device and its control method. The cleaning component includes a multi-degree-of-freedom, flexibly adjustable swing-arm cleaning component, which works in conjunction with an intelligent scene recognition system. By recognizing the cleaning scene (such as height, depth, and whether the wall surface is continuous), the system controls the swing-arm mechanism to automatically switch to the optimal preset position matching the cleaning scene (such as retracted, outward swing, inward fold, or edge-to-edge position). This allows the floor cleaning module to extend into the target area in a suitable posture to perform cleaning operations when the main unit cannot access it, ultimately expanding the cleaning coverage and enhancing the intelligent scene adaptability.

[0067] The control method, cleaning equipment, and cleaning system of the cleaning equipment provided in the embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0068] Figure 1 This is a schematic diagram of the structure of a cleaning device provided in an embodiment of this application. Figure 2 This is a schematic diagram of the swing arm mechanism of a cleaning device in the outward swing position, as provided in an embodiment of this application. Figure 3 This is a schematic diagram of the swing arm mechanism of a cleaning device in the inward folding position, as provided in an embodiment of this application. Figure 4 This is a schematic diagram of the swing arm mechanism of a cleaning device in the edge position, as provided in an embodiment of this application.

[0069] It should be noted that, for ease of description, in the embodiments of this application, the height direction of the cleaning component is taken as the z-direction, the width direction of the body is taken as the x-direction, and the forward direction of the cleaning device is taken as the y-direction.

[0070] This application provides a cleaning device, such as... Figure 1 and Figure 2 As shown, the cleaning device may include a body and cleaning components. This cleaning device includes, but is not limited to, a robotic vacuum cleaner, a robotic floor scrubber, or a window cleaning robot. In this embodiment, a robotic vacuum cleaner is used as an example for illustration.

[0071] The cleaning component is movably connected to the main body. This movable connection can be a rotating connection or a sliding connection. The following explanation uses the rotating connection between the cleaning component and the main body as an example.

[0072] The cleaning assembly may include a swing arm mechanism and a floor cleaning module, the floor cleaning module being connected to the bottom of the swing arm mechanism, and at least a portion of the structure of the floor cleaning module being exposed on the outside of the swing arm mechanism.

[0073] For example, the floor cleaning module can be a mop assembly located near the rear of the machine body for wiping and cleaning the floor. The floor cleaning module can be rotatably mounted at the bottom of the swing arm mechanism and can rotate relative to the swing arm mechanism under the drive of a drive motor to perform cleaning operations on the floor.

[0074] In this embodiment, the swing arm mechanism may include a first end and a second end. The first end is rotatably connected to the body. The swing arm mechanism is rotatable relative to the body to be in an inward retracted state and an outward swing state. The swing arm mechanism has at least two preset positions in the outward swing state, and the swing distance of the swing arm mechanism relative to the body is different in the at least two preset positions. The swing arm mechanism 200 includes a side. When the ground cleaning module 300 is installed to the second end 222 of the swing arm mechanism 200, the portion of the ground cleaning module 300 extending beyond the side is larger than the portion extending beyond the second end.

[0075] See Figure 1 As shown, when the swing arm mechanism 200 is in the retracted state, it is located inside the body 20. Here, "inside the body 20" refers to the area covered by the orthographic projection of the body 20 onto the ground. It can be understood that since at least a portion of the structure of the floor cleaning module 300 is exposed outside the swing arm mechanism 200, when the swing arm mechanism 200 is inside the body 20, a portion of the structure of the floor cleaning module 300 can be located outside the body 20. Specifically, when the swing arm mechanism 200 is in the retracted state, the portion of the floor cleaning module 300 that can be located outside the body 20 is approximately 2 cm, and the floor cleaning module 300 is within the maximum width of the body 20. Thus, in normal cleaning conditions, the retracted state of the swing arm mechanism reduces the risk of collisions with obstacles.

[0076] In some embodiments, such as Figure 2 and Figure 3 As shown, the preset positions of the swing arm mechanism 200 in the outward swing state can include an inward folded position and an outward swing position. See also Figure 2 As shown, when the swing arm mechanism 200 is in the outward swing position, the swing arm mechanism 200 swings outward a maximum distance relative to the body 20.

[0077] For example, when the swing arm mechanism 200 is in the outward swing position, the second end 222 of the swing arm mechanism 200 can extend laterally outward of the body 20 by a distance L1 greater than or equal to 12 cm in the x-direction. The distance L2 extending relative to the outer edge of the body 20 can be greater than or equal to 15 cm. Specifically, when the swing arm mechanism 200 is in the outward swing position, the distance between the ground cleaning module 300 and the second end 222 of the swing arm mechanism 200 is approximately 2 cm.

[0078] See Figure 3 As shown, when the swing arm mechanism 200 is in the inward folded position, the side of the swing arm mechanism 200 is approximately parallel to the travel direction (y direction) of the body 20, so that the side of the ground cleaning module 300 that extends beyond the side of the swing arm mechanism 200 with the largest dimension is located on the side of the width direction (x direction) of the body 20.

[0079] For example, the body 20 includes a front side and a rear side arranged opposite each other along the travel direction (y direction), and a left side and a right side arranged opposite each other along the width direction (x direction). When the swing arm is in the inward folded position, the side of the ground cleaning module 300 that extends the largest dimension beyond the swing arm mechanism 200 is located on the left or right side of the body (shown as the right side in the figure). This allows the side of the ground cleaning module 300 that extends the largest dimension beyond the swing arm mechanism 200 to face the obstacle to be cleaned.

[0080] It should be noted that "approximately parallel" here refers to the overall appearance being close to parallel. For example, the angle between the direction of the lateral tangent and the y-direction is between -5° and 5° and can be considered approximately parallel.

[0081] For example, when the swing arm mechanism 200 is in the inward folded position, the portion of the ground cleaning module 300 extending beyond the side of the swing arm mechanism 200 has a maximum dimension L3 greater than 3 cm in the width direction (x direction), for example, 4 cm, 5 cm, 6 cm, 7 cm, etc., which are not further limited in this embodiment.

[0082] For example, the height of the floor cleaning module 300 is less than or equal to 2 cm. Therefore, it can enter gaps higher than 2 cm for cleaning. For example, the height of the floor cleaning module 300 can be 0.5 cm, 1 cm, 1.5 cm or 2 cm, etc. In this embodiment of the application, the height of the floor cleaning module 300 is not further limited.

[0083] By refining the outward swing state into inward and outward swing positions with different geometric features, the cleaning device 10 can achieve refined operation capabilities to cope with different spatial constraints. When the swing arm mechanism 200 is in the outward swing position, it can extend outward to the maximum extent, effectively expanding the lateral coverage of a single cleaning and improving cleaning efficiency in relatively spacious and low spaces such as under beds and sofas. When the swing arm mechanism 200 is in the inward swing position, by changing the relative posture of the swing arm mechanism and the body, the floor cleaning module 300 can extend out to the maximum extent, thereby reaching extremely narrow areas that traditional cleaning components 30 cannot reach, such as even lower spaces, narrow gaps, and the edges of furniture that are close to the ground, thus further extending the cleaning coverage.

[0084] In other embodiments, the preset position of the swing arm mechanism 200 when it is in the outward swing state may also include an edge position. For example... Figure 4 As shown, when the swing arm mechanism 200 is in the edge-side position, the swing distance of the swing arm mechanism 200 relative to the body 20 is less than the swing distance of the swing arm mechanism 200 relative to the body 20 when it is in the inward-folded position. Furthermore, in the width direction (x-direction) of the body 20, the outer edge of the floor cleaning module 300 extends 5-10 mm beyond the maximum width of the body 20. Specifically, when the swing arm mechanism 200 is in the edge-side position, the dimension of the floor cleaning module 300 located outside the second end 222 of the swing arm mechanism 200 is approximately 2 cm.

[0085] It should be noted that the figure only shows the cleaning component 30 on one side of the cleaning device 10. The cleaning device 10 is usually equipped with two cleaning components 30, which are symmetrically arranged on both sides of the body 20 along the x-direction.

[0086] Figure 5 This is a schematic diagram of the structure of the cleaning component 30 of a cleaning device 10 provided in an embodiment of this application. Figure 5 In order for the swing arm mechanism 200 to be in the outward swing state.

[0087] In some embodiments, such as Figure 5 As shown, the cleaning assembly 30 may further include a mounting base 100, which is fixed to the body 20. The first end 221 of the swing arm mechanism 200 is rotatably connected to the mounting base 100. The second end 222 of the swing arm mechanism 200 is a free end and is located away from the mounting base 100.

