Skirting detection method, cleaning method, cleaning device, and machine-readable medium

Abstract

The present disclosure provides a skirting line detection method, a cleaning method, a cleaning device and a machine readable medium, and belongs to the technical field of cleaning. The skirting line detection method comprises: in response to a detection instruction, controlling a distance detection module of the cleaning device to move relative to a wall body along a vertical direction; obtaining a plurality of distance parameters between the distance detection module and the wall body during the movement; determining whether the wall body has a skirting line based on the change of the plurality of distance parameters; and after determining that the wall body has a skirting line, determining the outward protruding depth of the skirting line relative to the wall surface based on the distance parameter. The scheme provided by the present disclosure can determine whether the wall body has a skirting line, and after determining that the wall body has a skirting line, the outward protruding depth of the skirting line relative to the wall surface can be further determined, thereby improving the adaptability of the cleaning device to different specifications of skirting lines and improving the cleaning effect of the skirting line area.

Description

Technical Field

[0001] This disclosure belongs to the field of cleaning technology, specifically relating to a method for detecting baseboards, a cleaning method, a cleaning device, and a machine-readable medium. Background Technology

[0002] In modern home and office cleaning, baseboards are located at the junction of walls and floors, typically installed continuously along the perimeter of the room. They are used to cover the gap between walls and floors and serve both decorative and protective purposes for the lower edge of the walls. Because baseboards are usually installed close to the floor and their outer surface often protrudes slightly from the wall, dust, hair, and fine particles easily accumulate on the outer surface of the baseboard, in the transition area between the baseboard and the wall, and in the adjacent area. These areas are among the most difficult to clean during routine cleaning.

[0003] Existing automated vacuum cleaners with baseboard cleaning functions typically have a side brush on one side of the main body. As the device moves along the wall, the side brush sweeps dust near the baseboard to the suction port, where it is then sucked into the dust collection structure by the airflow. In terms of structure and control, most of these devices are still primarily designed for floor cleaning. The side brush or lateral cleaning components are usually positioned in a preset, fixed location, and cleaning near the wall relies mainly on the device itself moving along the edge during operation.

[0004] Because skirting boards vary in different installation environments in terms of whether they are installed, their protrusion size, and the transition contour of the wall, and existing equipment generally lacks the ability to effectively detect changes in the side contour of the wall, it is difficult to accurately determine whether a skirting board exists in the current wall area, and it is also difficult to further identify the actual protrusion of the skirting board relative to the wall. Summary of the Invention

[0005] When a baseboard is installed along the bottom edge of the wall, the fixed-position side brush cannot be adjusted according to the protrusion of the baseboard relative to the wall surface. This can easily lead to insufficient contact between the cleaning components and the baseboard area, making it difficult to effectively reach the dust on the outer surface of the baseboard and affecting the cleaning effect of the baseboard area.

[0006] When there is no baseboard along the bottom edge of the wall, or when the baseboard protrusion varies in different areas, existing equipment struggles to distinguish between the wall surface and the baseboard area, and cannot assess the distance differences between them. This results in a lack of ability to identify and assess different wall structures during wall cleaning, thus affecting the equipment's adaptability to baseboard areas. Especially when different sizes of baseboards or areas without baseboards exist in the same cleaning environment, existing fixed cleaning structures are more prone to uneven cleaning coverage and insufficient cleaning in certain areas.

[0007] In addition, existing technologies usually focus more on the control of the device's movement along the wall or the side brush cleaning action itself, while lacking reliable detection methods for the presence of baseboards and the amount of protrusion of the outer surface of the baseboard relative to the wall. As a result, the device can only perform cleaning operations according to uniform parameters when facing different wall structures, making it difficult to make accurate judgments based on the actual changes in the wall contour.

[0008] To address the aforementioned technical problems, the purpose of this disclosure is to provide a method for detecting and cleaning baseboards, a cleaning method, a cleaning device, and a machine-readable medium, which can accurately identify baseboards and achieve precise detection of baseboard height and depth, thereby enabling adaptive cleaning of baseboards of different specifications.

[0009] To achieve the above objectives, the technical solution provided in this disclosure is as follows:

[0010] In a first aspect, this disclosure provides a method for detecting baseboards, comprising: responding to a baseboard detection command, controlling a distance detection module of a cleaning device to move vertically relative to a wall; during the movement of the distance detection module, acquiring multiple distance parameters between the distance detection module and the wall; determining whether a baseboard exists on the wall based on the changes in the multiple distance parameters; and, if a baseboard is determined to exist on the wall, determining the outward protrusion depth of the baseboard relative to the wall surface based on a first distance parameter of the distance detection module corresponding to a wall surface area of ​​the wall and a second distance parameter corresponding to a baseboard area of ​​the wall.

[0011] In one or more embodiments, determining whether a baseboard exists on the wall based on the changes in the plurality of distance parameters includes: obtaining the difference between the plurality of distance parameters during the vertical movement of the distance detection module; determining that a baseboard exists on the wall when the difference is greater than a preset threshold; and determining that a baseboard does not exist on the wall when the difference is not greater than the preset threshold.

[0012] In one or more embodiments, before controlling the distance detection module to move vertically relative to the wall, the method further includes: determining whether the current distance between the distance detection module and the wall has reached a predetermined detection distance based on the current distance parameter output by the distance detection module; if the predetermined detection distance has not been reached, controlling the cleaning equipment and / or the distance detection module to move closer to or further away from the wall until the predetermined detection distance is reached.

[0013] In one or more embodiments, the convex depth is determined based on the difference between the first distance parameter and the second distance parameter, and the convex depth is used to characterize the amount by which the outer surface of the skirting board protrudes relative to the wall.

[0014] In one or more embodiments, during the vertical movement of the distance detection module, when the distance parameter abruptly changes from the parameter of the corresponding skirting board area to the parameter of the corresponding wall area, a corresponding time node is determined; the top position of the skirting board is determined based on the position of the distance detection module corresponding to the time node, and the height of the skirting board is determined based on the vertical movement parameter of the distance detection module.

[0015] In one or more embodiments, as the distance detection module moves along the vertical direction, it transmits detection signals at a predetermined frequency and receives reflected signals, and determines the changes in the multiple distance parameters based on the distance parameters corresponding to multiple signal sampling points of the distance detection module.

[0016] In one or more embodiments, the distance detection module includes a transmitting unit and a receiving unit. The step of acquiring multiple distance parameters between the distance detection module and the wall includes: controlling the transmitting unit to transmit a detection signal to the wall and controlling the receiving unit to receive the detection signal reflected by the wall; acquiring the time interval between the transmission time and the reception time of each detection signal, and using the time interval as the distance parameter.

[0017] In one or more embodiments, determining whether a baseboard exists on the wall based on the changes in the plurality of distance parameters includes: comparing the currently detected time interval with a preset time threshold as the distance detection module moves vertically; and determining that a baseboard exists on the wall when the currently detected time interval is greater than the time threshold.

[0018] In one or more embodiments, determining the outward convexity depth of the skirting board relative to the wall based on a first distance parameter of the corresponding wall area and a second distance parameter of the corresponding skirting board area includes: acquiring a first time interval corresponding to the reflection of the detection signal through the wall and a second time interval corresponding to the reflection of the detection signal through the outer surface of the skirting board; and determining the outward convexity depth of the skirting board relative to the wall based on the difference between the first time interval and the second time interval.

[0019] In one or more embodiments, during the vertical movement of the distance detection module, the time interval of each detection signal is continuously acquired; when the time interval changes abruptly from the time interval corresponding to the baseboard to the time interval corresponding to the wall, it is determined that the distance detection module has passed the top position of the baseboard, and the height of the distance detection module at the time of the abrupt change is determined as the height of the baseboard.

[0020] In one or more embodiments, during the detection of the skirting board, the operating parameters of the drive motor corresponding to the distance detection module moving vertically from the initial detection position to the top position of the skirting board are recorded. The driving motor operating parameters include at least one of the following: driving motor running time, driving motor speed, number of driving motor rotations, and number of driving motor pulses. Based on the preset correspondence between the driving motor operating parameters and the vertical displacement of the distance detection module, the height of the skirting board is determined.

[0021] Secondly, this disclosure provides a cleaning device, which includes a device body, a distance detection module, a cleaning component, a drive motor, and a control module; the distance detection module is used to obtain distance parameters between the wall on the side of the device body and the distance detection module; the cleaning component includes at least a robotic arm and a cleaning head disposed on the robotic arm; the drive motor is used to drive the distance detection module and / or the robotic arm to move in a vertical direction; the control module is used to control the cleaning device to perform the aforementioned skirting board detection method.

[0022] Thirdly, this disclosure provides a method for cleaning baseboards, comprising: controlling a cleaning device to perform the baseboard detection method to obtain information on the presence, protrusion depth, and height of the baseboard; controlling the position of the cleaning head of the cleaning device in the vertical direction based on the height of the baseboard, so that the cleaning head is aligned with the top of the baseboard; controlling the cleaning head to move to the top surface area of ​​the baseboard based on the protrusion depth, so that the cleaning head is in contact with the top surface area of ​​the baseboard; and controlling the cleaning device to move along the extension direction of the baseboard to clean the baseboard.

[0023] Fourthly, this disclosure provides a machine-readable medium carrying executable instructions, which, when executed by a processor, are used to implement the skirting board detection method as described above.

