Cleaning assembly, cleaning device and control method and apparatus therefor

Abstract

The present disclosure relates to a cleaning assembly, a cleaning device and a control method and device thereof. The cleaning assembly comprises: a drum cleaning assembly, the drum cleaning assembly comprising a first cleaning execution member, a driving member and a drum support, the first cleaning execution member being fixedly connected with the drum support, the driving member driving the first cleaning execution member and the drum support to reciprocatingly translate in a first direction, so that the drum cleaning assembly switches between an edge cleaning mode and a regular cleaning mode; and a rear cleaning assembly, the rear cleaning assembly comprising a second cleaning execution member, and the rear cleaning assembly comprising a sweep corner mode and a storage mode; wherein when the drum cleaning assembly switches to the edge cleaning mode, the rear cleaning assembly translates with the drum support to switch to the sweep corner mode, and when in the sweep corner mode, a cleaning boundary of the second cleaning execution member forms an outermost edge of the device in a straight direction and forms an outermost edge of the device in the first direction, the first direction being perpendicular to the straight direction.

Description

Technical Field

[0001] This disclosure relates to the field of terminal technology, and in particular to a cleaning component, cleaning equipment, and control method and apparatus thereof. Background Technology

[0002] Cleaning robots, especially sweeping robots and robot vacuum and mop combos, have become an indispensable part of users' smart home furnishings. However, current cleaning robots usually cannot clean corners, requiring users to clean them manually. Even if some cleaning robots can clean corners, they require constant adjustments to their direction, using a twisting motion to achieve this, making control complex. Summary of the Invention

[0003] This disclosure provides a cleaning component, cleaning equipment, and control method and apparatus thereof to address the shortcomings of related technologies.

[0004] According to a first aspect of the present disclosure, a cleaning component is provided, comprising:

[0005] A roller cleaning assembly includes a first cleaning actuator, a driving component, and a roller bracket. The first cleaning actuator is fixedly connected to the roller bracket. The driving component drives the first cleaning actuator and the roller bracket to reciprocate in a first direction, thereby enabling the roller cleaning assembly to switch between an edge cleaning mode and a regular cleaning mode.

[0006] A rear cleaning component, the rear cleaning component including a second cleaning actuator, and the rear cleaning component including a corner sweeping mode and a storage mode;

[0007] When the roller cleaning assembly switches to the edge cleaning mode, the rear cleaning assembly moves with the roller bracket to switch to the corner sweeping mode. In the corner sweeping mode, the cleaning boundary of the second cleaning actuator forms the outermost edge of the device in the straight direction and the outermost edge of the device in the first direction, which is perpendicular to the straight direction.

[0008] Optionally, the rear cleaning assembly further includes a rear bracket fixedly connected to the second cleaning actuator. The rear bracket is rotatably connected to the roller bracket, and the rotation axis is parallel to the height direction of the cleaning assembly. When the rear cleaning assembly switches to the corner sweeping mode, the rear cleaning assembly swings outward relative to the roller bracket. When the rear cleaning assembly switches to the storage mode, the rear cleaning assembly retracts inward relative to the roller bracket.

[0009] Optionally, the rear cleaning assembly includes an elastic element, one end of which abuts against the rear bracket and the other end against the roller bracket;

[0010] When the roller cleaning assembly switches to the conventional cleaning mode, the device fixing block contacts and limits the rear bracket in the direction of the device in the first direction, the rear cleaning assembly is retracted relative to the roller cleaning assembly to switch to the storage mode, and the elastic element switches to the first pressing state.

[0011] When the roller cleaning assembly switches to the edge cleaning mode, the fixing block separates from the rear support, and the elastic element acts on the rear support, causing the rear support to swing outward relative to the roller support.

[0012] Optionally, the roller support includes a roller support body and a sliding block, the sliding block being slidably connected to the roller support body along the first direction, and the sliding block being rotatably connected to the rear support; the rear cleaning assembly includes an elastic element, one end of which abuts against the sliding block and the other end of which abuts against the rear support;

[0013] The cleaning component also includes:

[0014] A locking assembly includes a locked state and an unlocked state. When the locking assembly is in the locked state, it restricts the movement of the rear bracket relative to the sliding block to maintain it in the storage mode.

[0015] When the locking assembly switches to the unlocked state, the rear bracket is subjected to a force by the elastic element to swing outward relative to the sliding block;

[0016] When the locking assembly switches to the locking state, it pulls the rear bracket inward relative to the sliding block.

[0017] Optionally, the locking assembly includes a telescopic component and a power component. One end of the telescopic component is connected to the power component, and the other end is connected to the rear bracket. When the power component pulls the telescopic component to its shortest state, the locking assembly switches to the locking state, and the rear cleaning assembly switches to the storage mode.

[0018] Optionally, the telescopic component includes a telescopic rope and a ball head, with one end of the telescopic rope connected to the power component and the other end connected to the ball head;

[0019] The rear support includes a storage slot, and the ball head is stored in and confined within the storage slot.

[0020] Optionally, the rear bracket includes a rear bracket body and a cover plate connected to the rear bracket body, the cover plate covering the ball head and the storage slot.

[0021] Optionally, the roller support includes a first limiting surface, and the rear support includes a second limiting surface;

[0022] When the rear cleaning component is in the storage mode, the first limiting surface and the second limiting surface contact and limit the rear bracket from retracting relative to the roller bracket.

[0023] Optionally, the roller support includes a third limiting surface; the rear support includes a fourth limiting surface, and the elastic element acts on the rear support until the fourth limiting surface and the third limiting surface come into contact and limit the outward swing boundary of the rear support relative to the roller support.

[0024] Optionally, the third limiting surface is perpendicular to the first direction, and when the third limiting surface and the fourth limiting surface are in contact and limiting, the third limiting surface is located inside the fourth limiting surface.

[0025] Optionally, when the third limiting surface and the fourth limiting surface are in contact and limiting, the elastic element is in a second pressing state. In the second pressing state, the elastic force exerted by the elastic element on the rear bracket is less than the elastic force exerted by the elastic element on the rear bracket in the first pressing state.

[0026] Optionally, it also includes a rotating shaft that rotatably connects the rear support and the roller support, and the elastic element includes a torsion spring, with the rotating shaft passing through and wound around the torsion spring.