[0088] See also Figure 5As shown, the swing arm mechanism 200 may include a first swing arm 210 and a second swing arm 220. One end of the first swing arm 210 is rotatably connected to the body 20, and the other end is rotatably connected to the second swing arm 220. For example, one end of the first swing arm 210 is rotatably connected to a mounting base 100 fixed to the body 20. The end of the first swing arm 210 connected to the body 20 is configured as a first end 221, and the end of the second swing arm 220 away from the first swing arm 210 is configured as a second end 222. A floor cleaning module 300 is mounted on the second swing arm 220, wherein rotation of the second swing arm 220 relative to the first swing arm 210 can change the size of the floor cleaning module 300 located outside the swing arm mechanism 200.

[0089] By designing the swing arm mechanism 200 as a two-section structure with the first swing arm 210 and the second swing arm 220 rotatably connected, the posture flexibility and spatial adaptability of the cleaning component 30 can be significantly enhanced. The first swing arm 210 can extend the cleaning component 30 laterally by swinging relative to the body 20. The second swing arm 220 can finely adjust the orientation and extension amount of the floor cleaning module 300 by rotating relative to the first swing arm 210. This provides a reliable mechanical basis for switching the swing arm mechanism 200 between various positions such as retracted, outward swing, inward folding, and edge-following.

[0090] In related technologies, robotic vacuum cleaners typically feature an expandable mop assembly, but these are usually single-arm designs with limited outward swing distance. This limits their ability to clean corners and low-lying areas, resulting in numerous cleaning dead zones. While extending the robotic arm would increase the outward swing distance, it would require more internal and swing space. However, the internal space of a robotic vacuum cleaner is limited, necessitating a small overall size to ensure good maneuverability. Therefore, this application's embodiment designs the swing arm mechanism as a structure including a first and second swing arm, balancing the issues of outward swing distance and internal space. Furthermore, the multiple outward swing positions address both the potential for interference from obstacles due to a large outward swing distance and the insufficient cleaning caused by a small outward swing distance.

[0091] In the embodiments of this application, such as Figure 6 As shown, the cleaning component 30 may include a drive module 500, which drives the swing arm mechanism 200 to move relative to the body 20, so that the swing arm mechanism can switch between an inward position, an inward folding position, an edge position, and an outward swinging position.

[0092] Specifically, the drive module 500 may include a first drive structure 510 and a second drive structure 520. The first drive structure 510 is connected to a first swing arm 210 and is used to drive the swing arm mechanism 200 to rotate relative to the body 20 between an inward retracted position and an outward swing position. The second drive structure 520 is connected to a second swing arm 220 and is used to drive the second swing arm 220 to rotate relative to the first swing arm 210, so that the swing arm mechanism 200 moves from the outward swing position to the inward folded position.

[0093] For example, the first drive structure 510 may be disposed on the mounting base 100, and the second drive structure 520 may be disposed within the second swing arm 220. The first drive structure 510 is used to drive the swing arm mechanism 200 to rotate relative to the mounting base 100 to have an inward position, an edge position, and an outward position.

[0094] like Figure 7 As shown, when the swing arm mechanism 200 is in the outward swing position, the second swing arm 220 can be driven by the second drive structure 520 to move relative to the first swing arm 210 in the direction of the angle between the first swing arm 210 and the second swing arm 220 decreasing relative to when the swing arm mechanism 200 is in the outward swing position, so that the swing arm mechanism 200 has an inward folding position.

[0095] By setting independent first drive structure 510 and second drive structure 520 to control the rotation of the first swing arm 210 and the second swing arm 220 respectively, decoupled control of the two degrees of freedom of the swing arm mechanism 200 can be achieved. This allows for more precise and independent adjustment of the lateral extension range of the swing arm mechanism 200 and the protrusion posture of the cleaning component (through the second drive structure 520), thereby enabling efficient and reliable combination of multiple preset cleaning positions (retracted, outward swing, inward fold, along the edge, etc.), providing a direct and efficient execution guarantee for realizing complex scene adaptive cleaning methods.

[0096] In some embodiments, a first elastic element (not shown) is provided between the first swing arm 210 and the mounting base 100, and a second elastic element 540 is provided between the first swing arm 210 and the second swing arm 220. When the first drive structure 510 drives the swing arm mechanism 200 to move from the retracted position to the outward swing position, the first swing arm 210 is moved based on the pressure release of the first elastic element, and the second swing arm 220 is moved based on the pressure release of the second elastic element 540.

[0097] In some embodiments, such as Figure 7 and Figure 8As shown, during the process of the first drive structure 510 driving the swing arm mechanism 200 from the inward position to the outward position, the second drive structure 520 can first lock the second swing arm 220 at a position where the angle between it and the first swing arm 210 remains unchanged. When the first swing arm 210 rotates relative to the body 20 to its maximum angle, the second swing arm 220 is then driven to release the pressure of the second elastic element 540, thereby causing the second swing arm 220 to move relative to the first swing arm 210 in the direction of increasing the angle between the first swing arm 210 and the second swing arm 220, so that the swing arm mechanism 200 moves to the outward position. When the first swing arm 210 rotates relative to the body 20 to its maximum angle, the swing arm mechanism 200 is in the inward folded position. Of course, when the swing arm mechanism 200 is in the outward folded position, the second drive structure 520 can drive the second swing arm 220 relative to the first swing arm 210 in the direction of decreasing the angle between the first swing arm 210 and the second swing arm 220, so that the swing arm mechanism 200 changes from the outward folded position to the inward folded position.

[0098] In other embodiments, when the first drive structure 510 drives the first swing arm 210 to move relative to the fixed base, after moving to the target position, the second swing arm 220 can be directly ejected outside the body 20 under the pressure release action of the second elastic member 540 and stay in the outward swing position. When it is necessary to adjust the swing arm mechanism 200 to the inward folding position, the second drive structure 520 can drive the second swing arm 220 relative to the first swing arm 210 to move in the direction of reducing the angle between the first swing arm 210 and the second swing arm 220, so that the swing arm mechanism 200 is switched to the inward folding position.

[0099] In this embodiment, the first drive structure 510 may include a first transmission assembly and a first motor, and a first elastic element is disposed on the transmission link of the first transmission assembly. The second drive structure 520 may include a second transmission assembly and a second motor, and a second elastic element 540 is disposed on the transmission link of the second transmission assembly.

[0100] For example, both the first elastic element and the second elastic element 540 can be torsion spring structures. In this embodiment, the specific structure of the first elastic element and the second elastic element 540 is not further limited.

[0101] For ease of description, the rotation angle between the first swing arm 210 and the body 20 is referred to as the first rotation angle, and the rotation angle between the first swing arm 210 and the second swing arm 220 is referred to as the second rotation angle. When the swing arm mechanism 200 is in the retracted state, both the first and second rotation angles are zero. Therefore, the retracted state of the swing arm mechanism is considered the initial state of the first and second swing arms.

[0102] In one possible implementation, the first rotation angle of the swing arm mechanism 200 when it is in the edge-side position is greater than the first rotation angle when it is in the retracted position, and less than the first rotation angle when it is in the edge-side position and less than the first rotation angle when it is in the outward swing position. The second rotation angle of the swing arm mechanism 200 when it is in the edge-side position is greater than or equal to the second rotation angle when it is in the retracted position, and less than the second rotation angle when it is in the outward swing position. The first rotation angle of the swing arm mechanism 200 when it is in the folded-in position is less than or equal to the first rotation angle when it is in the outward swing position. The second rotation angle of the swing arm mechanism 200 when it is in the folded-in position is less than the second rotation angle when it is in the outward position. The second rotation angle of the swing arm mechanism 200 when it is in the edge-side position and the second rotation angle of the swing arm mechanism 200 when it is in the folded-in position can be equal or unequal, specifically determined based on the distance the swing arm mechanism extends beyond the outer side of the machine body. In this embodiment, no further limitation is made.

[0103] In one possible implementation, when the swing arm mechanism 200 is in the retracted state, the rotation angle between the first swing arm 210 and the body 20 is at its minimum, and the rotation angle between the first swing arm 210 and the second swing arm 220 is also at its minimum. And / or, when the swing arm mechanism 200 is in the folded-in position, the rotation angle between the first swing arm 210 and the body 20 is at its maximum, and the rotation angle between the first swing arm 210 and the second swing arm 220 is at its minimum. And / or, when the swing arm mechanism 200 is in the edge-side position, the rotation angle between the first swing arm 210 and the body 20 is greater than zero and less than the rotation angle between the first swing arm 210 and the body 20 when the swing arm mechanism 200 is in the folded-in position, and the rotation angle between the first swing arm 210 and the second swing arm 220 is at its minimum. And / or, when the swing arm mechanism 200 is in the outward swing position, the rotation angle between the first swing arm 210 and the body 20 is at its maximum value, and the rotation angle between the first swing arm 210 and the second swing arm 220 is at its maximum value.