[0024] The skirting board detection method, cleaning method, cleaning equipment, and machine-readable medium disclosed herein acquire multiple distance parameters by controlling a distance detection module to move vertically. Based on the changes in these distance parameters, the presence of a skirting board on the wall can be determined. Furthermore, after confirming the presence of a skirting board, the corresponding distance parameters are used to determine the outward protrusion depth of the skirting board relative to the wall surface. Thus, this solution transforms the skirting board structure, which is difficult to accurately identify in existing technologies, into a quantifiable problem of distance parameter changes. This not only improves the accuracy of identifying the presence of a skirting board along the lower edge of the wall but also further allows for the acquisition of the amount of protrusion of the skirting board relative to the wall surface, elevating the detection result from a simple presence / absence judgment to structural parameter identification. This provides a basis for subsequent adjustments to the position of the cleaning head, robotic arm, or other actuators, thereby improving the adaptability of the cleaning equipment to skirting boards of different specifications and enhancing the cleaning effect in the skirting board area. Attached Figure Description

[0025] To more clearly illustrate the technical solutions in the embodiments of this disclosure or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments recorded in this disclosure. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0026] Figure 1 This is a flowchart of a skirting board detection method in one embodiment of the present disclosure;

[0027] Figure 2 This is a schematic diagram illustrating a usage scenario of the cleaning equipment in one embodiment of this disclosure;

[0028] Figure 3 This is a flowchart of a baseboard cleaning method according to an embodiment of the present disclosure.

[0029] Explanation of key figure labels:

[0030] 10-Cleaning equipment, 11-Equipment body, 12-Distance detection module, 13-Cleaning components, 131-Robotic arm, 132-Cleaning head, 14-Drive motor, 15-Control module, 20-Wall, 21-Baseboard, 22-Wall surface. Detailed Implementation

[0031] To enable those skilled in the art to better understand the technical solutions in this disclosure, the technical solutions in the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this disclosure, and not all embodiments. Based on the embodiments in this disclosure, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of this disclosure.

[0032] In cleaning scenarios where walls meet floors, although baseboards are not areas that bear large amounts of dirt, their location at the transition between the wall and the floor, and their frequent changes in outline relative to the wall, place higher demands on the spatial adaptability of cleaning equipment than on ordinary floors.

[0033] During their research on existing technologies, the inventors discovered that most current cleaning equipment for the baseboard area still relies on the idea of ​​cleaning close to the wall at preset locations. This means that fixed cleaning components are used to perform a general cleaning of the wall area as the equipment moves close to the wall. Essentially, this approach treats the baseboard as part of a typical near-wall area, rather than recognizing it as an object with independent spatial characteristics.

[0034] Therefore, when there is a skirting board at the bottom edge of the wall, and the skirting board protrudes or has different contours relative to the wall surface, existing technologies often have difficulty in accurately distinguishing the wall area from the skirting board area, and also have difficulty in further knowing the actual geometric state of the skirting board, resulting in a lack of targeted subsequent processing and insufficient adaptability of equipment to different wall structures.

[0035] Based on the above understanding, this disclosure does not follow the existing approach of passively handling baseboards by simply relying on fixed cleaning structures. Instead, it reconstructs the technical route for baseboard detection from the perspective of first identifying the object and then outputting parameters. In other words, this disclosure first abstracts the baseboard problem into the detection problem of changes in the side contour of the wall. Then, through the identification and analysis of these contour changes, it establishes a mechanism for judging the existence state and spatial characteristics of the baseboard. Therefore, the cleaning equipment no longer deals with a vague wall edge area, but with a cleaning object that has identifiable and quantifiable characteristics.

[0036] Specifically, the core idea of ​​this disclosure goes beyond simply identifying the presence of baseboards; it goes beyond identification to obtain parametric information reflecting the relationship between the baseboard and the wall. By analyzing the detection results, the differences between the wall area and the baseboard area are identified, and these differences are transformed into a representation of the spatial morphology of the baseboard. Through this approach, the disclosure elevates the detection process from traditional obstacle identification to contour recognition and parameter extraction of a specific structural object. In this way, the processing of the baseboard area can be based on actual detection information, rather than relying on pre-existing experience or uniform assumptions, thereby improving adaptability to different baseboard specifications and different wall structures.

[0037] The overall technical approach of this disclosure can be summarized as follows: In response to the problems that existing technologies cannot accurately identify skirting boards, have difficulty obtaining structural information of skirting boards relative to the wall, and thus have insufficient adaptability to the skirting board area, a detection approach based on the change of the side contour of the wall is proposed. By extracting and judging the change pattern of the detection results, the identification of the skirting board as a specific structural object and the acquisition of its related parameters can be achieved.

[0038] Please refer to Figure 1 The diagram shown is a flowchart of a skirting board detection method according to an embodiment of this disclosure. The skirting board detection method specifically includes the following steps:

[0039] S101: In response to the skirting board detection command, control the distance detection module of the cleaning equipment to move vertically relative to the wall.

[0040] Specifically, in step S101, the cleaning equipment first enters the preparation state for skirting board detection. Upon receiving the skirting board detection command, the control system schedules the distance detection module to start working, causing the distance detection module to face the wall to the side of the cleaning equipment and output detection capabilities. Simultaneously, the control system further controls the distance detection module to move vertically relative to the wall. Through this method, the detection process is no longer a single-point measurement at a fixed height on the wall, but rather a scanning of different height areas on the side of the wall. This provides the basis for subsequent determination of whether a skirting board exists along the lower edge of the wall and whether there are contour changes between the wall area and the skirting board area.

[0041] The skirting board detection command can originate from various input methods. For example, a user can actively trigger the skirting board detection command via an operation button on the cleaning device. In this case, the cleaning device switches to skirting board detection mode, and the control system drives the distance detection module to begin detecting the wall to the side of the cleaning device. In another implementation, the user can also send a control command via an application on a mobile terminal. The cleaning device receives the control command, parses it into a skirting board detection command, and then activates the distance detection module to perform the corresponding vertical scanning action. In yet another implementation, the skirting board detection command can also be automatically generated by the cleaning device based on the current working mode. For example, when the cleaning device enters a wall-hugging cleaning mode, an edge-walking mode, or a near-wall operation mode, the control system automatically determines that it is necessary to detect the lower edge of the wall and triggers the distance detection module to begin skirting board detection accordingly.

[0042] The function of the distance detection module is to acquire distance information from the wall to the side of the cleaning equipment. In terms of specific implementation, the distance detection module is not limited to a single type of sensor, but can be selected based on different requirements such as product cost, detection accuracy, and the usage environment. For example, the distance detection module can use a photoelectric sensor, which acquires the distance information between the wall and the module by emitting light signals and receiving reflected light signals; it can also use an acoustic sensor, which achieves distance detection through sound wave emission and echo reception; or it can use a radar ranging module, which senses the wall outline through the reflection characteristics of electromagnetic waves.

[0043] In the specific implementation of photoelectric sensors, both laser ranging and infrared detection methods can be used. Furthermore, different types of distance detection modules can be adapted and configured based on the size of the cleaning equipment, the reflective characteristics of the wall, and the expected detection range. Since the distance detection module detects the wall to the side of the cleaning equipment, it is typically positioned facing one side of the equipment, with its detection direction laterally pointing towards the wall, rather than towards the ground or the front of the equipment.

[0044] Besides the detection action itself, the key aspect of step S101 lies in controlling the vertical movement of the distance detection module relative to the wall. This vertical movement is not arbitrary displacement, but rather a targeted scan around the possible height range of the baseboard. Since the baseboard is usually located at the lower edge of the wall, and its outer surface protrudes slightly from the wall surface, when the distance detection module is at a lower position, it is often facing the baseboard area; as the distance detection module gradually moves upward, the detection object gradually transitions from the baseboard area to the wall area above the baseboard.

[0045] During this process, the detection results obtained by the distance detection module will change depending on the vertical position. It is based on this change that subsequent steps can further determine whether there is a baseboard on the wall and extract the relevant parameters of the baseboard relative to the wall surface. Therefore, the vertical movement in step S101 is essentially building a scanning trajectory for subsequent baseboard identification, enabling the distance detection module to traverse different height areas along the lower edge of the wall, thereby obtaining detection information of comparative value.

[0046] In terms of specific implementation methods, the vertical movement of the distance detection module relative to the wall can be achieved through various structures. For example, in one embodiment, the distance detection module can be installed on a liftable bracket, and the control system drives the lifting mechanism to move the distance detection module up or down along a preset guide path; in another embodiment, the distance detection module can be set at the end of a robotic arm, and the robotic arm drives the distance detection module to move vertically; in yet another embodiment, the distance detection module can also be fixedly installed on a moving part, and a motor, in conjunction with a lead screw mechanism, gear and rack mechanism, synchronous belt mechanism, or linkage mechanism, drives the moving part to rise and fall, thereby realizing the vertical displacement of the distance detection module relative to the wall.

[0047] Furthermore, vertical movement can be either a unidirectional scan from low to high or a reciprocating scan that moves up and then down; it can be continuous and uniform movement, segmented movement, or point-by-point stopping movement. Different movement methods will affect the sampling rhythm and processing method of the detection data, but they do not change the fundamental purpose of this step: to enable the distance detection module to form a vertical detection range covering the skirting board area and the wall surface area on the side of the wall.

[0048] For example, in a family living room scenario, the cleaning equipment operates close to the wall. The user issues a baseboard detection command via an operation button, causing the cleaning equipment to switch to baseboard detection mode. At this time, the distance detection module installed on the side of the equipment begins to send detection signals towards the wall and moves upward from its position near the ground under the action of the drive mechanism. Since there is a protruding baseboard installed along the lower edge of the living room wall, the distance detection module initially faces the outer surface of the baseboard at its lower position. As the distance detection module continues to move upward, once it passes the top of the baseboard, the detection object changes to the wall surface above the baseboard.