[0027] Optionally, the rear cleaning assembly further includes a rear bracket fixedly connected to the second cleaning actuator. The rear bracket is fixedly connected to the roller bracket. The rear cleaning assembly switches to the corner sweeping mode or the storage mode after moving along the first direction with the roller bracket.

[0028] Optionally, in the straight direction, the cleaning boundary of the second cleaning actuator is flush with the cleaning boundary of the first cleaning actuator.

[0029] According to a second aspect of the present disclosure, a cleaning device is provided, comprising:

[0030] body;

[0031] As described in any of the preceding embodiments, the roller bracket is slidably connected to the body along a first direction, which is perpendicular to the straight direction of the cleaning device.

[0032] According to a third aspect of the present disclosure, a method for controlling a cleaning component is provided, applied to a cleaning device as described in any of the foregoing embodiments, the control method comprising:

[0033] Control the rear cleaning component to switch to corner cleaning mode;

[0034] Control the cleaning equipment to rotate around the rotation center until the straight direction of the cleaning equipment is parallel to the first side of the obstacle;

[0035] The cleaning device is controlled to execute a straight-line command, so that the second cleaning actuator cleans the area of ​​the angle formed by the first and second sides of the obstacle.

[0036] Optionally, controlling the cleaning component to execute a straight-line command includes:

[0037] The cleaning component is controlled to execute a backward movement toward the second side, which is perpendicular to the first side;

[0038] Obtain the distance between the second cleaning actuator and the second side;

[0039] When the distance is less than or equal to a preset threshold, the cleaning device is controlled to execute a forward command.

[0040] Optionally, controlling the cleaning component to execute a straight-line command includes:

[0041] The cleaning device is controlled to execute a forward movement command away from the second side, which is perpendicular to the first side;

[0042] After a preset time, the cleaning device is controlled to execute a reverse command.

[0043] Optional, also includes:

[0044] The cleaning device is controlled to rotate alternately in opposite directions around the rotation center, so that the straight direction of the cleaning device is parallel to the first side again, and the first distance between the center of the second cleaning actuator and the first side is greater than the second distance between the center of the second cleaning actuator and the first side when the straight command was executed in the previous time.

[0045] Optionally, the difference between the first spacing and the second spacing is less than or equal to the radius of the second cleaning actuator.

[0046] Optionally, it can be applied to the cleaning components described in the foregoing configuration embodiments;

[0047] The control of the rear cleaning component to switch to the corner sweeping mode includes:

[0048] The drive unit of the control roller cleaning assembly is switched to the working state, so that the rear cleaning assembly swings outward relative to the roller bracket, and after moving outward along the first direction with the roller bracket, it switches to the sweeping angle mode.

[0049] Optionally, it can be applied to the cleaning components described in the foregoing configuration embodiments;

[0050] The control of the rear cleaning component to switch to the corner sweeping mode includes:

[0051] Control the locking assembly to switch to the unlocked state, so that the rear cleaning assembly rotates relative to the roller bracket outward from the machine body;

[0052] The control drive is switched to the working state, so that the rear cleaning component moves outward along the first direction with the roller bracket to switch to the sweeping angle mode.

[0053] Optional, also includes:

[0054] Control the locking component to switch to the locking state, so that the rear cleaning component retracts relative to the roller bracket;

[0055] The drive unit is controlled to switch to the working state, and the rear cleaning component moves into the cleaning equipment along the first direction with the roller bracket to switch to the storage mode.

[0056] According to a fourth aspect of the present disclosure, a control device for a cleaning component is provided, applied to a cleaning apparatus as described in any of the foregoing embodiments, the control device comprising:

[0057] The first control module controls the rear cleaning component to switch to corner sweeping mode;

[0058] The second control module controls the cleaning equipment to rotate around the rotation center until the straight direction of the cleaning equipment is parallel to the first side of the obstacle.

[0059] The third control module controls the cleaning equipment to execute a straight-line command, so that the second cleaning actuator cleans the angled area formed by the first and second sides of the obstacle.

[0060] Optionally, the third control module includes:

[0061] A first control unit controls the cleaning component to execute a backward movement command toward the second side, which is perpendicular to the first side;

[0062] The acquisition unit acquires the distance between the second cleaning actuator and the second side;

[0063] The second control unit controls the cleaning device to execute a forward command when the distance is less than or equal to a preset threshold.

[0064] Optionally, the third control module includes:

[0065] The third control unit controls the cleaning device to execute a forward movement command away from the second side, which is perpendicular to the first side;

[0066] The fourth control unit controls the cleaning device to execute a reverse command after a preset time.

[0067] Optional, also includes:

[0068] The fourth control module controls the cleaning device to rotate alternately in opposite directions around the rotation center, so that the straight direction of the cleaning device is parallel to the first side again, and the first distance between the center of the second cleaning actuator and the first side is greater than the second distance between the center of the second cleaning actuator and the first side when the straight command was executed in the previous time.

[0069] Optionally, the difference between the first spacing and the second spacing is less than or equal to the radius of the second cleaning actuator.

[0070] Optionally, it is applied to the cleaning components described in the embodiment;

[0071] The first control module includes:

[0072] The fifth control unit controls the drive component of the roller cleaning assembly to switch to the working state, so that the rear cleaning assembly swings outward relative to the roller bracket, and after moving outward along the first direction with the roller bracket, it switches to the sweeping angle mode.

[0073] Optionally, it is applied to the cleaning components described in the embodiment;

[0074] The first control module includes:

[0075] The sixth control unit controls the locking assembly to switch to the unlocked state, causing the rear cleaning assembly to rotate outward relative to the roller bracket.

[0076] The seventh control unit controls the drive unit to switch to the working state, so that the rear cleaning component moves outward along the first direction with the roller bracket to switch to the sweeping mode.

[0077] Optional, also includes:

[0078] The fifth control module controls the locking component to switch to the locking state, so that the rear cleaning component retracts relative to the roller bracket;

[0079] The sixth control module controls the drive unit to switch to the working state, and the rear cleaning component moves into the cleaning equipment along the first direction with the roller bracket to switch to the storage mode.

[0080] According to a fifth aspect of the present disclosure, a computer-readable storage medium is provided that stores computer instructions thereon, which, when executed by a processor, implement the steps of the method as described in any of the foregoing embodiments.

[0081] According to a sixth aspect of the present disclosure, a cleaning device is provided, comprising:

[0082] processor;

[0083] Memory used to store processor-executable instructions;

[0084] The processor is configured to perform the steps of the method as described in any of the foregoing embodiments.