[0104] By clearly defining the quantitative relationship between four typical positions—retracting, folding, along the edge, and swinging out—and the two rotation angles (minimum or maximum value) of the first swing arm 210 and the second swing arm 220, a clear and unique action target can be provided for the control program. For example, the folding position corresponds to the first swing arm 210 swinging out to its maximum (to make room) and the second swing arm 220 folding inward to its minimum (to maximize the protrusion of the floor cleaning module 300). The along-the-edge position corresponds to the first swing arm 210 retracting inward to its minimum (for overall compactness) and the second swing arm 220 rotating to a specific angle (to ensure the floor cleaning module 300 is laterally fitted). This angle mapping relationship transforms complex spatial position control into precise angle control of the two drive joints, enabling the control system to accurately and repeatedly position each preset position through the drive motor. This reliably achieves closed-loop control from scene recognition to mechanical execution, ensuring that various cleaning strategies can be accurately and physically reproduced.

[0105] In one possible implementation, the ground cleaning module 300 is connected between the first end 221 and the second end 222 of the swing arm mechanism 200, or connected to the second end 222 of the swing arm mechanism 200.

[0106] For example, the second swing arm 220 has an elongated structure, which allows the position of the ground cleaning module 300 relative to the body 20 to change when the second swing arm 220 rotates relative to the first swing arm 210, so that the side with the largest exposed outer dimension of the second swing arm 220 faces the obstacle (see reference). Figure 13 (As shown). This allows for cleaning of the low-lying spaces beneath obstacles.

[0107] It should be noted that, in this embodiment of the application, the specific structure of the second swing arm 220 is not further limited, as long as its function can be achieved.

[0108] By configuring the floor cleaning module 300 to be connected to either the middle (between the first end 221 and the second end 222) or the end (second end 222) of the swing arm mechanism 200, the design flexibility of the cleaning device 10 can be improved. Connecting the floor cleaning module 300 to the middle allows the center of gravity of the second swing arm 220 to be closer to the middle, thus making the floor cleaning module 300 more stable when performing cleaning operations. Connecting the floor cleaning module 300 to the end allows it to extend further when folded inwards, thereby expanding the cleaning coverage area.

[0109] In this embodiment, the cleaning component 30 may further include an angle detection module 400 (see [reference]). Figure 9 As shown, the angle detection module 400 is located in one of the mounting base 100 and the swing arm mechanism 200. The angle detection module 400 is used to detect the rotation angle of the swing arm mechanism 200 relative to the mounting base 100.

[0110] For example, the angle detection module 400 may include a first detection element and a second detection element. The first detection element is located on the mounting base 100 or on the first swing arm 210, and is used to detect a first rotation angle of the first swing arm 210 relative to the mounting base 100. The second detection element is located on the first swing arm 210 or the second swing arm 220, and is used to detect a second rotation angle of the second swing arm 220 relative to the first swing arm 210. The first drive structure 510 is configured to control the swing direction and swing angle of the first swing arm 210 according to the first rotation angle and / or the second rotation angle, so as to change the swing distance of the swing arm mechanism 200 relative to the body 20. The second drive structure 520 is configured to control the swing distance of the second swing arm 220 relative to the first swing arm 210 according to the first rotation angle and / or the second rotation angle.

[0111] like Figure 9 As shown, the cleaning device 10 may further include a scene recognition module 50, which can be integrated onto the body 20 for recognizing the environment surrounding the body 20. The scene recognition module 50 may include at least one of a variety of detection units. For example, the scene recognition module 50 includes a height detection unit, a depth detection unit, and an edge detection unit.

[0112] In this embodiment, the height detection unit is used to detect the accessible height of obstacles around the body 20 and the control module 40. For example, the height detection unit may be a lidar, structured light sensor, or ultrasonic sensor that tilts forward and emits detection signals, used to detect the accessible height of the bottom of obstacles on the outer side (front or side) of the body 20.

[0113] The depth detection unit is used to detect the accessible depth of obstacles around the aircraft. For example, the depth detection unit can be a similar sensor that emits a detection signal vertically forward to detect the accessible depth below the obstacle.

[0114] The edge detection unit is used to detect whether the machine body 20 is in the edge cleaning area. The edge detection unit can be a distance sensor (such as an infrared or ultrasonic sensor) set on the side of the machine body 20 to detect the lateral distance between one side of the machine body 20 and obstacles such as walls.

[0115] For example, the cleaning device 10 also includes a control module 40, which is connected to the scene recognition module 50, the angle detection module 400, and the drive module 500. The control module 40 can be used to control the state of the cleaning device 10 and the state of the cleaning components 30.

[0116] The control method of the cleaning equipment 10 will be described below with reference to the accompanying drawings.

[0117] This application also provides a control method for a cleaning device 10, applied to the cleaning device 10 in any of the above embodiments. The cleaning device 10 may include a body 20 and a cleaning component 30 movably connected to the body 20. The cleaning component 30 includes a swing arm mechanism 200 and a floor cleaning module 300. The swing arm mechanism 200 includes a first end 221 and a second end 222. The first end 221 is used to connect to the body 20. The swing arm mechanism 200 is rotatable relative to the body 20 to be in an inward retracted state and an outward swing state. The swing arm mechanism 200 has at least two preset positions in the outward swing state, and the swing distance of the swing arm mechanism 200 relative to the body 200 is different in the at least two preset positions. The floor cleaning module 300 is connected to the bottom of the swing arm mechanism 200, and at least a portion of the structure of the floor cleaning module 300 is exposed outside the swing arm mechanism 200.

[0118] The cleaning device 10 may also include a control module 40, which can be used to control the movement of the swing arm mechanism 200. The control method of the cleaning device 10 can be executed through the control module 40.

[0119] Figure 10 This is a flowchart illustrating a control method for a cleaning device provided in an embodiment of this application.

[0120] like Figure 10 As shown, the control method may include the following steps.

[0121] S1001. Identify the current cleaning scenario of the cleaning equipment. The cleaning scenario includes scenarios that the equipment can enter and scenarios that the equipment cannot enter.

[0122] S1002. When the cleaning scene is identified as one that the machine can enter, the cleaning equipment is controlled to perform cleaning work with the swing arm mechanism in the retracted state.

[0123] S1003. When the cleaning scene is identified as a scene in which the machine cannot enter, the cleaning equipment is controlled to perform the cleaning operation in one of the preset positions with the swing arm mechanism in the outward swing state according to the cleaning scene.

[0124] The cleaning equipment in this embodiment of the application, by including a swing arm mechanism that can rotate in multiple positions in the cleaning components and exposing the ground cleaning module to the bottom of the swing arm mechanism, enables the cleaning equipment to cope with various complex ground environments. Combined with a scene recognition control method, the cleaning equipment can intelligently and adaptively adjust to the working conditions.

[0125] Specifically, when an open area accessible to the machine is detected, the swing arm mechanism is retracted, allowing the cleaning equipment to maintain a compact form and perform routine cleaning. When a low-lying or narrow area inaccessible to the machine is detected, the swing arm mechanism is switched to different preset positions in the outward swing state. For example, the swing arm mechanism can extend under shallow furniture for extended cleaning, or it can be switched to another preset position in even lower or extremely narrow gaps, allowing the floor cleaning module to reach as far as possible. This control scheme, which links scene recognition with the switching of preset positions of the swing arm mechanism, enables the cleaning equipment to automatically select the appropriate cleaning configuration based on environmental characteristics. This ensures efficient cleaning in regular areas without human intervention and effectively covers edges, low-lying and narrow spaces that traditional cleaning equipment cannot reach, significantly improving cleaning coverage and adaptability to complex scenes.

[0126] The following describes the specific method for identifying the current cleaning scenario of the cleaning equipment in step S1001.

[0127] Optionally, the cleaning equipment may include a scene recognition module for identifying different cleaning scenes.

[0128] Optionally, the scene recognition module may include a height detection unit. Alternatively, the scene recognition module may include a height detection unit and an edge detection unit.

[0129] Optionally, the height detection unit described above can be used to detect the accessible height of the bottom of an obstacle on the outside (front or side) of the aircraft. Specifically, this can be achieved by using a lidar, structured light sensor, or ultrasonic sensor that tilts forward to emit detection signals.

[0130] Optionally, the aforementioned edge detection sheet can be used to detect the lateral distance between one side of the machine and obstacles such as walls, in order to detect whether the machine is within the edge cleaning area. Specifically, this can be achieved by installing at least one ranging sensor, such as an infrared or ultrasonic sensor, on the side of the machine.

[0131] By using a ranging sensor (such as an infrared, laser, or ultrasonic sensor) located on the side of the aircraft as an edge detection unit, a reliable, real-time, and cost-effective technical means can be provided to identify edge scenes.

[0132] In some embodiments, when the height detection unit in the scene recognition module detects that there is no obstruction in front of the cleaning equipment, or that the accessible height is greater than the height of the machine body, it determines that the machine body can enter the scene. When the accessible height is lower than the machine body, it determines that the machine body cannot enter the scene. Here, the machine body cannot enter the scene, including physical walls (i.e., the accessible height is zero).