[0049] For cleaning equipment, step S101 does not directly conclude whether a baseboard exists, but by having the distance detection module complete this vertical scanning process, it creates the necessary conditions for subsequent identification of the differences between the wall area and the baseboard area. Similarly, in another office scenario where some areas lack baseboards, the distance detection module also scans the wall vertically after the baseboard detection command is triggered. In this case, the detection results obtained at different heights will not show significant regional differences. In other words, regardless of whether a baseboard exists along the lower edge of the wall, step S101 establishes the data acquisition process required for subsequent analysis through a unified detection action, thereby ensuring consistency in the detection logic.

[0050] By controlling the distance detection module to detect the wall on the side of the cleaning equipment after the baseboard detection command is triggered, and controlling the distance detection module to move vertically relative to the wall, the detection process can be made to have target directionality and spatial coverage. This ensures that the distance detection module does not only perform static detection at a single fixed height position, but can cover the height range where the baseboard may exist, thereby improving the reliability of subsequent identification results. On the other hand, by establishing a vertical scanning path facing the side of the wall, this step enables the distance detection module to distinguish the structural differences corresponding to different height areas, providing basic support for subsequent determination of whether the wall has a baseboard and further determination of baseboard-related parameters.

[0051] In one exemplary embodiment, before controlling the distance detection module to move vertically relative to the wall, the method further includes: determining whether the current distance between the distance detection module and the wall has reached a predetermined detection distance based on the current distance parameter output by the distance detection module; if the predetermined detection distance has not been reached, controlling the cleaning device and / or the distance detection module to move closer to or further away from the wall until the predetermined detection distance is reached.

[0052] Before formally conducting skirting board inspections, a unified and stable initial inspection condition can be established for the distance detection module. That is, before controlling the distance detection module to move vertically relative to the wall, the current distance parameter output by the module is used to determine if the current distance between the module and the wall has reached the predetermined inspection distance. If the predetermined inspection distance has not been reached, the cleaning equipment and / or the distance detection module are controlled to move closer to or further away from the wall until the predetermined inspection distance is reached, and then the vertical movement inspection process begins. This method ensures that subsequent inspections are conducted under a basically consistent lateral relative position, thereby reducing the interference of fluctuations in the initial inspection conditions on the inspection results and ensuring good comparability of data between different inspection cycles.

[0053] The predetermined detection distance is not an absolute distance set in isolation from the actual object being detected. Instead, it is determined based on the effective reference surface currently facing the distance detection module. When a baseboard exists along the lower edge of the wall, and the distance detection module is located within the corresponding height area of ​​the baseboard, the nearest surface facing the module is usually the outer surface of the baseboard. In this case, whether the current distance reaches the predetermined detection distance should be determined based on the outer surface of the baseboard. When there is no baseboard along the lower edge of the wall, the nearest surface facing the distance detection module is the wall surface itself. In this case, whether the current distance reaches the predetermined detection distance should be determined based on the wall surface itself.

[0054] In other words, the aforementioned positioning operation does not require the distance detection module to reach a predetermined position relative to a fixed nominal plane. Instead, it requires the distance detection module to establish a consistent detection distance relative to the nearest target surface of the wall it is currently facing before each detection begins. It is precisely because this benchmark can adaptively change with the actual structural state of the wall that subsequent detection can be applied to both scenarios with and without skirting boards.

[0055] In terms of implementation, achieving the predetermined detection distance can be achieved through various control methods. In one implementation, the cleaning equipment moves towards or away from the wall, while the distance detection module is fixedly installed on the cleaning equipment. The positional change of the cleaning equipment body causes the distance detection module to gradually approach the target position. In another implementation, the cleaning equipment body remains stationary, and only the distance detection module is controlled to extend or retract laterally relative to the cleaning equipment to change the distance between the distance detection module and the wall. In yet another implementation, the movement of the entire cleaning equipment can be combined with the partial movement of the distance detection module.

[0056] Regardless of the execution method used, the control logic can be constructed as a closed-loop adjustment mode. This means the control system continuously reads the current distance parameter output by the distance detection module, compares the current distance with the predetermined detection distance, and decides whether to continue moving closer to the wall, further away from the wall, or stop adjusting based on the comparison result. To accommodate error tolerance in engineering implementation, reaching the predetermined detection distance usually does not require it to be absolutely equal to a single value. Instead, it can be understood as falling within a preset distance range. For example, the current distance is allowed to fluctuate within a certain tolerance range above and below the predetermined detection distance; as long as it falls within this range, positioning is considered complete.

[0057] Taking a specific scenario as an example, suppose the cleaning equipment is about to perform a baseboard detection near the living room wall, and there is a baseboard with an outward protrusion (thickness) of approximately 12mm along the lower edge of the wall. At this point, the distance detection module is initially positioned in the detection height area close to the ground and facing one side of the wall. Since this height area is directly opposite the outer surface of the baseboard, the current distance parameter output by the distance detection module actually reflects the distance between the distance detection module and the outer surface of the baseboard.

[0058] If the current distance is greater than the predetermined detection distance, the cleaning equipment or distance detection module is controlled to continue moving closer to the wall until the predetermined detection distance is reached between the distance detection module and the outer surface of the baseboard. If the current distance is less than the predetermined detection distance, the cleaning equipment or distance detection module is controlled to move away from the wall appropriately until the predetermined detection distance is reached. After this positioning is completed, the distance detection module is then started to move vertically. At this point, the entire vertical scanning process is carried out based on a calibrated horizontal position.

[0059] For example, in another room, there is no baseboard along the lower edge of the wall. The distance detection module is directly facing the wall in the initial detection height area. In this case, the current distance parameter reflects the distance between the distance detection module and the wall. The control system also first adjusts this distance to the predetermined detection distance before performing a vertical scan. Therefore, regardless of whether there is a baseboard along the lower edge of the wall, the aforementioned positioning operation can ensure that the detection starting conditions are unified under the same detection standard.

[0060] The foregoing can be understood as adding a pre-detection calibration or pre-detection alignment process before the formal scanning. The purpose of this process is not to directly determine the presence of the baseboard, nor to directly determine the protrusion depth of the baseboard relative to the wall, but rather to ensure that the distance detection module is in a repeatable and comparable lateral position at the start of the scan. Since the subsequent determination of the baseboard's presence and protrusion depth essentially depend on the differences in distance parameters at different heights, if the lateral position of the distance detection module relative to the wall varies significantly at the start of each scan, even with the same wall structure, different distance parameter variations may be obtained, thus reducing the stability and reliability of the detection results. By performing a positioning operation before each scan, the distance detection module can detect different height areas of the wall under nearly identical conditions, thereby enhancing the correspondence between subsequent data.

[0061] S102: During the movement of the distance detection module, multiple distance parameters between the distance detection module and the wall are acquired.

[0062] The key is to dynamically collect multiple distance parameters that characterize the distance relationship between the distance detection module and the wall as the distance detection module moves vertically relative to the wall, thereby providing a data basis for subsequent determination of whether the wall has a skirting board and further identification of the contour differences between the wall area and the skirting board area.

[0063] Compared to a single measurement at a single location, step S102 continuously acquires distance parameters during the movement. That is, the distance detection module does not output a single isolated detection result at a fixed height, but continuously outputs multiple distance parameters corresponding to different locations along the vertical scanning path. In this way, the spatial contour changes of different height areas on the side of the wall can be transformed into a set of comparable and analyzable parameter sequences, allowing subsequent detection to no longer rely on single-point judgments, but rather to be based on continuously acquired distance information.

[0064] The distance parameter is defined as a parameter characterizing the distance between the distance detection module and the wall. It is not limited to a fixed data format but rather reflects the spatial interval between the two. Specifically, when the distance detection module uses a detection method based on signal propagation characteristics, the distance parameter can be expressed as signal propagation time, echo time, or phase difference; when the distance detection module uses a detection method based on geometric imaging or optical relationships, the distance parameter can be expressed as the triangulation result; when the distance conversion has been completed internally by the distance detection module, the distance parameter can also be directly expressed as the distance value itself.

[0065] In one embodiment, the distance detection module continuously transmits detection signals and receives reflected signals at a predetermined sampling frequency while moving vertically. The control system generates multiple distance parameters based on the signal propagation time or echo time corresponding to each detection. In another embodiment, the distance detection module continuously acquires the phase difference between the transmitted and received signals during movement and generates multiple corresponding distance parameters based on the phase difference. In yet another embodiment, the distance detection module can employ the principle of triangulation to continuously acquire triangulation results at different positions during vertical movement. Alternatively, the module can directly output the direct distance values ​​corresponding to different positions after signal processing and distance conversion have been completed internally.

[0066] Furthermore, the acquisition of multiple distance parameters can be achieved through continuous sampling, i.e., continuously outputting detection results during movement; discrete sampling, i.e., the distance detection module collects distance parameters once every preset displacement; or pause sampling, i.e., the distance detection module pauses briefly after moving to several predetermined height positions, collecting the corresponding distance parameters at each position. Different sampling methods will affect the density of distance parameters and the accuracy of subsequent analysis, but none of them change the core purpose of step S102, which is to reflect the changes in the vertical direction of the wall's side profile through multiple distance parameters.

[0067] For example, in an interior scene where a baseboard is installed along the lower edge of a wall, the distance detection module is initially located in the detection height area near the ground and gradually moves upward under the drive mechanism. Since the lower height position is directly facing the outer surface of the baseboard, the distance parameter obtained at this time represents the distance relationship between the distance detection module and the outer surface of the baseboard. As the distance detection module continues to move upward, when the detection position passes the top of the baseboard, the object facing the distance detection module gradually changes to the wall above the baseboard, and the distance parameter obtained at this time then represents the distance relationship between the distance detection module and the wall.