[0085] The technical solutions provided by the embodiments of this disclosure may include the following beneficial effects:

[0086] As can be seen from the above embodiments, the rear cleaning component of this disclosure switches to the corner sweeping mode as the roller bracket moves. The mechanical structure realizes the mode switching of the rear cleaning component, reducing the number of motors or even eliminating the need for motors, thus simplifying the structure. On the other hand, in the corner sweeping mode, the second cleaning actuator is the outermost edge of the device, and the second cleaning actuator will not be unable to contact the edge of the corner area due to the obstruction of the device. This is conducive to achieving corner cleaning through a simple straight-line command, with a simple control strategy and good cleaning effect.

[0087] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this disclosure. Attached Figure Description

[0088] The accompanying drawings, which are incorporated in and form a part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure.

[0089] Figure 1 This is a schematic diagram of the structure of a cleaning component according to an exemplary embodiment.

[0090] Figure 2 yes Figure 1 A partial exploded view of the cleaning component.

[0091] Figure 3 This is a schematic diagram illustrating the state switching of a cleaning component according to an exemplary embodiment.

[0092] Figure 4 This is a schematic diagram of the structure of a cleaning device according to an exemplary embodiment.

[0093] Figure 5 This is a simplified schematic diagram of a cleaning device according to an exemplary embodiment.

[0094] Figure 6 This is a schematic diagram of the structure of another cleaning component according to an exemplary embodiment.

[0095] Figure 7 yes Figure 6 A partial exploded view of the cleaning component.

[0096] Figure 8 yes Figure 6 Another partially exploded view of the cleaning component.

[0097] Figure 9 yes Figure 6 A partial schematic diagram of the cleaning component.

[0098] Figure 10 yes Figure 6 Another schematic diagram of the cleaning component in the middle.

[0099] Figure 11 This is a schematic diagram illustrating a state of a cleaning device according to an exemplary embodiment.

[0100] Figure 12 yes Figure 11 Another schematic diagram of the cleaning equipment in the middle.

[0101] Figure 13 This is a flowchart illustrating a control method for a cleaning device according to an exemplary embodiment.

[0102] Figure 14 This is one of the state diagrams of a cleaning device according to an exemplary embodiment.

[0103] Figure 15 This is a second state diagram of a cleaning device according to an exemplary embodiment.

[0104] Figure 16 This is the third state diagram of a cleaning device according to an exemplary embodiment.

[0105] Figure 17 This is the fourth state diagram of a cleaning device according to an exemplary embodiment.

[0106] Figure 18 This is the fifth state diagram of a cleaning device according to an exemplary embodiment.

[0107] Figure 19 This is the sixth state diagram of a cleaning device according to an exemplary embodiment.

[0108] Figure 20 This is the seventh state diagram of a cleaning device according to an exemplary embodiment.

[0109] Figure 21 This is the eighth state diagram of a cleaning device according to an exemplary embodiment.

[0110] Figure 22 This is the ninth state diagram of a cleaning device according to an exemplary embodiment.

[0111] Figure 23 This is the tenth state diagram of a cleaning device according to an exemplary embodiment.

[0112] Figure 24 This is one of the block diagrams of a control device for a cleaning device according to an exemplary embodiment. Figure 25 This is a second block diagram of a control device for a cleaning equipment according to an exemplary embodiment. Figure 26 This is a block diagram of a control device for a cleaning equipment according to an exemplary embodiment. Figure 27 This is a fourth block diagram of a control device for a cleaning device according to an exemplary embodiment. Figure 28 This is block diagram five of a control device for a cleaning equipment according to an exemplary embodiment. Figure 29 This is block diagram six of a control device for a cleaning equipment according to an exemplary embodiment. Figure 30 This is block diagram seven of a control device for a cleaning equipment according to an exemplary embodiment. Figure 31 This is a block diagram illustrating a control device for a cleaning equipment according to an exemplary embodiment. Detailed Implementation

[0113] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numerals in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this disclosure. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this disclosure as detailed in the appended claims.

[0114] The terminology used in this disclosure is for the purpose of describing particular embodiments only and is not intended to be limiting of the disclosure. The singular forms “a,” “the,” and “the” as used in this disclosure and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used herein refers to and includes any and all possible combinations of one or more of the associated listed items.

[0115] It should be understood that although the terms first, second, third, etc., may be used in this disclosure to describe various information, such information should not be limited to these terms. These terms are used only to distinguish information of the same type from one another. For example, without departing from the scope of this disclosure, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Depending on the context, the word "if" as used herein may be interpreted as "when," "when," or "in response to determination."

[0116] Figure 1 This is a schematic diagram of the structure of a cleaning component according to an exemplary embodiment. Figure 2 yes Figure 1 A partial exploded view of the cleaning component. (See diagram below.) Figure 1 and Figure 2 As shown, the cleaning assembly may include a roller cleaning assembly 1 and a rear cleaning assembly 2. The rear cleaning assembly 2 is located behind the roller cleaning assembly 1, and this "rear" can be defined with reference to the straight-line direction of the cleaning equipment when the cleaning assembly is configured to be installed in the cleaning equipment. The roller cleaning assembly 1 may include a first cleaning actuator (not shown), a roller bracket 11, and a drive component 12. The roller bracket 11 is fixedly connected to the first cleaning actuator, as shown in the figure. Figure 3 As shown, the drive unit 12 is used to drive the first cleaning actuator to reciprocate in a first direction, that is, to reciprocate in the direction shown by arrow A, thereby enabling the roller cleaning assembly 1 to switch between edge cleaning mode and regular cleaning mode. The roller cleaning assembly 1 shown by the dashed line is in edge cleaning mode, and the roller cleaning assembly 1 shown by the solid line is in regular cleaning mode.

[0117] The rear cleaning component 2 can include a storage mode and a corner-sweeping mode, and the position of the second cleaning actuator 22 is different in the storage mode and the corner-sweeping mode. Still using... Figure 3 As shown, when the rear cleaning component 2 is in the corner sweeping mode, the roller cleaning component 1 is in the edge sweeping mode. This means that when the roller cleaning component 1 switches to the edge sweeping mode, the rear cleaning component 2 can translate with the roller support 11 and rotate relative to it, thus switching to the corner sweeping mode. This continues until the rear cleaning component 2 switches to the corner sweeping mode, and the roller cleaning component 1 switches to the edge sweeping mode. It can be understood that the angled area is often located at the intersection of two edges. Therefore, by having the edge sweeping mode and the corner sweeping mode occur simultaneously, there is no need for secondary commands to control the rear cleaning component 2 to translate in the first direction, simplifying the control strategy.