[0133] It should be noted that the prohibited cleaning scenarios typically include a first scenario, a second scenario, and a third scenario. The first scenario is configured as a scenario where the floor cleaning module can enter but the swing arm mechanism cannot, such as gaps of less than 3 cm between household appliances or furniture like refrigerators, washing machines, coffee tables, and TV cabinets and the floor. The second scenario is configured as a scenario where the swing arm mechanism can enter, such as under beds or sofas. The third scenario is configured as the area where edge cleaning operations need to be performed, which is the edge area in related technologies. Typically, an area approximately 10 to 20 cm from the wall edge is considered the edge area. In this edge area, the cleaning components can be positioned a certain distance outward to prevent the machine from colliding with the wall. The edge area here can be referenced from the edge area in related technologies and will not be further explained here.

[0134] Understandably, in actual use, the cleaning equipment can be configured to identify any one or more of the first, second, and third scenarios mentioned above, and the specific identification method can be configured according to the actual situation.

[0135] In some embodiments, the inaccessible environment includes a first environment and a second environment. Accordingly, the cleaning equipment includes a height detection unit. When the cleaning equipment identifies a cleaning environment, it can use the height detection unit to detect whether the current cleaning environment is the first environment or the second environment.

[0136] Optionally, when the cleaning equipment identifies a cleaning scene, it can use a height detection unit to detect whether the current cleaning scene is a first or second scene within an inaccessible scene.

[0137] Specifically, the height detection unit can determine the scene by detecting the accessible height of the bottom of the obstacle in front of the machine and combining it with a preset threshold.

[0138] For the determination of the first scenario: when the height detection unit detects that the accessible height is less than the height of the swing arm mechanism but greater than the height of the floor cleaning module, the current cleaning scenario is determined to be the first scenario. This scenario means that the space is extremely low, such as the edge of a refrigerator or the bottom of a wardrobe with a height of about 1cm. Only the thinnest floor cleaning module (such as a side brush or mop with a height of about 0.5cm) is allowed to enter, while the swing arm mechanism itself cannot enter due to its excessive height.

[0139] For example, when a gap with a height of only 3 centimeters is detected in front (lower than the 5-centimeter height of the swing arm mechanism, but higher than the 2-centimeter height of the ground cleaning module), it is identified as the first scenario. Here, the height of the swing arm mechanism is less than the height of the main body.

[0140] Regarding the determination of the second scenario: when the height detection unit detects that the accessible height is less than the height of the machine body, but greater than or equal to the height of the swing arm mechanism, the current cleaning scenario is determined to be the second scenario. This scenario means that the space allows the entire swing arm mechanism carrying the floor cleaning module to enter, but the main body of the machine is blocked from entering due to its excessive height. For example, if the detected height under the bed is 8 cm (less than the 10 cm height of the machine body, but more than the 5 cm height of the swing arm), it is identified as the second scenario.

[0141] By setting up a height detection unit and establishing a three-level comparison logic between the accessible height and the machine height, the swing arm mechanism height, and the floor cleaning module height, automated and quantitative identification of low-ceilinged spaces to the side can be achieved. This solution can clearly distinguish between open areas where the machine can move freely, medium-height areas where only the swing arm mechanism can enter, and extremely low-height areas where only the floor cleaning module can penetrate. This identification method based on physical dimensions provides an objective and reliable basis for subsequent selection of the correct working position of the swing arm mechanism (retracted, outward, or folded), which is conducive to realizing automated and intelligent cleaning of cleaning equipment.

[0142] In some embodiments, the inaccessible scenarios include a first scenario, a second scenario, and a third scenario. Accordingly, the cleaning equipment includes a height detection unit and an edge detection unit. When the cleaning equipment identifies a cleaning scenario, it can use the height detection unit and the edge detection unit to detect whether the current cleaning scenario is the first scenario, the second scenario, or the third scenario.

[0143] Optionally, when the cleaning equipment identifies a cleaning scene, it can use a height detection unit to detect whether the current cleaning scene is a first or second scene in an inaccessible scene, and use an edge detection unit to detect whether the current cleaning scene is a third scene in an inaccessible scene.

[0144] The height detection unit in this embodiment has the same function as the height detection unit described above, so it will not be described again.

[0145] Determination of the third scenario: The edge detection unit controls the lateral distance between one side of the machine and the surrounding obstacles. If, during the process of the cleaning equipment traveling in the current direction for more than the preset stroke, the edge detection unit detects that the lateral distance between one side of the machine and the surrounding obstacles is continuously less than or equal to the first distance threshold (e.g., 15cm), and the fluctuation value of the lateral distance is less than the fluctuation threshold (e.g., continuous wall), then the cleaning scenario is determined to be the third scenario (i.e., edge cleaning area).

[0146] By monitoring the lateral distance between one side of the machine and obstacles using an edge detection unit, and setting two conditions—continuous proximity (exceeding a preset travel distance but less than a threshold) and stable distance (fluctuations less than a threshold)—to determine the third scene, intelligent recognition of truly continuous edges can be achieved. This logic can effectively distinguish between continuous walls and discrete obstacles such as table and chair legs, avoiding false triggering of edge cleaning modes. Only when the continuous and stable proximity condition is met will the system determine that a scene requires fine edge cleaning, thus improving the accuracy of scene recognition and the targeting of edge cleaning actions.

[0147] In one possible implementation, when identifying the cleaning scene in which the cleaning equipment is currently located, the distance between the cleaning equipment and surrounding obstacles can be measured using radar, ranging sensors, etc. When the distance between the cleaning equipment and surrounding obstacles exceeds a first preset distance, the scene recognition module is activated. This first preset distance is greater than or equal to the maximum distance between the outer edge of the ground cleaning module and the machine body when the swing arm mechanism is in the outward swing position.

[0148] By specifying that scene recognition should be initiated when the distance to an obstacle exceeds a first preset distance (i.e., the maximum extension distance of the swing arm mechanism when fully extended), sufficient prediction and decision-making time can be provided for the cleaning equipment. This ensures that the system has completed scene assessment and determined a reasonable cleaning posture before the swing arm mechanism or the main body contacts the obstacle. This proactive detection mechanism allows sufficient swing space for the swing arm mechanism, preventing collisions with obstacles during extension. It effectively avoids collisions due to insufficient swing space caused by late recognition, ensuring the safety of the cleaning equipment when transitioning between different scenarios.

[0149] See also Figures 1-4 As shown, when the swing arm mechanism is in the retracted state, it is in the retracted position. In this retracted position, the swing arm mechanism is located inside the fuselage. Here, the inside of the fuselage refers to the area covered by the orthographic projection of the fuselage on the ground.

[0150] Understandably, since at least part of the floor cleaning module's structure is exposed on the outside of the swing arm mechanism, when the swing arm mechanism is located inside the body, part of the floor cleaning module's structure can be located on the outside of the body. Specifically, when the swing arm mechanism is in the retracted state, the area of ​​the floor cleaning module's structure located on the outside of the body is approximately 2 centimeters, and the floor cleaning module is within the maximum width of the body. This retracted state of the swing arm mechanism during normal cleaning reduces the risk of scratches against obstacles.

[0151] In some embodiments, the preset positions of the swing arm mechanism in the outward swing state may include an inward folding position and an outward swing position. Alternatively, the preset positions of the swing arm mechanism in the outward swing state may include an inward folding position, an outward swing position, and an edge position.

[0152] Optionally, when the swing arm mechanism is in the outward swing position, the second end of the swing arm mechanism can extend laterally outward from the outer side of the body by a distance greater than or equal to 12 cm in the x-direction. The distance extending relative to the outer edge of the body can be greater than or equal to 15 cm. Specifically, when the swing arm mechanism is in the outward swing position, the distance between the ground cleaning module and the outer side of the second end of the swing arm mechanism is approximately 2 cm.

[0153] Optionally, when the swing arm mechanism is in the folded-in position, a portion of the swing arm mechanism extends to the outside of the machine body, with the side of the swing arm mechanism approximately parallel to the machine body's travel direction (y-direction). This ensures that the side of the ground cleaning module with the largest exposed dimension beyond the swing arm mechanism is located on the side of the machine body's width direction (x-direction). This allows the side of the swing arm mechanism with the largest exposed dimension to face the obstacle (see reference). Figure 13 (As shown). This allows for cleaning of the low-lying spaces beneath obstacles.

[0154] For example, when the swing arm mechanism is in the inward folding position, the portion of the ground cleaning module that extends beyond the side of the swing arm mechanism and is outside the swing arm mechanism has a maximum dimension greater than 3 cm in the width direction of the body (in the x direction), such as 4 cm, 5 cm, 6 cm, 7 cm, etc. In this embodiment of the application, no further limitation is made.