[0068] Because the outer surface of the skirting board usually convexes outward relative to the wall, the distance parameters corresponding to the two areas mentioned above will differ. Step S102 records this difference as multiple distance parameters, providing a basis for subsequent determination of whether a skirting board exists on the wall and analysis of the spatial positional relationship of the skirting board relative to the wall.

[0069] For example, in scenarios where no skirting board is installed along the bottom edge of the wall, the distance detection module faces the same or nearly the same plane wall surface throughout the entire vertical movement. In this case, there is usually no significant change in the multiple distance parameters caused by the outward protrusion of the skirting board. Therefore, it can be seen that step S102 obtains not only the distance at a certain moment, but also a set of distance information distributed along the vertical direction, which itself already contains information about the structural state of the bottom edge of the wall.

[0070] Step S102 transforms the structural feature of whether a baseboard exists along the bottom edge of the wall into data that can be identified by the cleaning equipment. By acquiring multiple distance parameters, the distance detection module continuously senses the spatial relationships of different height areas on the side of the wall during movement. This transforms the baseboard, which originally required judgment based on appearance or experience, into a detection object that can be analyzed through parameter changes. In other words, this step in the entire technical solution performs the functions of data acquisition and contour mapping, mapping the actual geometric state of the bottom edge of the wall into a series of distance parameters, creating conditions for subsequent baseboard identification based on changes in multiple distance parameters.

[0071] In one exemplary embodiment, the distance detection module includes a transmitting unit and a receiving unit. The step of obtaining multiple distance parameters between the distance detection module and the wall includes: controlling the transmitting unit to transmit a detection signal to the wall and controlling the receiving unit to receive the detection signal reflected by the wall; obtaining the time interval between the transmission time and the reception time of each detection signal, and using the time interval as the distance parameter.

[0072] The distance detection module, through the coordinated operation of the transmitting and receiving units, first transmits, reflects, and receives the detection signal, then forms the corresponding distance parameter based on the time interval between the transmission and reception of the detection signal. Thus, the spatial relationship between the distance detection module and the wall is transformed into a parametric relationship that can be characterized by time measurement. Using this approach, spatial differences between different height areas of the wall relative to the distance detection module can be converted into differences in time intervals during the detection process.

[0073] The main function of the transmitting unit is to output a detection signal to the wall, causing the signal to propagate along a predetermined direction to one side of the wall. Once the detection signal reaches the wall and is reflected by its surface, the receiving unit receives the reflected signal. During this process, the control system records the transmission and reception times of the detection signal and, based on the time interval between them, expresses the detection result as a distance parameter.

[0074] Since the detection signal, after being emitted from the transmitting unit, needs to travel a propagation path from the distance detection module to the wall and back, the propagation path length of the detection signal will change when the actual distance between the distance detection module and the wall changes, and the corresponding time interval will also change. Therefore, the time interval can, in the detection principle, characterize the spatial interval between the distance detection module and the wall. In other words, by using the round-trip propagation time of the detection signal, the geometric distance, which is originally difficult for the control system to directly perceive, is transformed into a time-based parameter that can be acquired, calculated, and compared.

[0075] The transmitting and receiving units can adopt different structural forms according to actual product requirements. For example, in one embodiment, the transmitting unit can be an infrared emitting device, the receiving unit can be an infrared receiving device, and the detection signal is an infrared detection signal. In this case, the time interval is formed by the propagation and reflection of the infrared detection signal between the distance detection module and the wall. In another embodiment, the transmitting unit can be a laser emitting device, the receiving unit can be a photoelectric receiving device, and the detection signal is a laser detection signal. The distance parameter is obtained by recording the time interval between the emission and reception times of the laser detection signal. In yet another embodiment, the transmitting and receiving units can also be ultrasonic emitting devices and ultrasonic receiving devices, respectively, so that the detection signal propagates in the form of sound waves, and the corresponding time interval is formed by the echo return time.

[0076] Furthermore, the transmitting unit and the receiving unit can be separately located in different positions within the distance detection module, or they can be integrated into the same sensing component. As long as the transmission and reception of the detection signal can be realized, and the time interval between the transmission time and the reception time can be obtained accordingly, it falls within the scope of this technical concept.

[0077] The control system drives the transmitting unit to periodically transmit detection signals to the wall according to a predetermined sampling rhythm, and the receiving unit receives the reflected signals within each sampling period. For each detection, the moment the transmitting unit emits the detection signal can be taken as the start time of that detection, and the moment the receiving unit detects the reflected signal can be taken as the end time of that detection, thus forming the time interval corresponding to that detection. The multiple time intervals corresponding to multiple sampling periods constitute multiple distance parameters between the distance detection module and the wall.

[0078] If the distance detection module continuously repeats the above actions during vertical movement, the time intervals corresponding to different height positions can sequentially form a continuous parameter sequence. In this way, the vertical contour changes of the wall side can be reflected by the trend of these time interval changes. For baseboard detection, because the outer surface of the baseboard usually protrudes from the wall, when the distance detection module is at the corresponding height of the baseboard area, the nearest reflecting surface to which the detection signal arrives is usually the outer surface of the baseboard; however, when the distance detection module moves above the top of the baseboard, the nearest reflecting surface becomes the wall above the baseboard. Since these two areas have different spatial positions relative to the distance detection module, the corresponding time intervals will also differ, thus providing a basis for subsequent baseboard identification.

[0079] S103: Based on the changes in the multiple distance parameters, determine whether the wall has a skirting board.

[0080] Step S103 essentially transforms the actual contour features of the lower edge of the wall into the vertical variation features of multiple distance parameters, and then determines whether a skirting board exists based on these variation features. Thus, the skirting board, originally a geometric problem manifested as a local outward protrusion of the wall, is further transformed into a data analysis problem of whether the changes in distance parameters meet predetermined judgment conditions. In this way, the presence of a skirting board is determined by the parameter changes acquired by the distance detection module during the actual detection process, thus possessing strong objectivity and adaptability.

[0081] When a baseboard is present on the wall, the target surface facing the distance detection module changes as it moves vertically. In the detection area near the ground, if a baseboard is present along the lower edge of the wall, the distance detection module initially faces the outer surface of the baseboard. As the distance detection module continues to move upward and passes the top of the baseboard, the target surface it faces changes to the wall surface above the baseboard.

[0082] Because the outer surface of the baseboard typically protrudes outward relative to the wall, the spatial relationship between the distance detection module and the wall is inconsistent in these two areas. This results in multiple distance parameters exhibiting significantly different patterns of change in the vertical direction compared to a flat wall surface. Conversely, when there is no baseboard along the lower edge of the wall, the distance detection module usually faces the same or nearly the same wall plane throughout its vertical movement. In this case, the multiple distance parameters generally do not show obvious abrupt changes or large fluctuations caused by the protruding structure.

[0083] In practical implementation, step S103 can employ various determination methods. For example, in one embodiment, multiple distance parameters acquired by the distance detection module during its vertical movement can be arranged in chronological or positional order, and the differences between adjacent distance parameters, the difference between the maximum and minimum values ​​of multiple consecutive distance parameters, or the overall variation range within a certain detection interval can be calculated. When the difference, variation range, or parameter fluctuation range exceeds a preset threshold, it is determined that a skirting board exists on the wall; when it does not exceed the preset threshold, it is determined that a skirting board does not exist on the wall. The essence of this method lies in determining whether the parameter variation range is sufficient to reflect the presence of a convex structure at the bottom edge of the wall.

[0084] For example, in another implementation, multiple distance parameters can be smoothed, filtered, or averaged first to reduce the impact of single sampling errors on the results. Then, it can be determined whether the multiple distance parameters exhibit trend changes or abrupt changes caused by the transition from the baseboard area to the wall area. This ensures that step S103 maintains good judgment stability even when faced with local wall reflections, surface texture changes, or environmental noise interference.

[0085] In one exemplary embodiment, as the distance detection module moves along the vertical direction, it transmits detection signals at a predetermined frequency and receives reflected signals. Based on the distance parameters corresponding to multiple signal sampling points of the distance detection module, it determines the changes in the multiple distance parameters.

[0086] By continuously transmitting detection signals at a predetermined frequency and receiving reflected signals, multiple signal sampling points are formed at various detection locations. Based on the distance parameters corresponding to each signal sampling point, the vertical changes in the wall's side profile are extracted. Through a continuous detection process with a certain sampling density, the spatial profile of the lower edge area of ​​the wall is recorded as a sequence of multiple distance parameters. This sequence of parameters then reflects whether there are structural changes on the wall's side caused by the baseboard. In this way, the detection behavior of the distance detection module during its movement establishes a correspondence with the spatial changes in the wall's profile, providing a more comprehensive data foundation for subsequent analysis regarding the presence and parameter identification of the baseboard.

[0087] Because the distance detection module is in motion, if the transmission frequency of the detection signal is too low, the vertical interval between two adjacent signal sampling points may be too large, easily missing the transition boundary between the wall area and the skirting board area. This results in multiple distance parameters failing to fully reflect the changes in the wall contour. However, if the transmission frequency of the detection signal can match the moving speed of the distance detection module, the module can form corresponding signal sampling points at different positions in the vertical direction. The distance parameters corresponding to each signal sampling point can then collectively constitute a relatively complete sequence of detection parameters. Therefore, the contour features of the lower edge of the wall are no longer merely represented by a few scattered data points, but rather by a continuous and sequential process of multiple distance parameter changes.