[0118] Furthermore, the rear cleaning assembly includes a second cleaning actuator 22. When the rear cleaning assembly 2 is in the corner-sweeping mode, the cleaning boundary of the second cleaning actuator 22 forms the outermost edge of the device in the straight-line direction and also forms the outermost edge of the device in a first direction, which is perpendicular to the straight-line direction. For example, such as Figures 4-5 As shown, taking a cleaning component configured in a cleaning device, specifically a robotic vacuum cleaner, as an example, the cleaning device includes a body 3. The roller cleaning component 1 in normal cleaning mode and the rear cleaning component 2 in storage mode are both located within the projection area of ​​the body 3, meaning they can be stored within the area covered by the body 3. Taking a circular body 3 as an example... Figure 5 Arrow C in the diagram indicates the straight-line direction of the cleaning equipment, while arrow B indicates the first direction. Figure 5 The two dashed lines tangent to the circular fuselage indicate the outermost edge of the fuselage near the second cleaning actuator 22 in the straight direction and the outermost edge of the fuselage near the second cleaning actuator 22 in the first direction, respectively. (Reference) Figure 5 As shown, the cleaning boundary of the second cleaning actuator 22 extends beyond the outermost edge of the body 3 in the straight direction and the outermost edge of the body 3 in the first direction, so that the cleaning boundary of the second cleaning actuator 22 can form a new outermost edge of the device.

[0119] Based on this, when controlling the cleaning equipment to clean the corner area, on the one hand, the rear cleaning component can switch to the corner sweeping mode as the roller bracket 11 moves, realizing the mode switching of the rear cleaning component in terms of mechanical structure, reducing the number of motors or even eliminating the need for motors, thus simplifying the structure; on the other hand, in the corner sweeping mode, the second cleaning actuator 22 is the outermost edge of the device, and the second cleaning actuator 22 will not be unable to contact the edge of the corner area due to the obstruction of the body 3. Corner cleaning can be achieved through a simple straight-line command, the control strategy is simple, and the cleaning effect is good.

[0120] Furthermore, in the straight direction, the cleaning boundary of the second cleaning actuator 22 is flush with the cleaning boundary of the first cleaning actuator, so that the first cleaning actuator and the second cleaning actuator 22 can clean the same edge, resulting in a better cleaning effect.

[0121] It should be noted that the first cleaning actuator and the second cleaning actuator 22 may include a rag, broom, or mop, etc., and this disclosure does not limit them. When the roller cleaning assembly 1 switches to the edge cleaning mode, the first cleaning actuator can be brought close to the edge of a wall or other obstacle to achieve edge cleaning. When the roller cleaning assembly 1 switches to the regular cleaning mode, the first cleaning actuator can be relatively located in the central area of ​​the cleaning device, thereby achieving cleaning of a wide, obstacle-free area. The first direction can be defined with reference to the straight direction of the cleaning device when the cleaning assembly is configured to the cleaning device, for example, the first direction can be perpendicular to the straight direction of the cleaning device. The drive unit 12 may include a motor, gears, and a rack. Through the connection between the motor and the gear, the gear is driven to rotate. The meshing of the gear and the rack drives the rack to reciprocate along the first direction. Through the fixed connection between the rack and the roller bracket 11, the roller bracket 11 and the first cleaning actuator can be driven to reciprocate along the first direction. Of course, this is only an illustrative example, and the drive unit 12 can certainly adopt other driving methods, such as a lead screw structure.

[0122] In some embodiments, the rear cleaning assembly 2 further includes a rear support 21 fixedly connected to the second cleaning actuator 22. The rear support 21 is rotatably connected to the roller support 11, and its rotation axis is parallel to the height direction of the cleaning assembly; that is, the rotation axis is parallel to the height direction of the cleaning device. When the rear cleaning assembly 2 switches to a sweeping mode, it swings outward relative to the roller support 11; when the rear cleaning assembly 2 switches to a storage mode, it retracts inward relative to the roller support 11. For example… Figure 3 In the diagram, the rear cleaning component 2, indicated by the solid line, is in the storage mode, while the rear cleaning component 2, indicated by the dashed line, is in the corner-sweeping mode. When switching from the storage mode to the corner-sweeping mode, the rear cleaning component 2 rotates counterclockwise relative to the roller bracket 11 to swing outward. When switching from the corner-sweeping mode to the storage mode, the rear cleaning component 2 rotates clockwise relative to the roller bracket 11 to retract inward. The outward swing of the rear bracket 21 relative to the roller bracket 11 and the translation of the rear bracket 21 with the roller bracket 11 can occur simultaneously or sequentially; this disclosure does not impose any limitations on this.

[0123] In some embodiments, the movement of the rear cleaning component 2 and the roller cleaning component 1 in the first direction is always synchronous, that is, the rear cleaning component 2 moves along with the roller cleaning component 1. Still assuming the cleaning components are configured in... Figure 4 Taking the robotic vacuum cleaner shown as an example, the body 3 includes a fixing block 31, and the rear cleaning component 2 includes an elastic element 23. One end of the elastic element 23 abuts against the rear bracket 21, and the other end abuts against the roller bracket 11. For example, such as... Figure 2As shown, the cleaning assembly also includes a rotating shaft 5, which rotatably connects the roller support 11 and the rear support 21. The elastic element 23 may include a torsion spring, through which the rotating shaft 5 passes, with one end of the torsion spring abutting against the roller support 11 and the other end abutting against the rear support 21. When the rear cleaning assembly 2 is in the retracted mode, the torsion spring can be in a deformed state, which is beneficial for subsequently using the potential energy stored in the torsion spring to drive the rear cleaning assembly 2 to swing outward relative to the roller support 11, thereby switching to the corner-sweeping mode. To improve aesthetics, the elastic element 23 can be housed within the rear support 21. This explanation only uses a torsion spring as an example of the elastic element 23; other springs can also be used, but this disclosure will not provide further examples.