[0155] For example, the height of the floor cleaning module is less than or equal to 2 cm. Therefore, it can enter gaps higher than 2 cm for cleaning. For example, the height of the floor cleaning module can be 0.5 cm, 1 cm, 1.5 cm, or 2 cm, etc. In this embodiment of the application, the height of the floor cleaning module is not further limited.

[0156] When the swing arm mechanism is in the edge-side position, the swing distance of the swing arm mechanism relative to the machine body is less than the swing distance of the swing arm mechanism relative to the machine body when it is in the inward-folding position, and in the width direction (x direction) of the machine body, the outer edge of the ground cleaning module reaches or exceeds the maximum width of the machine body. Specifically, when the swing arm mechanism is in the edge-side position, the dimension of the ground cleaning module located outside the second end of the swing arm mechanism is about 2 cm.

[0157] In some embodiments, the swing arm mechanism may include a first swing arm and a second swing arm, one end of the first swing arm being rotatably connected to the machine body and the other end being rotatably connected to the second swing arm. The end of the first swing arm connected to the machine body is configured as a first end, and the end of the second swing arm away from the first swing arm is configured as a second end. The floor cleaning module is mounted on the second swing arm. Rotation of the second swing arm relative to the first swing arm can change the relative position of the second swing arm and the machine body, thereby changing the relative position of the largest exposed portion of the floor cleaning module on the outside of the swing arm mechanism with the machine body.

[0158] The cleaning assembly may include a drive module for driving the swing arm mechanism to move relative to the body. Specifically, the drive module may include a first drive structure and a second drive structure. The first drive structure is connected to the first swing arm and drives the swing arm mechanism to rotate relative to the body between an inward retracted position and an outward swing position. The second drive structure is connected to the second swing arm and drives the second swing arm to rotate relative to the first swing arm, causing the swing arm mechanism to move from the outward swing position to the inward folded position.

[0159] The specific execution methods of steps S1002 and S1003 are explained below.

[0160] In one possible implementation, the specific execution method of controlling the cleaning device to perform cleaning work with the swing arm mechanism in the retracted state in step S1002 can be: controlling the first drive structure and the second drive structure to drive the first swing arm and the second swing arm to rotate respectively, so that the swing arm mechanism is in the retracted state to perform cleaning work.

[0161] For example, when the scene recognition module identifies a cleaning scene that the machine can enter, it can control the first and second drive structures to minimize the rotation angle between the first swing arm and the machine body (e.g., 0° or close to 0°), and simultaneously minimize the rotation angle between the first and second swing arms (e.g., 0°, meaning they are almost fully extended and together). This state is called the retracted state, where the swing arm mechanism is in the retracted position. In this state, the entire swing arm mechanism is retracted within or flush with the machine body's outline, allowing the cleaning equipment to perform compact and efficient whole-house cleaning.

[0162] The specific execution method of controlling the cleaning equipment to perform cleaning operations in one of the preset positions of the swing arm mechanism in the outward swing state in step S1003 can be: controlling the first drive structure and the second drive structure to drive the first swing arm and the second swing arm to rotate respectively, so that the swing arm mechanism is in the outward swing state to perform cleaning operations.

[0163] For example, when the scene recognition module recognizes that the cleaning scene is a scene inaccessible to the machine, it can control the first drive structure and the second drive structure to make the first swing arm rotate relative to the machine, and / or the second swing arm rotate relative to the first swing arm, so as to achieve different positions in the outward swing state.

[0164] By setting independent first and second drive structures to control the rotation of the first and second swing arms respectively, decoupled control of the two degrees of freedom of the swing arm mechanism can be achieved. This allows for more precise and independent adjustment of the lateral extension range of the swing arm mechanism and the protrusion posture of the cleaning component (through the second drive structure), thereby enabling the efficient and reliable combination of multiple preset cleaning positions (retracted, outward swing, inward fold, along the edge, etc.), providing a direct and efficient execution guarantee for implementing adaptive cleaning methods for complex scenarios.

[0165] In some other embodiments, the drive module may include only one drive structure to transmit the mechanism. The specific execution method of controlling the cleaning device to perform the cleaning operation in one of the preset positions of the swing arm mechanism in the outward swing state in step S1003 may be: controlling the drive module to drive the first swing arm and the second swing arm to rotate, so that the swing arm mechanism is in different preset positions of the outward swing state to perform the cleaning operation.

[0166] In this embodiment of the application, the number of driving structures in the driving module is not further limited, as long as it can drive the swing arm mechanism to switch between multiple positions.

[0167] In some embodiments, the preset position may include an inward folding position and an outward swinging position. The first scenario corresponds to the inward folding position, and the second scenario may correspond to the outward swinging position.

[0168] In some embodiments, when the cleaning scene is identified as a scene inaccessible to the machine in step S1003, the cleaning equipment is controlled to perform the cleaning operation in one of the preset positions with the swing arm mechanism in an outward swing state. Specifically, this may include the following steps.

[0169] 10.1 When the cleaning scenario is identified as the first scenario, the cleaning equipment is controlled to perform the cleaning operation with the swing arm mechanism in the inward folding position.

[0170] 10.2 When the cleaning scenario is identified as the second scenario, the cleaning equipment is controlled to perform the cleaning operation with the swing arm mechanism in the outward swing position or the inward fold position.

[0171] Optionally, when the cleaning scenario is identified as the first scenario, the swing arm mechanism can be adjusted to the inward folding position by controlling the first and second drive structures. When the cleaning scenario is identified as the second scenario, the swing arm mechanism can be adjusted to the outward swinging position or the inward folding position by controlling the first and second drive structures.

[0172] It should be noted that in the second scenario, since the swing arm mechanism can enter, it can cover the area to be cleaned even when the bottom of some shallow obstacles is in the inward fold position. Therefore, the swing arm mechanism can be adjusted to either the inward fold position or the outward swing position to perform cleaning operations. When in the inward fold position, the swing arm mechanism is more compact with the machine body, which can improve the stability of operation.

[0173] By further dividing inaccessible areas into a first scenario accessible only to the floor cleaning module and a second scenario accessible only to the swing arm mechanism, and matching different swing arm positions (inward or outward) to each scenario, precise adaptation of cleaning strategies can be achieved. For the first scenario (such as extremely low gaps), controlling the swing arm mechanism to use the inward fold position maximizes the penetration depth of the floor cleaning module, ensuring effective cleaning. For the second scenario (such as the bottom of furniture of normal height), the outward fold position can be used to expand cleaning coverage, or the inward fold position can be used for deep cleaning. This hierarchical control based on spatial accessibility reduces the risk of ineffective mechanical movements or collisions, significantly improving the intelligence and safety of the cleaning process.

[0174] The control process of the swing arm mechanism is explained below.

[0175] In some embodiments, such as Figure 11 As shown, when the height detection unit in the scene recognition module detects that there is an open and unobstructed area in front of the cleaning equipment, or that the accessible height is greater than the height of the machine body, it determines that the machine body can enter the scene. The first and second drive structures can be controlled to minimize the rotation angle between the first swing arm and the machine body (e.g., 0° or close to 0°), and simultaneously minimize the rotation angle between the first and second swing arms (e.g., 0°, meaning both are almost fully extended and joined). This state is called the retracted state, where the swing arm mechanism is in the retracted position. In this state, the entire swing arm mechanism is retracted within or flush with the machine body's outline, allowing the cleaning equipment to perform compact and efficient whole-house cleaning.

[0176] like Figure 12 As shown, when the height detection unit in the scene recognition module detects an accessible height that is less than the height of the machine body but greater than the height of the swing arm mechanism, it is determined to be the second scene (i.e., a low-ceilinged space accessible by the swing arm mechanism, such as under a bed or sofa). For such relatively spacious low-ceilinged spaces, to expand the coverage of a single cleaning cycle, the swing arm mechanism can be controlled to switch to the outward swing position. In this position, the first drive structure is controlled to adjust the rotation angle of the first swing arm to its maximum value (e.g., 70°-90°), while the second drive structure is controlled to adjust the rotation angle of the second swing arm to its maximum value (e.g., 30°-60°). At this time, the swing arm mechanism swings outwards relative to the machine body to its maximum distance, and the floor cleaning module is pushed out laterally to the maximum extent, thereby significantly expanding the cleaning width.

[0177] like Figure 13 As shown, when the height detection unit detects that the accessible height is less than the height of the swing arm mechanism but greater than the height of the floor cleaning module, it is determined to be the first scenario (i.e., an extremely narrow gap, such as the edge of a low baseboard or a gap where furniture is close to the floor). To deal with this scenario, the swing arm mechanism is controlled to switch to the inward folding position.