[0088] In a specific implementation, the predetermined frequency can be set based on the detection accuracy of the distance detection module, the expected contour size of the lower edge of the wall, and the moving speed of the distance detection module. For example, when the distance detection module moves smoothly along the vertical direction at a low speed, the predetermined frequency can be set to a higher value, thereby forming more signal sampling points within a shorter displacement interval to improve the resolution of multiple distance parameters; when the distance detection module moves at a higher speed along the vertical direction, the transmission frequency of the detection signal can also be increased simultaneously to ensure that the spatial interval between adjacent signal sampling points remains within a reasonable range.

[0089] Furthermore, the predetermined frequency can be either a fixed frequency or a dynamic frequency. In fixed frequency mode, the distance detection module continuously transmits detection signals and receives reflected signals at the same rhythm throughout the entire vertical scan, which facilitates unified processing by the control system. In dynamic frequency mode, the control system can increase the sampling frequency when it anticipates approaching the top boundary of the skirting board or other key detection areas, and appropriately decrease the sampling frequency in areas with gentle contour changes, thereby ensuring detection accuracy while also considering system resource consumption.

[0090] Determining the changes in multiple distance parameters based on the distance parameters corresponding to multiple signal sampling points essentially involves analyzing and processing the parameter sequence to extract information about the vertical changes in the wall profile. In one implementation, multiple distance parameters can be arranged according to the temporal or positional order of the signal sampling points, and the differences between adjacent distance parameters can be calculated. The changes in these differences reflect whether the profile changes smoothly.

[0091] In another implementation, the maximum, minimum, and overall variation range of multiple distance parameters can be extracted to determine whether there is a sufficiently significant difference between the wall area and the skirting board area. In yet another implementation, data processing techniques such as sliding windows, mean filtering, median filtering, or curve fitting can be combined to preprocess the distance parameters corresponding to multiple signal sampling points, reducing the impact of occasional noise and local reflection anomalies on the determination of changes. Therefore, the aforementioned "changes" can be reflected both as whether parameter values ​​undergo abrupt changes, or as whether parameter values ​​show continuous growth, continuous decrease, or phased transitions within a certain range.

[0092] In one exemplary embodiment, the specific method for determining whether a baseboard exists on a wall includes: during the vertical movement of the distance detection module, comparing the currently detected time interval with a preset time threshold; and determining that a baseboard exists on the wall when the currently detected time interval is greater than the time threshold.

[0093] In embodiments where time interval is used as the distance parameter, the judgment is not made solely based on the absolute size of the time interval itself. Instead, as the distance detection module moves vertically, the currently detected time interval is compared with a preset time threshold. Whether the time interval exceeds the time threshold is used to identify whether the distance detection module has moved from the baseboard area to the wall area, and based on this, it is deduced that there is a baseboard on the wall.

[0094] Because the outer surface of the baseboard protrudes outward relative to the wall, when the distance detection module is in the area corresponding to the height of the baseboard, the round-trip propagation path of the detection signal is short, and the currently detected time interval is relatively small. As the distance detection module continues to move upward and crosses the top of the baseboard, the detection object becomes the wall surface above the baseboard, and the round-trip propagation path of the detection signal increases accordingly, as does the currently detected time interval. Therefore, when the time interval increases to exceed the preset time threshold, it can be considered that the distance detection module has crossed the top of the baseboard and entered the wall area. Since this change from short to long only occurs when there is an outwardly protruding baseboard structure, it can further confirm the presence of a baseboard on the wall.

[0095] The time threshold can be understood as a judgment parameter used to characterize the upper limit of wall area detection time or the reference time for wall recognition in scenarios without skirting boards. This time threshold can be obtained by pre-calibration based on scenarios without skirting boards. That is, under the condition that there is no skirting board at the bottom edge of the wall, the control distance detection module moves vertically within a predetermined detection distance and a predetermined movement range, collects multiple measured time intervals, and determines the corresponding time threshold based on these measured time intervals.

[0096] To improve error tolerance, the time threshold can be slightly larger than the upper limit of the measured value or slightly larger than the range corresponding to the statistical mean, so as to avoid being misjudged as exceeding the top of the skirting board when the time interval obtained by the current detection is accidentally increased due to slight unevenness of the wall surface, environmental noise, reflection fluctuations or device measurement errors.

[0097] In practical implementation, the control system can continuously acquire the currently detected time interval as the distance detection module moves vertically, and compare it with a preset time threshold each time. If the currently detected time interval consistently does not exceed the time threshold, it can be assumed that the distance detection module is still within the baseboard area or that the wall as a whole does not have a baseboard. When it moves to a certain detection position and the currently detected time interval exceeds the time threshold, it can be assumed that the distance detection module has passed the top of the baseboard and reached the wall area at that position. To improve the stability of the judgment, it can also be required that the time intervals corresponding to multiple consecutive sampling periods are all greater than the time threshold before confirming entry into the wall area. This can further reduce the risk of misjudgment caused by a single abnormal sampling.

[0098] For example, in a scenario without a baseboard, if the pre-calibrated measured time intervals on the wall are concentrated around a certain value, the time threshold can be set to a range slightly larger than the upper limit of that value. When the cleaning device detects along the wall during actual use, the distance detection module initially faces the outer surface of the baseboard, and the currently detected time interval is relatively small. As the distance detection module continues to move upward, once it passes the top of the baseboard and faces the wall, the currently detected time interval significantly increases and exceeds the time threshold. Based on this, the control system can determine that it has reached the wall area and thus confirm the presence of a baseboard.

[0099] S104: When it is determined that the wall has a skirting board, the outward protrusion depth of the skirting board relative to the wall surface is determined based on the first distance parameter of the wall surface area corresponding to the wall and the second distance parameter of the skirting board area corresponding to the wall by the distance detection module.

[0100] After confirming the presence of a baseboard, the process moves to parameter extraction. This involves distinguishing between a first distance parameter for the wall surface area and a second distance parameter for the baseboard area from distance parameters obtained from different detection zones by the distance detection module. The difference between these two parameters is then used to determine the baseboard's convexity relative to the wall surface. The presence of a baseboard only indicates that the lower edge of the wall has a contour structure different from a flat wall surface; the convexity of the baseboard relative to the wall surface further characterizes the actual amount of this contour structure protruding in the lateral direction.

[0101] When the distance detection module is located at the height corresponding to the baseboard area, the obtained second distance parameter essentially reflects the distance relationship between the distance detection module and the outer surface of the baseboard. When the distance detection module is located at the height corresponding to the wall area above the top of the baseboard, the obtained first distance parameter reflects the distance relationship between the distance detection module and the wall. Since the outer surface of the baseboard usually protrudes outward relative to the wall, there will be a difference between the first and second distance parameters corresponding to the amount of protrusion under the same detection reference. Step S104 utilizes this difference to determine the protrusion depth of the baseboard relative to the wall.

[0102] The first and second distance parameters can be directly obtained from the distance parameter results in step S102. For example, when the distance parameter is a distance value, the difference between the first distance parameter of the wall area and the second distance parameter of the skirting board area can be directly taken to obtain the convex depth of the skirting board relative to the wall. When the distance parameter is the signal propagation time, echo time, or phase difference, the conversion can be completed first using the correspondence between time, phase, and distance, and then the convex depth can be determined based on the conversion result. Alternatively, the convex depth can be directly represented by the parameter difference.

[0103] In another implementation, to improve the stability of the results, the first distance parameter can be the average of the distance parameters corresponding to multiple sampling points within the wall area, and the second distance parameter can be the average of the distance parameters corresponding to multiple sampling points within the baseboard area. The outward convexity depth of the baseboard relative to the wall is then determined based on the difference between the two averages. This can reduce the impact of local unevenness of the wall surface, differences in the surface texture of the baseboard, and fluctuations in a single sampling on the results.

[0104] For example, when the cleaning equipment is working close to the wall, the distance detection module first detects the baseboard area at a lower position, corresponding to the second distance parameter; then the distance detection module continues to move vertically, detecting the wall area after passing the top of the baseboard, corresponding to the first distance parameter. If the distance corresponding to the first distance parameter is 45mm and the distance corresponding to the second distance parameter is 33mm, then the outward protrusion depth of the baseboard relative to the wall can be determined to be 12mm.

[0105] For example, in an implementation where time interval is used as a distance parameter, if the first distance parameter of the wall area corresponds to a longer time interval and the second distance parameter of the skirting board area corresponds to a shorter time interval, the control system can determine the protrusion depth of the skirting board relative to the wall based on the time difference between the two and a preset conversion relationship.

[0106] In one exemplary embodiment, the outward protrusion depth of the skirting board relative to the wall can be determined by acquiring a first time interval corresponding to the reflection of the detection signal on the wall surface and a second time interval corresponding to the reflection of the detection signal on the outer surface of the skirting board; based on the difference between the first time interval and the second time interval.

[0107] In the implementation method that uses time interval as distance parameter, a first time interval corresponding to the detection signal reflected by the wall and a second time interval corresponding to the detection signal reflected by the outer surface of the skirting board are obtained respectively. The difference between the two is used to characterize the relative offset between the wall and the outer surface of the skirting board in the lateral position, thereby determining the outward protrusion depth of the skirting board relative to the wall.

[0108] Since the detection signal travels a round trip from the distance detection module to the reflecting surface and back to the distance detection module after transmission, there is a corresponding relationship between the time interval and the propagation path length. If the propagation speed of the detection signal in the current medium is known, the corresponding one-way distance can be calculated from the time interval; that is, the distance value corresponding to a certain reflecting surface can be expressed as half the product of the propagation speed and the time interval. Based on this, the difference between the distance value corresponding to the wall area and the distance value corresponding to the skirting board area can be used as the outward convexity depth of the skirting board relative to the wall. In other words, when the time interval is used as the detection result, the outward convexity depth of the skirting board relative to the wall can be determined by multiplying the propagation speed by the difference between the first and second time intervals and then dividing by 2.