[0124] When the drum cleaning assembly 1 switches from the edge cleaning mode to the regular cleaning mode, the rear cleaning assembly 2 moves inward along the first direction towards the inside of the machine body 3 along the drum support 11 until the rear support 21 of the rear cleaning assembly 2 contacts and is limited by the fixing block 31. Under the limiting action of the fixing block 31 and the translational action of the drum cleaning assembly 1, the rear support 21 can rotate relative to the drum support 11 to achieve inward retraction, and simultaneously compress the elastic element 23, causing the elastic element 23 to switch to the first pressing state. When the drum cleaning assembly 1 switches from the regular cleaning mode to the edge cleaning mode, the rear cleaning assembly 2 moves outward along the first direction towards the outside of the machine body 3 along the drum support 11. The rear support 21 separates from the fixing block 31 and contacts the limiting action of the fixing block 31. The elastic element 23 releases potential energy, and through the action of the elastic element 23 on the rear support 21, the rear support 21 rotates relative to the drum support 11 to achieve outward swing. After further translation with the drum support 11, it can switch to the corner sweeping mode.

[0125] Based on this design, the mode switching of the rear cleaning component 2 can occur simultaneously with the mode switching of the drum cleaning component 1 through the mechanical structure design. This eliminates the need for an additional motor for the mode switching of the rear cleaning component 2, simplifying the structure and control strategy. This description uses the machine body 3 including the fixing block 31 as an example. In other embodiments, the fixing block 31 only needs to be fixed during the reciprocating translation of the drum cleaning component 1 within the device. This disclosure does not limit the placement of the fixing block 31.

[0126] In other embodiments, such as Figures 6-10 As shown, the roller support 11 includes a roller support body 111 and a sliding block 112. The sliding block 112 is slidably connected to the roller support body 111 in a first direction. The sliding block 112 is rotatably connected to the rear support 21. One end of the elastic member 23 abuts against the sliding block 112 and the other end abuts against the rear support 21. The relevant implementation schemes of the elastic member 23 can be referred to the foregoing embodiments without contradiction.

[0127] Furthermore, the cleaning component also includes a locking component 4, which has a locked state and an unlocked state, such as... Figure 11 As shown, and when the locking component 4 is in the locked state, the movement of the rear bracket 21 relative to the sliding block 112 can be restricted, so that when the roller cleaning component 1 reciprocates along the first direction, thereby switching between the edge cleaning mode and the normal cleaning mode, the relative movement between the sliding block 112 and the roller bracket body 111 is not such that the sliding block 112 and the rear bracket 21 do not move along the first direction with the roller bracket 11, and the rear cleaning component 2 can remain in the storage mode; as Figure 12 As shown, when the locking assembly 4 switches to the unlocked state, the elastic element 23 releases potential energy, and the rear bracket 21 is subjected to a force by the elastic element 23, thus swinging outward relative to the sliding block 112. Furthermore, since the locking assembly 4 is unlocked, the rear bracket 21, the sliding block 112, and the roller bracket body 111 can move synchronously back and forth along the first direction until the roller cleaning assembly 1 switches to the edge cleaning mode and the rear cleaning assembly 2 switches to the corner cleaning mode. When the locking assembly 4 switches to the locked state, the rear bracket 2111 can be pulled inward relative to the sliding block 112 until it switches to the locked state, at which point the rear cleaning assembly 2 switches to the storage mode.

[0128] Based on this design, by switching the state of the locking component 4, the roller cleaning component 1 can be switched to the edge cleaning mode independently of the rear cleaning component 2, which helps to avoid collisions caused by the outward swing of the rear cleaning component 2 during edge cleaning. Moreover, by switching the state of the locking component 4, the roller cleaning component 1 and the rear cleaning component 2 can move synchronously in the first direction, so that the mode switching of the rear cleaning component 2 can occur simultaneously with the mode switching of the roller cleaning component 1. There is no need to design an additional motor for the mode switching of the rear cleaning component 2, which helps to simplify the structure and control strategy.

[0129] Furthermore, the locking assembly 4 may include a power component 41 and a telescopic component 42. One end of the telescopic component 42 is connected to the power component 41, and the other end is connected to the rear bracket 21. When the telescopic component 42 is pulled to its shortest state by the action of the power component 41, the locking assembly 4 switches to the locking state, and the rear cleaning assembly 2 switches to the storage mode. Of course, since the rear cleaning assembly 2 is in the corner sweeping mode and the roller cleaning assembly 1 is in the edge cleaning mode, during the process of the locking assembly 4 switching to the locking state, the roller bracket 11 may simultaneously translate in the first direction, the rear bracket 21 may translate in the first direction, and the rear bracket 21 may rotate relative to the sliding block 112. The timing of the above movements is not limited in this disclosure; they may occur simultaneously or sequentially.

[0130] The telescopic component 42 includes a telescopic rope 421 and a ball head 422. One end of the telescopic rope 421 is connected to the power component 41, and the other end is connected to the ball head 422. The rear support 21 may include a storage slot 211, in which the ball head 422 is stored and confined. The movable connection between the ball head 422 and the storage slot 211 facilitates adaptation to changes in the orientation of the rear support 21 relative to the sliding block 112, reducing jamming. To improve aesthetics, the rear support 21 also includes a rear support body and a cover plate 212 connected to the rear support body. The cover plate 212 can cover the ball head 422 and the storage slot 211, thus facilitating the installation of the ball head 422 between the ball head and the storage slot 211 when the cover plate 212 is open, and improving aesthetics when the cover plate 212 is closed. The cover plate 212 and the rear bracket body can be rotatably connected, slidably connected, or otherwise detachably connected, and this disclosure does not impose any restrictions on this.

[0131] In the above embodiments, to limit the inward boundary of the rear cleaning component 2 relative to the roller bracket 11, the roller bracket 11 further includes a first limiting surface 113, and the rear bracket 21 includes a second limiting surface 213. When the rear cleaning component 2 is in the storage mode, the first limiting surface 113 and the second limiting surface 213 contact and limit each other, restricting the rear bracket 21 from retracting relative to the roller bracket 11. For example, during the process of the rear cleaning component 2 switching from the self-sweeping mode to the storage mode, when the first limiting surface 113 and the second limiting surface 213 contact each other, it indicates that the rear cleaning component 2 is now in the storage mode and has been stored in place. Therefore, the first limiting surface 113 and the second limiting surface 213 can also limit the inward boundary of the rear cleaning component 2 when it rotates inward relative to the roller bracket 11.