[0178] If the current position of the swing arm mechanism is the outward swing position, the second drive structure can be controlled to drive the second swing arm relative to the first swing arm, along the direction in which the angle between the first and second swing arms decreases relative to the swing arm mechanism when it is in the outward swing position, to the minimum angle, so that the swing arm mechanism has an inward folding position.

[0179] If the current position of the swing arm mechanism is the retracted position, the first drive structure can be controlled to adjust the rotation angle of the first swing arm to its maximum value (e.g., 70°-90°), while the second drive structure is controlled to adjust the rotation angle of the second swing arm to its minimum value (e.g., 0° or a very small negative angle), so that the swing arm mechanism remains in the folded position. Alternatively, the first and second drive structures can be controlled to drive the first and second swing arms respectively, so that the swing arm mechanism is fully opened, that is, reaches the position with the maximum extension distance. Then, the second drive structure is controlled to drive the second swing arm relative to the first swing arm, along the direction in which the angle between the first and second swing arms is reduced relative to the swing arm mechanism when it is in the outward swing position, to the minimum value, so that the swing arm mechanism has the folded position.

[0180] The final state of the swing arm mechanism in the inward folded position is as follows: the rotation angle of the first swing arm remains at its maximum value, while the rotation angle of the second swing arm becomes its minimum value (e.g., 0° or a very small negative angle). At this time, the size of the ground cleaning module exposed outside the swing arm mechanism reaches its maximum.

[0181] In one possible implementation, the cleaning equipment is controlled to perform cleaning operations with the swing arm mechanism in the inward folded position. Specifically, the swing arm mechanism can be first controlled to move to the outward swing position, and then controlled to move to the inward folded position to perform the control operation.

[0182] It should be noted that when the cleaning component is currently in the retracted state, the first drive structure can be controlled to drive the first swing arm to rotate relative to the body, adjusting the swing arm mechanism to the outward swing position. Then, the second drive structure can be controlled to drive the second swing arm relative to the first swing arm, moving in the direction of reducing the angle between the first and second swing arms, so that the swing arm mechanism changes from the outward position to the inward folded position.

[0183] In some embodiments, during the process of the first drive structure driving the swing arm mechanism to move from the inward position to the outward position, the second drive structure can first lock the second swing arm at a position where the angle between it and the first swing arm remains unchanged. When the first swing arm rotates relative to the body to the maximum angle, the second drive structure can then drive the second swing arm to release the pressure of the second elastic element, thereby causing the second swing arm to move relative to the first swing arm in the direction of increasing the angle between the first swing arm and the second swing arm, so that the swing arm mechanism moves to the outward position.

[0184] Specifically, when the first swing arm rotates to its maximum angle relative to the body, the swing arm mechanism is in the inward folded position. Of course, when the swing arm mechanism is in the outward swing position, the second swing arm can be driven by the second drive structure to move relative to the first swing arm in the direction of reducing the angle between the first and second swing arms, so that the swing arm mechanism changes from the outward position to the inward folded position.

[0185] In other embodiments, when the first drive structure drives the first swing arm to move relative to the fixed base, after moving to the target position, the second swing arm can be directly ejected outside the body under the pressure release action of the second elastic element and stay in the outward swing position. When it is necessary to adjust the swing arm mechanism to the inward folding position, the second drive structure can drive the second swing arm relative to the first swing arm to move in the direction of reducing the angle between the first and second swing arms, so that the swing arm mechanism is switched to the inward folding position.

[0186] By setting a fixed sequence of movements—first outward swinging, then inward folding—precise and reliable control of the swing arm mechanism's transition to the inward folding position can be achieved. Specifically, this control sequence first utilizes the ample operating space provided by the outward swinging position to fully unfold the swing arm mechanism from the compact outline of the machine body. This creates interference-free initial conditions for subsequent inward folding. Then, the swing arm mechanism is controlled to fold inward to the inward folding position. This step-by-step operation ensures that the movement trajectory of the swing arm mechanism remains within a controllable range during complex spatial transformations, avoiding collisions or accidental interference with other components of the machine body that might occur if the switch to the inward folding position is performed directly, thus improving safety.

[0187] It should be noted that, in the process of controlling the cleaning equipment so that the swing arm mechanism is in the inward folding position, it is not limited whether to first adjust it to the outward swinging position or directly adjust it to the inward folding position, as long as it can be adjusted to the inward folding position.

[0188] In some embodiments, the cleaning assembly may further include an angle detection module located on one of the mounting base and the swing arm mechanism, the angle detection module being used to detect the rotation angle of the swing arm mechanism relative to the mounting base.

[0189] For example, the angle detection module may include a first detection element and a second detection element. The first detection element is located on the mounting base or on the first swing arm, and is used to detect a first rotation angle of the first swing arm relative to the mounting base. The second detection element is located on the first or second swing arm, and is used to detect a second rotation angle of the second swing arm relative to the first swing arm. A first drive structure is configured to control the swing direction and swing angle of the first swing arm based on the first and / or second rotation angle, thereby changing the swing distance of the swing arm mechanism relative to the body. A second drive structure is configured to control the swing distance of the second swing arm relative to the first swing arm based on the first and / or second rotation angle.

[0190] When controlling the movement of the first and second swing arms, the positions of the first and second swing arms can be determined based on the detection data of the first and second detection elements.

[0191] In one possible implementation, when the cleaning scenario is identified as the first scenario, the control method can be executed by controlling the cleaning equipment to move toward the obstacle, so that the cleaning equipment can drive the ground cleaning module into the space below the obstacle to perform cleaning operations.

[0192] When a scenario (such as a low gap) is identified where only the ground cleaning module can access from the side, the cleaning device actively moves towards the obstacle until the ground cleaning module enters the space beneath the obstacle, enabling active cleaning of extremely narrow areas. Compared to related technologies where cleaning devices can only hover or detour around similar scenarios, this solution, through precise proximity positioning of the device, ensures that the cleaning component, positioned in an inward fold, can accurately and fully extend into the target area to perform cleaning. This expands the cleaning boundary of the device and improves the coverage of the cleaning space.

[0193] In some other embodiments, the second scenario can be further subdivided.

[0194] In some embodiments, the second scenario may include a first access scenario where the depth of access below the obstacle allows the swing arm mechanism to partially extend, and a second access scenario where it can fully extend. Correspondingly, the scenario recognition module may include a height detection unit and a depth detection unit. When the cleaning device recognizes a cleaning scenario, it can use the height detection unit to detect whether the current cleaning scenario is the first scenario or the second scenario, and use the depth detection unit to detect whether the current second scenario is the first access scenario or the second access scenario.

[0195] Optionally, the aforementioned depth detection unit can be used to detect the accessible depth below an obstacle. Specifically, this can be achieved using a lidar, structured light sensor, or ultrasonic sensor that emits detection signals vertically from the front.

[0196] In some embodiments, the inaccessible scenarios include a first scenario, a second scenario, and a third scenario, with the second scenario including a first insertion scenario and a second insertion scenario. Accordingly, the cleaning device includes a height detection unit, an edge detection unit, and a depth detection unit. When the cleaning device identifies a cleaning scenario, it can use the height detection unit and the edge detection unit to detect whether the current cleaning scenario is the first, second, or third scenario, and the depth detection unit to detect whether the current cleaning scenario is the first or second insertion scenario.

[0197] Specifically, when the cleaning equipment identifies a cleaning scene, it can use a height detection unit to detect whether the current cleaning scene is a second scene within an inaccessible scene. If the height detection unit has determined that the current scene is a second scene (i.e., the swing arm mechanism can enter), the depth detection unit will emit a detection signal vertically downward or forward to detect the accessible depth below the obstacle and further subdivide the second scene accordingly.

[0198] Specifically, the depth detection unit can determine the scene by detecting the accessible depth of the bottom of the obstacle in front of the machine and combining it with a preset threshold.

[0199] Regarding the determination of the first penetration scenario: when the depth detection unit detects that the accessible depth is less than or equal to the second preset distance, the current second scenario is determined to be the first penetration scenario. This scenario means that the space below the obstacle is shallow, and the swing arm mechanism can only partially penetrate. The second preset distance can be set based on the maximum horizontal distance from the foremost point (outer edge of the ground cleaning module) of the swing arm mechanism to the reference point of the machine body when the swing arm mechanism is in the inward folded position.

[0200] Optionally, when the second preset distance is greater than or equal to the dimension of the ground cleaning module exceeding the maximum width of the machine body when the swing arm mechanism is in the folded position. For example, if the maximum distance is 10 cm, the second preset distance can be set to 10 cm. When a depth of 5 cm is detected, it is identified as the first insertion scenario. At this time, the control strategy can preferentially select to put the swing arm mechanism in the folded position to achieve deep cleaning of the shallow space.