[0109] Specifically, when the distance detection module is located above the top of the baseboard and facing the wall, the detection signal is reflected back from the wall, forming the first time interval. When the distance detection module is located in the baseboard area and facing the outer surface of the baseboard, the detection signal is reflected back from the outer surface of the baseboard, forming the second time interval. Thus, the difference between the first and second time intervals actually corresponds to the round-trip path difference of the detection signal between the wall path and the baseboard path. After converting this round-trip path difference into a one-way distance, the outward protrusion depth of the baseboard relative to the wall is obtained.

[0110] In specific implementations, the time interval can be converted into a distance value using either a formula or a pre-stored mapping method. When using a formula, the control system can pre-store the propagation speed of the detection signal in the corresponding medium, and based on the relationship that the distance value equals the propagation speed multiplied by the time interval and then divided by 2, convert the first time interval into a distance value corresponding to the wall area, and the second time interval into a distance value corresponding to the skirting board area. The difference between the two values ​​is then used to obtain the outward protrusion depth of the skirting board relative to the wall.

[0111] When using the pre-stored mapping method, a correspondence table between time intervals and distance values ​​can be pre-established during the product calibration stage. Subsequently, the control system can directly look up the table to obtain the corresponding distance values ​​for the wall area and the skirting board area, and then determine the protrusion depth.

[0112] For example, if the propagation speed of the detection signal in the current medium is v, the first time interval corresponding to the wall area is t1, and the second time interval corresponding to the skirting board area is t2, then the distance corresponding to the wall area is v×t1 / 2, the distance corresponding to the skirting board area is v×t2 / 2, and the outward convexity depth of the skirting board relative to the wall is v×(t1-t2) / 2. In this way, the outward convexity of the skirting board is converted from the time difference into a structural dimension with actual geometric meaning.

[0113] In one exemplary embodiment, during the vertical movement of the distance detection module, when the distance parameter abruptly changes from the parameter of the corresponding skirting board area to the parameter of the corresponding wall area, a corresponding time node is determined; based on the time node and the vertical movement parameter of the distance detection module, the height and / or top position of the skirting board are determined.

[0114] Having confirmed the presence of a baseboard on the wall and obtained multiple distance parameters, the top position and height of the baseboard can be determined. When the distance detection module moves vertically, while located within the baseboard area, the distance parameters reflect the distance relationship between the detection module and the outer surface of the baseboard. As the module continues to move upwards and passes the top of the baseboard, the distance parameters then reflect the distance relationship between the detection module and the wall surface.

[0115] Because the outer surface of the baseboard protrudes outward relative to the wall, there is usually a significant difference between the parameters of the corresponding baseboard area and the parameters of the corresponding wall area. When a sudden change in the distance parameter from the corresponding baseboard area to the corresponding wall area is detected, it indicates that the distance detection module has scanned to the vicinity of the top of the baseboard. This allows the determination of the corresponding time point and the location of the top position of the baseboard.

[0116] In practical implementation, the time node can be understood as the moment when the distance parameter changes region, that is, the moment when the control system detects that the current sampling result no longer conforms to the characteristics of the skirting board area, but changes to conform to the characteristics of the wall area. To improve recognition stability, this time node can either be directly taken as the sampling moment when the first change occurs, or it can be confirmed by combining multiple consecutive sampling results before and after the change. For example, the control system can require that several consecutive sampling points all show the parameters of the wall area, and then determine the earliest sampling moment that meets the condition as the time node; alternatively, it can perform interpolation estimation of the boundary position based on the parameter change relationship between two sampling points before and after the change, so as to make the determination of the top position more accurate.

[0117] After determining the time point of the abrupt change in distance parameters, the top position of the skirting board can be determined based on the location of the distance detection module at that time point. If the vertical displacement of the distance detection module can be directly measured, the position corresponding to that time point can be directly used as the top position of the skirting board; if the displacement of the distance detection module is not directly output, but is generated by the drive mechanism, the position corresponding to that time point can be determined by combining the vertical movement parameters of the distance detection module.

[0118] For example, the distance detection module starts moving upward from an initial detection position close to the ground (the height above the ground can be preset). In the initial stage, the detection result continuously corresponds to the baseboard area. When it moves to a certain moment, the distance parameter suddenly changes to correspond to the wall area, and the control system determines that moment as the time node.

[0119] The control system can determine the height of the skirting board by combining the vertical movement parameters of the distance detection module. The movement parameters can be at least one of the following: drive motor running time, drive motor rotation count, drive motor pulse count, cumulative displacement, or lifting speed. If a correspondence between the movement parameters and vertical displacement is established in advance, the movement parameters corresponding to the time node can be converted into the vertical displacement of the distance detection module from its initial detection position to the position corresponding to that time node. Then, based on the spatial coordinates of the initial detection position of the distance detection module, the height and top position of the skirting board can be further determined.

[0120] For example, the distance detection module starts moving vertically upwards from an initial detection position close to the ground (30mm above the ground). During the previous stage, it continuously detects the distance parameters of the corresponding baseboard area. At a certain point, the distance parameters suddenly change to those of the corresponding wall area, and the control system uses this moment as a time node. If the drive motor runs for a cumulative 1 second at this time, and the pre-calibrated vertical movement speed of the distance detection module is 60mm / s, then the baseboard height can be determined to be approximately 90mm (the initial detection position height + the vertical upward movement height), and the top position of the baseboard can be determined accordingly.

[0121] Specifically, during the vertical movement of the distance detection module, the time interval of each detection signal is continuously acquired; when the time interval changes abruptly from the time interval corresponding to the baseboard to the time interval corresponding to the wall, it is determined that the distance detection module has passed the top position of the baseboard, and the height of the distance detection module at the time of the abrupt change is determined as the height of the baseboard.

[0122] In the implementation using time intervals as the distance parameter, the distance detection module continuously acquires the time intervals of each detection signal as it moves vertically, allowing the changes in the reflection path at different heights to form a time series. Since the outer surface of the baseboard protrudes outwards relative to the wall, when the distance detection module is at the height corresponding to the baseboard area, the round-trip propagation path of the detection signal is short, and the time interval usually falls within the time interval corresponding to the baseboard. As the distance detection module continues to move upwards and passes the top of the baseboard, the detection object changes to the wall above the baseboard, and the round-trip propagation path of the detection signal increases accordingly, with the time interval shifting to the time interval corresponding to the wall. Based on this switching between short and long time intervals, it is possible to identify whether the distance detection module has passed the top of the baseboard, and the height of the distance detection module at the time of the abrupt change is determined as the height of the baseboard. The moment when the time interval changes abruptly is the aforementioned time node of the distance parameter change; combining the initial detection position height of the distance detection module and the vertical displacement, the height of the baseboard can be calculated.

[0123] In a specific implementation, the distance detection module can transmit detection signals and receive reflected signals at a predetermined frequency while moving vertically, and the control system records the time interval corresponding to each sampling in real time. When the continuously collected time intervals remain within the time interval corresponding to the baseboard, it can be considered that the distance detection module has not yet crossed the top of the baseboard; when a sampling moment begins and the current time interval enters the time interval corresponding to the wall, it can be considered that the distance detection module has crossed the top of the baseboard. To improve the stability of the determination, it can also be required that multiple consecutive sampling points enter the time interval corresponding to the wall before confirming a sudden change, and the sampling position that first meets the condition is taken as the position of crossing the top of the baseboard.

[0124] For example, the distance detection module moves upward from an initial position close to the ground. In the previous stage, it continuously acquired time intervals corresponding to the time interval when the signal fell onto the baseboard, indicating that the detection object was always the outer surface of the baseboard. When it moves to a certain height, the current time interval suddenly enters the time interval corresponding to the wall, indicating that the detection signal is no longer mainly reflected by the outer surface of the baseboard, but by the wall. At this point, it can be determined that the distance detection module has passed the top of the baseboard, and the vertical height corresponding to the distance detection module at this moment is determined as the height of the baseboard.

[0125] Furthermore, during the detection of the skirting board, the operating parameters of the drive motor corresponding to the distance detection module moving vertically from the initial detection position to the top position of the skirting board are recorded. The driving motor operating parameters include at least one of the following: driving motor running time, driving motor speed, number of driving motor rotations, and number of driving motor pulses. Based on the preset correspondence between the driving motor operating parameters and the vertical displacement of the distance detection module, the height of the skirting board is determined.

[0126] The height of the skirting board can be calculated by using the driving motor operating parameters corresponding to the process of the distance detection module moving vertically from the initial detection position to the top position of the skirting board, combined with the preset correspondence between the driving motor operating parameters and the vertical displacement.

[0127] The distance detection module moves vertically from its initial detection position. Before reaching the top of the skirting board, there is a correlation between the cumulative vertical displacement of its movement path and the height of the skirting board. If the drive motor and the distance detection module are connected by a drive mechanism that defines the transmission relationship, then operating parameters such as the drive motor's running time, speed, number of rotations, and pulse count can indirectly characterize the vertical movement of the distance detection module.

[0128] For example, when the drive motor speed is stable, the longer the drive motor runs, the greater the vertical displacement of the distance detection module. When using a stepper motor or servo motor, the number of rotations or pulses of the drive motor can also accurately reflect the displacement output by the drive mechanism. Based on this, as long as the correspondence between the drive motor operating parameters and the vertical displacement is established in advance, the height of the skirting board can be calculated using the corresponding drive motor operating parameters after the top position of the skirting board is identified.