[0132] Similarly, the roller bracket 11 also includes a third limiting surface 114, and the rear bracket 21 also includes a fourth limiting surface 214. During the process of the elastic member 23 acting on the rear bracket 21 to make the rear bracket 21 rotate relative to the roller bracket 11 and swing outward, the third limiting surface 114 and the fourth limiting surface 214 contact and limit each other, which can limit the outward swing boundary of the rear bracket 21 relative to the roller bracket 11, that is, prevent the rear cleaning component 2 from swinging outward too much relative to the roller cleaning component 1, so that it can be in a better position and switch to the corner sweeping mode.

[0133] Furthermore, the third limiting surface 114 is perpendicular to the first direction, and when the third limiting surface 114 contacts and limits the fourth limiting surface 214, the third limiting surface 114 is located inside the fourth limiting surface 214. Thus, when the roller cleaning assembly 1 moves outward along the first direction to switch to the edge cleaning mode, the third limiting surface 114 can act on the fourth limiting surface 214, thereby realizing that the rear cleaning assembly 2 moves with the roller cleaning assembly 1 without the need for additional connection to achieve the follow-up of the two, which is beneficial to simplify the structure.

[0134] Furthermore, when the third limiting surface 114 and the fourth limiting surface 214 are in contact and limited, the elastic element 23 is in the second pressing state, that is, the elastic element 23 is also in an energy storage state. Therefore, the force exerted by the elastic element 23 on the rear support 21 can maintain the contact and limitation between the third limiting surface 114 and the fourth limiting surface 214, which helps to prevent the rear support 21 from shaking. In the second pressing state, the elastic force exerted by the elastic element 23 on the rear support is less than the elastic force exerted by the elastic element 23 on the rear support in the first pressing state. That is, the degree of deformation of the elastic element 23 in the first pressing state is greater than the degree of deformation of the elastic element 23 in the second pressing state, ensuring that the rear cleaning assembly 2 can achieve outward rotation relative to the roller cleaning assembly 1 through the elastic force of the elastic element 23.

[0135] In the above embodiments, the explanation focuses on the fact that the rear cleaning component 2 needs to rotate relative to the roller bracket 11 when switching between the corner sweeping mode and the storage mode. In other embodiments, the rear bracket 21 can also be fixedly connected to the roller bracket 11, and the rear cleaning component 2 switches to the corner sweeping mode or the storage mode after translating along the first direction with the roller bracket 11. Compared to solutions that require the rear cleaning component 2 to be retracted or extended, the structure is simpler.

[0136] Based on the technical solution of this disclosure, a cleaning device is also provided. The cleaning device may include a body 3 and the cleaning components described in any of the foregoing embodiments. The roller bracket 11 is slidably connected to the body 3 along a first direction. For example, the slidable connection can be achieved by the cooperation of a slide groove and a slide rail, or the roller bracket 11 and the body 3 can also be indirectly slidably connected. The first direction is perpendicular to the straight direction of the cleaning device.

[0137] Based on the technical solution of this disclosure, a control method for a cleaning component is also provided. This control method can be applied to a cleaning device configured with the cleaning component, or it can also be applied to an independent component formed by the cleaning component itself. Figure 13 As shown, the control method may include the following steps:

[0138] In step 101, the rear cleaning component 2 is switched to the corner cleaning mode.

[0139] In some embodiments, see Figure 1 and Figure 2 In the embodiment shown, the drive unit 12 of the roller cleaning assembly 1 can be controlled to switch to the working state, thereby driving the roller support 11 and the first cleaning actuator of the roller cleaning assembly 1 to move outward along the first direction towards the outside of the cleaning device through the drive unit 12. At the same time, since the fixed block 31 on the machine body 3 is no longer limited, the elastic member 23 acts on the rear support 21 to make the rear support 21 rotate relative to the roller support 11, which means that the rear cleaning assembly 2 swings outward relative to the roller support 11. Since the rear support 21 and the roller support 11 are rotatably connected, the rear cleaning assembly can move outward along the first direction towards the outside of the cleaning device with the roller support 11 to switch to the corner sweeping mode.

[0140] In other embodiments, reference is made to... Figures 6-10 In the illustrated embodiment, the locking component 4 can be first switched to the unlocked state. Since the locking component 4 no longer locks the rear cleaning component 2, the rear cleaning component 2 can swing outward relative to the roller bracket 11 under the action of the elastic member 23. The driving member 12 of the roller cleaning component 1 is then switched to the working state, thereby driving the roller bracket 11 and the first cleaning actuator of the roller cleaning component 1 to move outward along the first direction towards the outside of the cleaning device. The rear cleaning component 2 can then move outward along the first direction with the roller bracket 11 to switch to the corner sweeping mode. The switching of the locking component 4 to the unlocked state and the switching of the driving member 12 to the working state can occur in parallel or sequentially, and the order of these actions is not limited in this disclosure.

[0141] Furthermore, based on this sweeping mode state, the locking component 4 can be controlled to switch to the locking state, so that the rear cleaning component 2 retracts relative to the roller bracket 11, and the drive component 12 of the roller cleaning component 1 is controlled to switch to the working state. Thus, the roller bracket 11 and the first cleaning actuator of the roller cleaning component 1 are driven by the drive component 12 to move inward toward the inside of the cleaning device along the first direction. The rear cleaning component 2 moves inward toward the inside of the cleaning device along the first direction with the roller bracket 11 to switch to the storage mode.

[0142] In some other embodiments, the rear cleaning component 2 and the roller cleaning component 1 can be fixedly connected, so that after switching to the working state by the drive component 12, the rear cleaning component 2 moves outward with the roller cleaning component 1 to switch to the corner sweeping mode.

[0143] In step 102, the cleaning equipment is controlled to rotate around the rotation center until the straight direction of the cleaning equipment is parallel to the first side of the obstacle.

[0144] In this embodiment, such as Figure 14As shown, with the vertical side as the first side, the direction indicated by the arrow is the straight-ahead direction, and the upward direction along the first side is the forward direction, while the downward direction along the first side is the backward direction. When the cleaning equipment detects that the angled area needs to be cleaned, it can be controlled to rotate around the rotation center until the straight-ahead direction of the cleaning equipment is parallel to the first side, that is, at this point the cleaning equipment can switch to... Figure 14 The state shown in the image indicates that the cleaning of the corner area is about to begin.