[0201] Regarding the determination of the second entry scenario: when the depth detection unit detects an accessible depth greater than a second preset distance, the current second scenario is determined to be the second entry scenario. This scenario implies that the space below the obstacle is relatively deep, allowing the swing arm mechanism to extend more fully. In this scenario, the control strategy has more options: it can control the swing arm mechanism to switch to the outward swing position, utilizing its maximum lateral swing distance to efficiently clean the near-end area of ​​the deeper space, expanding the coverage of a single cleaning operation. Alternatively, depending on the cleaning needs (such as the need to clean the deepest part), it can still choose the inward folding position for operation. The system can automatically select the outward swing position or the inward folding position in the second entry scenario based on preset cleaning logic or user settings.

[0202] By introducing a depth detection unit to further subdivide the second scene into "shallow space" and "deep space", this solution can achieve more refined cleaning strategy control, thereby improving cleaning efficiency while ensuring cleaning effect.

[0203] When the current cleaning scenario is identified as the second scenario, the control method may further include the following steps.

[0204] 10.3 Control the swing arm mechanism to enter the area below the obstacle to perform cleaning operations, and control the machine body not to enter the area below the obstacle.

[0205] 10.4 After completing the cleaning operation in the second scenario, control the swing arm mechanism to switch to the retracted state.

[0206] When the second scenario is identified as accessible to the swing arm mechanism, the swing arm mechanism carries the ground cleaning module into the area below the obstacle for operation. Simultaneously, the machine body is positioned outside the area below the obstacle, and after operation, the swing arm mechanism is retracted to its inward position. This avoids collisions with the obstacle and prevents damage to the machine. Furthermore, the movable swing arm mechanism can cover low-lying areas, and after operation, it returns to its compact form for easy turning or passage through narrow passages. This ensures effective cleaning of low-lying areas while maintaining the overall mobility and passability of the cleaning equipment.

[0207] In one possible implementation, step S1001, identifying the current cleaning scenario of the cleaning equipment, may include controlling the depth detection unit to detect the accessible depth of obstacles around the machine body. In this case, controlling the cleaning equipment in step S1003 to perform the cleaning operation with the swing arm mechanism in an outward swing position or an inward fold position may specifically include the following steps.

[0208] 10.5 If the depth that can be entered is greater than or equal to the second preset distance, then control the swing arm mechanism to switch to the outward swing position to perform cleaning operations.

[0209] 10.6 If the depth that can be entered is less than the second preset distance, control the swing arm mechanism to switch to the inward folding position to perform cleaning operations.

[0210] By detecting the accessible depth beneath obstacles using a depth detection unit before performing cleaning operations in the second scenario, a reasonable basis can be provided for adjusting the position of the swing arm mechanism. When a large spatial depth is detected (greater than a second preset distance, typically associated with the maximum protrusion distance of the ground cleaning module in the inward folding position), selecting the outward swinging position can leverage the wide lateral coverage of the swing arm mechanism for efficient cleaning. Conversely, when the depth is shallow, the inward folding position is selected to achieve deep cleaning. This dual judgment combining height and depth information makes the cleaning strategy more refined and better adaptable to low-ceilinged spaces with various complex geometries.

[0211] In some embodiments, the inaccessible scenarios include a first scenario, a second scenario, and a third scenario. Correspondingly, the scenario recognition module includes a height detection unit, a depth detection unit, and an edge detection unit.

[0212] The execution method of the control method for the cleaning equipment corresponding to the first and second scenarios can be referred to the description in any of the above embodiments, and will not be repeated here.

[0213] The following section details the control logic of the cleaning equipment when the current cleaning scenario is the third scenario.

[0214] When the cleaning scenario is identified as the third scenario, the cleaning equipment is controlled to perform the cleaning operation with the swing arm mechanism in the edge position.

[0215] By defining a third scenario where edge cleaning needs to be performed and configuring it with an edge position where the swing distance is smaller than the inward fold position, the cleaning device's passability and fit during edge cleaning can be improved. In the edge position, the swing arm mechanism and cleaning components are retracted to the side of the machine in a more compact manner, allowing the cleaning device to move smoothly in narrow passages close to the edges of walls or furniture, avoiding collisions.

[0216] By limiting the outer edge of the floor cleaning module to reach or extend beyond the width of the machine body, the extension distance of the floor cleaning module can be controlled within a small range. This allows the floor cleaning module to cover the area outside the machine body, and the extended part is sufficient to ensure that the cleaning parts can effectively contact and clean the corners at the base of the wall. The minimal extension also minimizes the risk of the floor cleaning module rubbing against or getting stuck on the wall.

[0217] like Figure 14As shown, when the edge detection unit detects a continuous obstacle (such as a wall) on one side of the machine body, and the lateral distance remains stable and less than a threshold 'a' (such as 15cm) for a continuous travel period, it is determined to be the third scene (i.e., the edge cleaning area). At this time, the first and second drive structures are controlled to switch the swing arm mechanism to the edge position. Specifically, the first drive structure is controlled to drive the first swing arm to rotate relative to the machine body by a first angle, which is an intermediate value (e.g., 15°-45°) that is greater than zero but less than the angle of the inward folding position. The rotation angle of the second drive structure relative to the first swing arm is controlled to be the minimum value.

[0218] This makes the swing distance of the arm mechanism relative to the body smaller than the swing distance when folded inward, resulting in a more compact overall design. Simultaneously, through angle design, it is ensured that in the width direction of the body, the outer edge of the floor cleaning module only exceeds the maximum width profile of the body (as shown in Figure 14). This slight excess ensures that the floor cleaning module effectively scrapes the base of the wall while greatly reducing the risk of rubbing against the wall, achieving an optimized balance in edge cleaning.

[0219] This application provides a cleaning device for executing the control method described in any of the above embodiments. The cleaning device includes a body and a cleaning assembly movably connected to the body. The cleaning assembly includes: a swing arm mechanism with a first end and a second end, the first end being connected to the body; the swing arm mechanism is rotatable relative to the body to be in an inward retracted state and an outward swing state; the swing arm mechanism has at least two preset positions in the outward swing state, and the swing distance relative to the body is different in the at least two preset positions; and a floor cleaning module connected to the bottom of the swing arm mechanism, at least a portion of the floor cleaning module's structure being exposed outside the swing arm mechanism.

[0220] The cleaning device in this application embodiment integrates a swing arm mechanism that can rotate in multiple positions, an exposed floor cleaning module, and a control system that executes the aforementioned control method. It can automatically adjust the posture of the swing arm mechanism according to whether the space in front is an open area, the bottom of low furniture, a narrow gap, or a corner of a wall, thereby achieving almost no blind spots in various complex home environments.

[0221] This application also provides a cleaning system, including the cleaning device and base station of any of the above embodiments, wherein the base station can at least be used to charge the cleaning device.

[0222] The cleaning system in this application embodiment, by setting up the cleaning equipment in any of the above embodiments, can autonomously handle cleaning tasks from open ground to various edges, low-lying, and narrow areas due to its good scene adaptability and cleaning coverage. This can greatly reduce the need for manual intervention and spot cleaning, and improve the user experience.

[0223] The various embodiments or implementation methods described in this specification are presented in a progressive manner. Each embodiment focuses on the differences from other embodiments, and the same or similar parts between the embodiments can be referred to each other.

[0224] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0225] In the description of this application, it should be understood that the terms “comprising” and “having” as used herein, and any variations thereof, are intended to cover non-exclusive inclusion, for example, a process, method, system, product, or apparatus that includes a series of steps or units is not necessarily limited to those steps or units that are expressly listed, but may include other steps or units that are not expressly listed or that are inherent to such process, method, product, or apparatus.

[0226] Unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the connection within two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated.

[0227] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A control method for a cleaning device, characterized in that, Applied to cleaning equipment, the cleaning equipment includes a body and a cleaning component movably connected to the body; the cleaning component includes: The swing arm mechanism includes a first end and a second end. The first end is used to connect to the machine body. The swing arm mechanism is able to rotate relative to the machine body to be in an inward state and an outward state. The swing arm mechanism has at least two preset positions in the outward state. The swing arm mechanism swings at different distances relative to the machine body in the at least two preset positions. A floor cleaning module is connected to the bottom of the swing arm mechanism, and at least a portion of the structure of the floor cleaning module is exposed on the outside of the swing arm mechanism; The method includes: Identify the current cleaning scenario of the cleaning equipment, which includes scenarios that the equipment can enter and scenarios that the equipment cannot enter; When the cleaning scene is identified as one that the machine can enter, the cleaning equipment is controlled to perform cleaning work with the swing arm mechanism in a retracted state. When the cleaning scenario is identified as a scenario inaccessible to the machine, the cleaning equipment is controlled to perform cleaning operations in one of the preset positions with the swing arm mechanism in an outward swing state, according to the cleaning scenario.