[0129] In a specific implementation, the initial detection position can be set as the starting position when the distance detection module begins to perform skirting board detection, typically located at a predetermined detection starting point close to the ground. The distance detection module moves upwards from this position, and when the detection result indicates that the top of the skirting board has been reached, the control system records the corresponding drive motor operating parameters. If the drive motor running time is used as the drive motor operating parameter, a correspondence between the drive motor running time and the vertical displacement can be established by pre-calibrating the vertical movement distance of the distance detection module per unit time.

[0130] If the number of rotations of the drive motor is used as the drive motor operating parameter, the correspondence between the number of rotations of the drive motor and the vertical displacement can be established by combining the transmission ratio of the drive mechanism, the lead screw, the gear and rack pitch, or the displacement relationship of the synchronous belt drive. If the number of pulses of the drive motor is used as the drive motor operating parameter, the vertical displacement of the distance detection module can be calculated based on the output angular displacement corresponding to a single pulse and the transmission parameters of the drive mechanism. Therefore, different forms of drive motor operating parameters can all be used as input quantities for calculating the skirting board height.

[0131] For example, in one implementation scenario, the distance detection module moves vertically via a screw-lift mechanism. The drive motor is a stepper motor, and it is pre-calibrated so that every 100 pulses correspond to a 2mm upward movement of the distance detection module. When the top of the skirting board is reached, the control system records that the drive motor has output a cumulative total of 3000 pulses since the initial detection position. Based on this, the vertical displacement of the distance detection module from the initial detection position to the top of the skirting board can be determined to be 60mm, thus determining the skirting board height as the initial detection position height plus 60mm.

[0132] For example, in another embodiment, the drive motor operates at a basically constant speed, and the lifting speed of the distance detection module is 50mm / s after calibration. When the top position of the skirting board is detected, the drive motor is recorded to have run for a cumulative 1.2s. Then it can be determined that the height of the skirting board is approximately the height of the initial detection position plus 60mm.

[0133] Without adding dedicated height measurement components, the skirting board height is identified using the parameters generated by the existing lifting drive process itself. This expands the skirting board detection results from top position identification to specific height quantification. On the one hand, it transforms the boundary identification result of the skirting board top position into a more engineering-meaning dimensional parameter; on the other hand, it provides a basis for subsequent motion control related to the skirting board height. For example, if it is necessary to adjust the vertical working range of the cleaning head, determine the target height of the robotic arm, or set the effective coverage area for cleaning along the skirting board, the skirting board height can serve as a direct reference parameter.

[0134] By recording the driving motor operating parameters corresponding to the distance detection module moving vertically from its initial detection position to the top of the skirting board, and determining the skirting board height based on the preset correspondence between the driving motor operating parameters and the vertical displacement, the height detection process can achieve good implementation and parameter utilization efficiency. Since this method directly utilizes existing operating information during the driving process, there is no need to set up an additional independent height detection mechanism, thus reducing structural complexity and control costs.

[0135] Please refer to Figure 2 As shown, this disclosure also provides a cleaning device 10, which includes a device body 11, a distance detection module 12, a cleaning component 13, a drive motor 14, and a control module 15; the distance detection module 12 is used to obtain the distance parameters between the wall 20 on the side of the device body 11 and the distance detection module 12; the cleaning component 13 includes at least a robotic arm 131 and a cleaning head 132 disposed on the robotic arm 131; the drive motor 14 is used to drive the distance detection module 12 and / or the robotic arm 131 to move in the vertical direction; the control module 15 is used to control the cleaning device 10 to perform the aforementioned skirting board detection method.

[0136] The main body 11 serves as the installation base and support platform for each functional component. The distance detection module 12 is used to obtain the distance parameters between the wall 20 on the side of the main body 11 and the distance detection module 12. The cleaning component 13 is used to perform cleaning operations facing the baseboard 21 area. The drive motor 14 is used to provide the distance detection module 12 and / or the robotic arm 131 with the ability to move in the vertical direction. The control module 15 is used to coordinate the control of each component so that the cleaning equipment 10 can perform the aforementioned baseboard detection method.

[0137] The distance detection module 12 can be implemented in various ways. In one embodiment, the distance detection module 12 is mounted on the robotic arm 131 or the cleaning head 132 and moves synchronously with the robotic arm 131 in the vertical direction. In this configuration, the distance detection module 12 and the cleaning assembly 13 have a fixed relative position. Therefore, after detecting changes in the contour of the wall 20, the top position of the baseboard 21, or the outward protrusion depth of the baseboard 21 relative to the wall 22, the detection results can directly correspond to the current or subsequent position that the cleaning head 132 should reach. This facilitates the control module 15 to perform rapid and precise spatial adjustments to the cleaning head 132 accordingly. In other words, the synchronous movement of the detection unit and the execution unit helps to shorten the response chain between detection, adjustment, and cleaning, enabling the cleaning head 132 to more accurately conform to the baseboard 21 area.

[0138] In another embodiment, the distance detection module 12 is set independently of the robotic arm 131, and is driven by the drive motor 14 to move vertically relative to the main body of the device 11. In this manner, the distance detection module 12 can first independently complete the detection of the baseboard 21, and then the control module 15 transmits the detection results to the robotic arm 131 and the cleaning head 132 to drive the cleaning component 13 to perform subsequent actions. This solution improves flexibility in structural layout and is suitable for scenarios where the detection unit and cleaning unit need to be arranged in separate zones or where the detection path and cleaning path do not completely overlap.

[0139] For example, in a cleaning device 10 that operates close to a wall, if the distance detection module 12 is installed on the upper end of the robotic arm 131 and arranged adjacent to the cleaning head 132, then when the robotic arm 131 moves vertically, the distance detection module 12 can simultaneously scan the contour changes of the lower edge of the wall 20 and output in real time the detection results such as whether the baseboard 21 exists, the top position of the baseboard 21, and the protrusion depth of the baseboard 21 relative to the wall 22. Based on this, the control module 15 can directly control the cleaning head 132 to move to the corresponding position.

[0140] Please refer to Figure 3 As shown in the embodiments of this disclosure, a method for cleaning baseboards is also provided, which includes:

[0141] S301: Control the cleaning equipment to perform the aforementioned skirting board detection method to obtain information on the presence, protrusion depth, and height of the skirting board;

[0142] S302: The vertical position of the cleaning head of the cleaning device is controlled based on the height of the baseboard so that the cleaning head is aligned with the top of the baseboard;

[0143] S303: Based on the protrusion depth, control the cleaning head to move to the top surface area of ​​the baseboard, so that the cleaning head fits against the top surface area of ​​the baseboard;

[0144] S304: Control the cleaning device to move along the extension direction of the baseboard to clean the baseboard.

[0145] The aforementioned baseboard cleaning method is based on the baseboard detection method, and further transforms the detection results into the motion control results of the cleaning equipment. This allows the cleaning equipment to not only identify baseboards, but also to adjust the position of the cleaning head according to the actual structural characteristics of the baseboards and perform cleaning along the extension direction of the baseboards.

[0146] First, the presence, protrusion depth, and height of the baseboard are obtained through a baseboard detection method. Then, using the baseboard height and protrusion depth as control criteria, the position of the cleaning head in the vertical direction and the direction close to the wall is controlled, so that the cleaning head reaches the target position adapted to the baseboard. Finally, by controlling the cleaning device to move along the extension direction of the baseboard, the cleaning head performs continuous cleaning on the baseboard while maintaining a close fit. Thus, baseboard cleaning no longer relies on a fixed cleaning structure, but is an adaptive cleaning process based on actual detection results.

[0147] In this method, controlling the cleaning equipment to perform a baseboard detection method to obtain information about the presence, protrusion depth, and height of the baseboard is a prerequisite for the entire baseboard cleaning process. The presence information of the baseboard is used to indicate whether there is a baseboard structure along the lower edge of the wall that requires targeted treatment. The protrusion depth is used to characterize the amount by which the outer surface of the baseboard protrudes from the wall surface, and the height is used to characterize the vertical dimension of the baseboard from the initial detection reference position to the top position.

[0148] Since baseboards may vary in their presence, degree of protrusion, and height across different usage scenarios, without first obtaining these parameters, the cleaning device cannot accurately reach the corresponding area of ​​the baseboard, let alone ensure an effective fit between the cleaning head and the baseboard. Therefore, the purpose of step S301 is to convert the structural information of the baseboard into parameter information that can directly participate in subsequent motion control through a detection method, so that the cleaning action is based on object recognition and parameter measurement results.

[0149] After acquiring information about the presence, protrusion depth, and height of the baseboard, the cleaning head of the cleaning device is positioned vertically based on the baseboard's height, adjusting its working position to correspond to the height of the top of the baseboard. Since baseboard cleaning is not limited to the area near the ground but often needs to cover the upper edge and top edge of the baseboard, if the cleaning head is positioned too low, it will be difficult to effectively reach the top area of ​​the baseboard; if the cleaning head is positioned too high, it will fall outside the effective cleaning range of the baseboard.

[0150] Therefore, once the baseboard height has been identified, by controlling the vertical position of the cleaning head to align it with the top of the baseboard, the cleaning head can be positioned at a suitable height when subsequently approaching the baseboard. This "alignment" does not necessarily mean a perfect geometric overlap, but rather that the target vertical position of the cleaning head matches the top position of the baseboard, allowing the cleaning head to cover the area near the top of the baseboard. In practice, the control module can control the robotic arm to rise to the corresponding height based on the identified baseboard height, or, with appropriate compensation, the cleaning head can be positioned slightly below or slightly above the top of the baseboard to accommodate different contact methods for different cleaning head structures.