[0145] In step 103, the cleaning device is controlled to execute a straight-line command, so that the second cleaning actuator 22 cleans the angled area formed by the first and second sides of the obstacle.

[0146] In this embodiment, it is still based on Figure 14 As shown, the second cleaning component 22 in the corner sweeping mode forms the cleaning device in... Figure 14 The outermost left edge and the outermost lower edge of the middle can be used to execute a straight-line command for the control cleaning device, so that the second cleaning actuator 22 can perform cleaning of the angle area formed by the first side and the second side of the obstacle.

[0147] In some embodiments, such as Figure 14 As shown, the cleaning equipment can be controlled to execute a reverse command, switching from the position shown by the solid line to the position shown by the dashed line to complete the cleaning of the corner area.

[0148] In other embodiments, it is still based on Figure 14 As shown, the cleaning device can be controlled to execute a backward command towards a second side, which is perpendicular to the first side. Then, the distance between the second cleaning actuator 22 and the second side is obtained. When this distance is less than or equal to a preset threshold, the cleaning device is controlled to execute a forward command. The preset threshold can be 2mm, 1mm, or 2cm, etc. The distance between the second cleaning actuator 22 and the second side can be directly obtained using radar or other ranging sensors, or it can be indirectly calculated using the distance between other structures on the cleaning device and the second side. This disclosure does not impose any limitations on this method.

[0149] In some other embodiments, such as Figure 15 As shown, the cleaning equipment can be controlled to execute a forward command, and the cleaning equipment can switch from the position shown by the solid line to the position shown by the dashed line to complete the cleaning of the corner area.

[0150] In some other embodiments, it is still based on Figure 15 As shown, the cleaning device can be controlled to execute a forward movement command away from the second side, which is perpendicular to the first side, and after a preset time, the cleaning device can be controlled to execute a backward movement command.

[0151] It should be noted that in the implementation scheme of controlling the cleaning equipment to alternately execute forward and backward commands, the termination position during the execution of the backward command and the termination position during the execution of the forward command can be referred to the aforementioned embodiments, and will not be repeated here.

[0152] In the above embodiments, if only the cleaning equipment is controlled to move forward or backward, or alternately forward and backward, such as... Figure 14 and Figure 15 As shown, in the direction parallel to the second side, it is impossible to increase the cleaning size of the included angle area, which may result in the presence of uncleaned areas when the first cleaning actuator is used for subsequent cleaning.

[0153] Therefore, in some embodiments, the cleaning device can also be controlled to rotate alternately in opposite directions around the rotation center, so that the straight-line direction of the cleaning device is parallel to the first side again, and the first distance between the center of the second cleaning actuator and the first side is greater than or less than the second distance between the center of the second cleaning actuator and the first side when the straight-line command was executed previously. The difference between the first distance and the second distance is less than or equal to the radius of the second cleaning actuator 22, to avoid the difference between the first distance and the second distance being too large, resulting in an uncleaned area left between the two straight-line commands.

[0154] For example, taking the cleaning equipment as an example of alternately executing backward-forward-backward commands... after the first execution of the backward command, such as... Figure 16 As shown, the cleaning equipment from Figure 16 In this embodiment, the solid line position switches to the dashed line position, and the determination of its ending position can refer to the aforementioned embodiment. Before executing the first forward command, the cleaning device can be controlled to rotate alternately in opposite directions around the rotation center, for example... Figure 17 In the illustrated embodiment, the cleaning device is controlled to rotate clockwise around the rotation center, and the cleaning device moves from... Figure 17 In the embodiment, the solid line position is switched to the dashed line position, and then as follows: Figure 18 As shown, the cleaning equipment is controlled to rotate counterclockwise, and the cleaning equipment moves from... Figure 18 In this embodiment, the solid line position is switched to the dashed line position, making the straight direction of the cleaning device parallel to the first side again, thereby increasing the distance between the center of the second cleaning actuator and the first side. Assuming... Figure 16 In the state shown, the distance between the center of the second cleaning actuator and the first side is the second distance. Figure 18 In the state shown, the distance between the center of the second cleaning actuator and the first side is the first distance, which is greater than the second distance. For example... Figure 19 As shown, after the straight-line direction of the cleaning equipment is parallel to the first side again, the cleaning equipment can execute a reverse command, and the cleaning equipment will move from... Figure 19 In the embodiment, the solid line position is switched to the dashed line position.

[0155] For another example, consider a cleaning device alternately executing forward-backward-forward commands... Figure 20 As shown, the cleaning equipment is instructed to move straight forward. Figure 20 In this embodiment, the solid line position switches to the dashed line position, and the determination of its ending position can refer to the aforementioned embodiment. Before executing the first post-command, the cleaning device can be controlled to rotate alternately in opposite directions around the rotation center, for example... Figure 21 In the illustrated embodiment, the cleaning device is controlled to rotate counterclockwise around the rotation center, and the cleaning device moves from... Figure 21 In the embodiment, the solid line position is switched to the dashed line position, and then as follows: Figure 22 As shown, the cleaning equipment is controlled to rotate clockwise, and the cleaning equipment moves from... Figure 22 In this embodiment, the solid line position is switched to the dashed line position, making the straight direction of the cleaning device parallel to the first side again, thereby increasing the distance between the center of the second cleaning actuator and the first side. Assuming... Figure 20 In the state shown, the distance between the center of the second cleaning actuator and the first side is the second distance. Figure 22 In the state shown, the distance between the center of the second cleaning actuator and the first side is the first distance, which is greater than the second distance. For example... Figure 23 As shown, after the straight-line direction of the cleaning equipment is parallel to the first side again, the cleaning equipment can execute a reverse command, and the cleaning equipment will move from... Figure 23 In the embodiment, the solid line position is switched to the dashed line position.

[0156] In the above embodiments, the purpose of achieving a first gap greater than a second gap before executing a backward command and the purpose of achieving a first gap greater than a second gap before executing a forward command are described as examples. In fact, in other embodiments, the cleaning equipment can also be controlled to rotate alternately in opposite directions before each straight-line command other than the first straight-line command, referring to the above embodiments. The alternating rotation of the cleaning equipment in opposite directions can be a single alternation or multiple alternations, and this disclosure does not impose any limitations on this.

[0157] Steps 101 and 102 can occur in parallel or sequentially, and the order in which they occur is not restricted by this disclosure.