2. The method according to claim 1, characterized in that, The swing arm mechanism includes a side, and when the floor cleaning module is installed to the second end of the swing arm mechanism, the portion of the floor cleaning module that extends beyond the side is larger than the portion that extends beyond the second end. The preset positions include an inward folding position and an outward swinging position; wherein... When the swing arm mechanism is in the outward swing position, the swing arm mechanism swings outward a maximum distance relative to the machine body; When the swing arm mechanism is in the inward folded position, the side of the swing arm mechanism is approximately parallel to the direction of travel of the machine body.

3. The method according to claim 2, characterized in that, The non-accessible scenarios for the machine body include a first scenario and a second scenario. The first scenario is configured as a scenario in which the ground cleaning module can enter but the swing arm mechanism cannot enter, and the second scenario is configured as a scenario in which the swing arm mechanism can enter. When the cleaning scenario is identified as a scenario where the machine cannot enter, the cleaning equipment is controlled to perform cleaning operations in one of the preset positions where the swing arm mechanism is in an outward swing state, according to the cleaning scenario, including: When the cleaning scenario is identified as the first scenario, the cleaning equipment is controlled to perform the cleaning operation with the swing arm mechanism in the inward folded position. When the cleaning scenario is identified as the second scenario, the cleaning equipment is controlled to perform the cleaning operation with the swing arm mechanism in the outward swing position or the inward fold position.

4. The method according to claim 3, characterized in that, The control of the cleaning equipment to perform cleaning operations with the swing arm mechanism in the inward folded position includes: First, control the swing arm mechanism to move to the outward swing position, and then control the swing arm mechanism to move to the inward folding position to perform the control operation.

5. The method according to claim 3 or 4, characterized in that, The cleaning equipment includes a scene recognition module, which includes a height detection unit for detecting the accessible height of obstacles around the machine body. The process of identifying the current cleaning scenario of the cleaning equipment includes: The height detection unit is controlled to detect the accessible height of obstacles around the machine body; When the accessible height is greater than the height of the machine body, the cleaning scene is determined to be an accessible scene for the machine body; When the accessible height is less than the height of the machine body but greater than the height of the swing arm mechanism, the cleaning scenario is determined to be the second scenario. When the accessible height is less than the height of the swing arm mechanism but greater than the height of the floor cleaning module, the cleaning scenario is determined to be the first scenario; wherein, The height of the swing arm mechanism is less than the height of the machine body.

6. The method according to claim 5, characterized in that, The process of identifying the current cleaning scenario of the cleaning equipment includes: When the distance between the cleaning device and surrounding obstacles is greater than a first preset distance, the scene recognition module is controlled to perform detection; wherein, the first preset distance is greater than or equal to the maximum distance between the outer edge of the ground cleaning module and the body when the swing arm mechanism is in the outward swing position.

7. The method according to claim 6, characterized in that, When the cleaning scenario is identified as the first scenario, the method further includes: Control the cleaning equipment to move toward the obstacle, so that the cleaning equipment drives the ground cleaning module into the space below the obstacle to perform cleaning operations.

8. The method according to claim 6, characterized in that, When the cleaning scenario is identified as the second scenario, the method further includes: Control the swing arm mechanism to enter the area below the obstacle to perform cleaning operations, and control the machine body not to enter the area below the obstacle; After completing the cleaning operation in the second scenario, control the swing arm mechanism to switch to the retracted state.

9. The method according to claim 5, characterized in that, The scene recognition module includes a depth detection unit, which is used to detect the accessible depth of obstacles around the body. The process of identifying the current cleaning scenario of the cleaning equipment includes: The depth detection unit is controlled to detect the accessible depth of obstacles around the machine body; Controlling the cleaning equipment to perform cleaning operations with the swing arm mechanism in the outward swing position or the inward fold position includes: If the accessible depth is greater than or equal to the second preset distance, then control the swing arm mechanism to switch to the outward swing position to perform cleaning operations; If the accessible depth is less than the second preset distance, the swing arm mechanism is controlled to switch to the inward folding position to perform the cleaning operation; wherein, When the second preset distance is greater than or equal to the swing arm mechanism in the inward folding position, the floor cleaning module exceeds the maximum width of the machine body.

10. The method according to claim 5, characterized in that, The non-accessible scenarios for the machine include a third scenario, which is configured as an area where edge cleaning operations need to be performed. The preset position includes the edge position. When the swing arm mechanism is in the edge position, the swing distance of the swing arm mechanism relative to the body is less than the swing distance of the swing arm mechanism relative to the body when it is in the inward fold position. In the width direction of the body, the outer edge of the floor cleaning module reaches or exceeds the maximum width of the body. When the cleaning scenario is identified as a scenario where the machine cannot enter, the cleaning equipment is controlled to perform cleaning operations in one of the preset positions where the swing arm mechanism is in an outward swing state, according to the cleaning scenario, including: When the cleaning scenario is identified as the third scenario, the cleaning equipment is controlled to perform the cleaning operation with the swing arm mechanism in the edge position.

11. The method according to claim 10, characterized in that, The scene recognition module includes an edge detection unit; The process of identifying the current cleaning scenario of the cleaning equipment includes: The edge detection unit is controlled to detect the lateral distance between one side of the machine body and surrounding obstacles; If, during the process of the cleaning device traveling in the current direction for more than a preset distance, the lateral distance is continuously less than or equal to a first distance threshold, and the fluctuation value of the lateral distance is less than the fluctuation threshold, then the cleaning scenario is determined to be the third scenario.

12. The method according to claim 11, characterized in that, The edge detection unit includes at least one ranging sensor disposed on the side of the body, used to transmit detection signals and receive echoes to calculate the lateral distance.

13. The method according to any one of claims 10-12, characterized in that, The swing arm mechanism includes a first swing arm and a second swing arm, one end of the first swing arm is rotatably connected to the machine body, and the other end is rotatably connected to the second swing arm; The end of the first swing arm connected to the body is configured as the first end, and the end of the second swing arm away from the first swing arm is configured as the second end; The ground cleaning module is installed on the second swing arm; wherein... The rotation of the second swing arm relative to the first swing arm can change the relative position of the second swing arm and the body, thereby changing the relative position of the largest part of the ground cleaning module exposed on the outside of the swing arm mechanism and the body.

14. The method according to claim 13, characterized in that, When the swing arm mechanism is in the retracted state, the rotation angle between the first swing arm and the body is at its minimum, and the rotation angle between the first swing arm and the second swing arm is also at its minimum; and / or, When the swing arm mechanism is in the inward folded position, the rotation angle between the first swing arm and the body is at its maximum value, and the rotation angle between the first swing arm and the second swing arm is at its minimum value; and / or, When the swing arm mechanism is in the edge position, the rotation angle between the first swing arm and the body is greater than zero and less than the rotation angle between the first swing arm and the body when the swing arm mechanism is in the inward fold position, and the rotation angle between the first swing arm and the second swing arm is at its minimum value; and / or, When the swing arm mechanism is in the outward swing position, the rotation angle between the first swing arm and the body is at its maximum value, and the rotation angle between the first swing arm and the second swing arm is at its maximum value.

15. The method according to claim 13, characterized in that, The ground cleaning module is connected between the first and second ends of the swing arm mechanism, or connected to the second end of the swing arm mechanism.

16. The method according to claim 13, characterized in that, The cleaning component includes a drive module, which includes: A first drive structure is connected to the first swing arm and is used to drive the swing arm mechanism to rotate relative to the body between an inward position and an outward position. A second drive structure, connected to the second swing arm, is used to drive the second swing arm to rotate relative to the first swing arm, so that the swing arm mechanism moves from the outward swing position to the inward folding position; wherein... The control of the cleaning equipment to perform cleaning work with the swing arm mechanism in a retracted state includes: The first drive structure and the second drive structure are controlled to drive the first swing arm and the second swing arm to rotate respectively, so that the swing arm mechanism is in the retracted state to perform cleaning operations; The control of the cleaning equipment to perform cleaning operations at one of the preset positions where the swing arm mechanism is in an outward swing state includes: The first drive structure and the second drive structure are controlled to drive the first swing arm and the second swing arm to rotate respectively, so that the swing arm mechanism is in the outward swing state to perform cleaning operations.

17. A cleaning device, characterized in that, Used to perform the control method according to any one of claims 1-16; wherein... The cleaning equipment includes a body and a cleaning component movably connected to the body; the cleaning component includes: The swing arm mechanism includes a first end and a second end. The first end is used to connect to the body. The swing arm mechanism can rotate relative to the body to be in an inward state and an outward state. The swing arm mechanism has at least two preset positions in the outward state. The swing arm mechanism swings a different distance relative to the body in the at least two preset positions. A floor cleaning module is connected to the bottom of the swing arm mechanism, and at least a portion of the structure of the floor cleaning module is exposed on the outside of the swing arm mechanism.

18. A cleaning system, characterized in that, Includes the cleaning equipment as described in claim 17 and a base station for the cleaning equipment to interface with.

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