[0151] For example, after the robotic arm moves the cleaning head to the position corresponding to the height of the baseboard, the robotic arm can be controlled to descend a certain distance (such as 5~10mm) so that the cleaning head can press tightly against the top of the baseboard, so that the cleaning head can achieve a better cleaning effect on the top of the baseboard.

[0152] Based on the outward protrusion depth, the cleaning head is moved to the top surface area of ​​the baseboard, ensuring it is in close contact with the baseboard. This step (S303) further addresses the issue of the cleaning head's proximity and contact in the lateral direction. Because the outer surface of the baseboard typically protrudes outward relative to the wall, simply adjusting the cleaning head to the correct vertical position does not guarantee effective contact with the top surface area of ​​the baseboard. Only by further adjusting the lateral position of the cleaning head according to the outward protrusion depth can the cleaning head truly reach the top surface area of ​​the baseboard and form a close contact with it.

[0153] The term "fitting" as used here can be understood as the cleaning head and the top surface area of ​​the baseboard reaching a contact or proximity state suitable for performing cleaning actions. This does not preclude indirect fitting through elastic elements, flexible structures, pre-compression structures, or adsorption structures. In other words, the key point of step S303 is to use the detection result of the outward protrusion depth to match the amount of movement of the cleaning head in the direction close to the wall with the actual protrusion size of the baseboard. This avoids the cleaning head failing to get close enough to reach the top surface area of ​​the baseboard, and also avoids the cleaning head pressing too hard, causing unnecessary collisions or frictional resistance.

[0154] After the cleaning head has completed its vertical and horizontal position adjustments, the cleaning equipment is moved along the extension direction of the baseboard to clean it. This step (S304) transforms the aforementioned positioning result into a continuous operation process. Baseboards are typically installed continuously along the wall's extension direction. Therefore, after the cleaning head is positioned, the cleaning equipment only needs to move along the extension direction of the baseboard to ensure that the cleaning head continuously cleans the baseboard while maintaining contact with the top surface area of ​​the baseboard.

[0155] Specifically, the cleaning head can perform one or more cleaning actions such as wiping, sweeping, scraping, rolling, or suction during movement. The movement of the cleaning equipment along the extension direction of the baseboard ensures that the cleaning head's effective area extends continuously along the entire length of the baseboard. This movement along the baseboard can be achieved by the entire cleaning equipment traveling along the wall, or by a separate moving platform driving the cleaning head along the baseboard direction while the main body of the equipment remains relatively stationary. Although the different implementations differ in their structural configurations, they all adhere to the fundamental idea of ​​the method: controlling the cleaning head to reach a position that matches the actual structure of the baseboard based on detection results, and then performing cleaning along the baseboard direction.

[0156] Since the cleaning head's positioning is based on the baseboard detection results, the entire cleaning process is highly parameterized and controllable, which is beneficial for achieving stable operation in different product forms and application scenarios. In summary, the aforementioned baseboard cleaning method combines detection, positioning, and the cleaning process, enabling the cleaning equipment to develop adaptive cleaning capabilities around the specific object of the baseboard, thereby significantly improving the accuracy, continuity, and environmental adaptability of baseboard area cleaning.

[0157] This disclosure also provides a machine-readable medium carrying executable instructions, which, when executed by a processor, can be used to implement various operations and functions of the skirting board detection method described in the various embodiments of this specification.

[0158] The machine-readable medium in this disclosure can be a machine-readable signal medium or a machine-readable storage medium, or any combination thereof. A machine-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of a machine-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this disclosure, a machine-readable storage medium can be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0159] In this disclosure, the machine-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, carrying machine-readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. The machine-readable signal medium may also be any machine-readable medium other than a machine-readable storage medium, capable of transmitting, propagating, or transmitting a program for use by or in connection with an instruction execution system, apparatus, or device. The program code contained on the machine-readable medium may be transmitted using any suitable medium, including but not limited to: wireless, wireline, optical fiber, RF, etc., or any suitable combination thereof.

[0160] Those skilled in the art will understand that embodiments of this disclosure can be provided as methods, systems, or program products. Therefore, this disclosure can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this disclosure can take the form of a program product embodied on one or more storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing program code.

[0161] It will be apparent to those skilled in the art that this disclosure is not limited to the details of the exemplary embodiments described above, and that this disclosure can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of this disclosure is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within this disclosure. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0162] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A method for detecting baseboards, characterized in that, include: In response to the skirting board detection command, the distance detection module of the cleaning equipment is controlled to move vertically relative to the wall; During the movement of the distance detection module, multiple distance parameters between the distance detection module and the wall are acquired; Based on the changes in the multiple distance parameters, determine whether the wall has a skirting board; If it is determined that the wall has a baseboard, the outward protrusion depth of the baseboard relative to the wall surface is determined based on the first distance parameter of the wall surface area corresponding to the wall and the second distance parameter of the baseboard area corresponding to the wall by the distance detection module.

2. The skirting board detection method according to claim 1, characterized in that, Determining whether the wall has a baseboard based on the changes in the multiple distance parameters includes: The difference between multiple distance parameters is obtained during the vertical movement of the distance detection module; When the difference is greater than a preset threshold, it is determined that the wall has a skirting board; When the difference is not greater than the preset threshold, it is determined that there is no skirting board on the wall.

3. The skirting board detection method according to claim 1, characterized in that, Before controlling the distance detection module to move vertically relative to the wall, the method further includes: Based on the current distance parameters output by the distance detection module, determine whether the current distance between the distance detection module and the wall has reached the predetermined detection distance; If the predetermined detection distance is not reached, the cleaning equipment and / or the distance detection module are controlled to move closer to or further away from the wall until the predetermined detection distance is reached.

4. The skirting board detection method according to claim 1, characterized in that, The convex depth is determined based on the difference between the first distance parameter and the second distance parameter, and the convex depth is used to characterize the amount of protrusion of the outer surface of the skirting board relative to the wall.

5. The skirting board detection method according to claim 1, characterized in that, Also includes: As the distance detection module moves vertically, when the distance parameter abruptly changes from the parameter of the corresponding skirting board area to the parameter of the corresponding wall area, the corresponding time node is determined. The height and / or top position of the skirting board are determined based on the time node and the vertical movement parameters of the distance detection module.

6. The skirting board detection method according to claim 1, characterized in that, Also includes: As the distance detection module moves vertically, it transmits detection signals at a predetermined frequency and receives reflected signals. Based on the distance parameters corresponding to multiple signal sampling points of the distance detection module, it determines the changes in the multiple distance parameters.

7. The skirting board detection method according to claim 1, characterized in that, The distance detection module includes a transmitting unit and a receiving unit. Acquiring multiple distance parameters between the distance detection module and the wall includes: The transmitting unit is controlled to transmit a detection signal to the wall, and the receiving unit is controlled to receive the detection signal reflected by the wall. The time interval between the transmission and reception times of each detection signal is obtained, and the time interval is used as the distance parameter.

8. The skirting board detection method according to claim 7, characterized in that, Determining whether the wall has a baseboard based on the changes in the multiple distance parameters includes: As the distance detection module moves vertically, the currently detected time interval is compared with a preset time threshold. If the time interval obtained from the current detection is greater than the time threshold, it is determined that there is a skirting board on the wall.

9. The skirting board detection method according to claim 7, characterized in that, Based on the first distance parameter of the corresponding wall area and the second distance parameter of the corresponding skirting board area, the outward protrusion depth of the skirting board relative to the wall is determined, including: Acquire the first time interval corresponding to the detection signal reflected from the wall surface, and the second time interval corresponding to the detection signal reflected from the outer surface of the skirting board; The depth of the skirting board protruding from the wall is determined based on the difference between the first time interval and the second time interval.

10. The skirting board detection method according to claim 7, characterized in that, Also includes: During the vertical movement of the distance detection module, the time interval of each detection signal is continuously acquired; When the time interval abruptly changes from the time interval corresponding to the baseboard to the time interval corresponding to the wall, it is determined that the distance detection module has passed the top position of the baseboard, and the height of the distance detection module at the time of the abrupt change is determined as the height of the baseboard.

11. The skirting board detection method according to claim 1, characterized in that, Also includes: During the detection of the skirting board, the operating parameters of the drive motor corresponding to the distance detection module moving vertically from the initial detection position to the top position of the skirting board are recorded. The driving motor operating parameters include at least one of the following: driving motor running time, driving motor speed, number of driving motor rotations, and number of driving motor pulses. The height of the skirting board is determined based on the correspondence between the preset operating parameters of the drive motor and the vertical displacement of the distance detection module.

12. A cleaning device, characterized in that, include: Equipment body; A distance detection module is used to obtain the distance parameters between the wall on the side of the main body of the device and the distance detection module; The cleaning assembly includes at least a robotic arm and a cleaning head disposed on the robotic arm; A drive motor is used to drive the distance detection module and / or the robotic arm to move in the vertical direction; A control module is used to control the cleaning equipment to perform the skirting board detection method according to any one of claims 1 to 11.

13. A method for cleaning baseboards, characterized in that, include: The cleaning equipment is controlled to perform the skirting board detection method according to any one of claims 1 to 11 to obtain information on the presence, protrusion depth, and height of the skirting board; The vertical position of the cleaning head of the cleaning device is controlled based on the height of the baseboard, so that the cleaning head is aligned with the top of the baseboard. Based on the aforementioned outward protrusion depth, the cleaning head is moved to the top surface area of ​​the baseboard, so that the cleaning head fits against the top surface area of ​​the baseboard. The cleaning device is controlled to move along the extension direction of the baseboard to clean the baseboard.

14. A machine-readable medium, characterized in that, The machine-readable medium carries execution instructions, which, when executed by a processor, are used to implement the skirting board detection method as described in any one of claims 1 to 11.

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