[0158] As can be seen from the above embodiments, by controlling the cleaning equipment to execute the straight-line command through the technical solution of this disclosure, the cleaning of the corner area can be completed. The strategy is simple and the control is convenient.

[0159] Corresponding to the embodiments of the control method described above, this disclosure also provides embodiments of the control device.

[0160] Figure 24This is one of the block diagrams illustrating a control device for a cleaning apparatus according to an exemplary embodiment. (Refer to...) Figure 24 The device includes a first control module 241, a second control module 242, and a third control module 243, wherein:

[0161] The first control module 241 controls the rear cleaning component to switch to the corner sweeping mode;

[0162] The second control module 242 controls the cleaning device to rotate around the rotation center until the straight direction of the cleaning device is parallel to the first side of the obstacle.

[0163] The third control module 243 controls the cleaning device to execute a straight-line command, so that the second cleaning actuator cleans the angled area formed by the first and second sides of the obstacle.

[0164] like Figure 25 As shown, Figure 25 This is a second block diagram of a control device for a cleaning apparatus according to an exemplary embodiment, which is described above. Figure 24 Based on the illustrated embodiment, the third control module 243 includes a first control unit 2431, an acquisition unit 2432, and a second control unit 2433, wherein:

[0165] The first control unit 2431 controls the cleaning component to execute a backward movement command toward the second side, which is perpendicular to the first side;

[0166] Acquisition unit 2432 acquires the distance between the second cleaning actuator and the second side;

[0167] The second control unit 2433 controls the cleaning device to execute a forward command when the distance is less than or equal to a preset threshold.

[0168] like Figure 26 As shown, Figure 26 This is a block diagram of a control device for a cleaning apparatus according to an exemplary embodiment, which is described above. Figure 24 Based on the illustrated embodiment, the third control module 243 includes a third control unit 2434 and a fourth control unit 2435, wherein:

[0169] The third control unit 2434 controls the cleaning device to execute a forward movement command away from the second side, which is perpendicular to the first side;

[0170] The fourth control unit 2435 controls the cleaning device to execute a backward command after a preset time.

[0171] It should be noted that the above Figure 26The structures of the third control unit 2434 and the fourth control unit 2435 in the illustrated device embodiment can also be included in the aforementioned... Figure 25 In the device embodiments, this disclosure is not limited thereto.

[0172] like Figure 27 As shown, Figure 27 This is a fourth block diagram of a control device for a cleaning device according to an exemplary embodiment, which is described above. Figure 24 Based on the illustrated embodiment, the device further includes a fourth control module 244, wherein:

[0173] The fourth control module 244 controls the cleaning device to rotate alternately in opposite directions around the rotation center, so that the straight direction of the cleaning device is parallel to the first side again, and the first distance between the center of the second cleaning actuator and the first side is greater than the second distance between the center of the second cleaning actuator and the first side when the straight command was executed in the previous time.

[0174] It should be noted that the above Figure 27 The structure of the fourth control module 244 in the illustrated device embodiment can also be included in the aforementioned... Figure 25 or Figure 26 In the device embodiments, this disclosure is not limited thereto.

[0175] Optionally, the difference between the first spacing and the second spacing is less than or equal to the radius of the second cleaning actuator.

[0176] like Figure 28 As shown, Figure 28 This is block diagram five of a control device for a cleaning apparatus according to an exemplary embodiment, which is described above. Figure 24 Based on the illustrated embodiment, the first control module 241 includes:

[0177] The fifth control unit 2411 controls the drive component of the roller cleaning assembly to switch to the working state, so that the rear cleaning assembly swings outward relative to the roller bracket, and after moving outward along the first direction with the roller bracket, it switches to the sweeping angle mode.

[0178] It should be noted that the above Figure 28 The structure of the fifth control unit 2411 in the illustrated device embodiment can also be included in the aforementioned... Figures 25-27 This disclosure is not limiting in any of the device embodiments.

[0179] like Figure 29 As shown, Figure 29 This is block diagram six of a control device for a cleaning apparatus according to an exemplary embodiment, which is described above. Figure 24Based on the illustrated embodiment, the first control module 241 includes a sixth control unit 2412 and a seventh control unit 2413, wherein:

[0180] The sixth control unit 2412 controls the locking assembly to switch to the unlocked state, so that the rear cleaning assembly rotates relative to the roller bracket outward from the machine body;

[0181] The seventh control unit 2413 controls the drive unit to switch to the working state, so that the rear cleaning component moves outward along the first direction with the roller bracket to switch to the sweeping mode.

[0182] It should be noted that the above Figure 28 The structures of the sixth control unit 2412 and the seventh control unit 2413 in the illustrated device embodiment can also be included in the aforementioned... Figures 25-27 This disclosure is not limiting in any of the device embodiments.

[0183] like Figure 30 As shown, Figure 30 This is block diagram seven of a control device for a cleaning apparatus according to an exemplary embodiment, which is described above. Figure 29 Based on the illustrated embodiment, the device further includes a fifth control module 245 and a sixth control module 246, wherein:

[0184] The fifth control module 245 controls the locking component to switch to the locking state, so that the rear cleaning component retracts relative to the roller bracket;

[0185] The sixth control module 246 controls the drive unit to switch to the working state, and the rear cleaning component moves into the cleaning equipment along the first direction with the roller bracket to switch to the storage mode.

[0186] Regarding the apparatus in the above embodiments, the specific manner in which each module performs its operation has been described in detail in the embodiments related to the method, and will not be elaborated upon here.

[0187] For the device embodiments, since they basically correspond to the method embodiments, the relevant parts can be referred to in the description of the method embodiments. The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this disclosure according to actual needs. Those skilled in the art can understand and implement this without creative effort.

[0188] Accordingly, this disclosure also provides a control device, including: a processor; a memory for storing processor-executable instructions; wherein the processor is configured to: control a rear cleaning component to switch to a corner-sweeping mode; control the cleaning device to rotate around a rotation center until the straight-line direction of the cleaning device is parallel to the first side of the obstacle; control the cleaning device to execute a straight-line command, such that the second cleaning actuator cleans the angled area formed by the first side and the second side of the obstacle.

[0189] Accordingly, this disclosure also provides a cleaning device, the terminal including a memory and one or more programs, wherein one or more programs are stored in the memory and configured to be executed by one or more processors. The one or more programs include instructions for performing the following operations: controlling the rear cleaning component to switch to a corner sweeping mode; controlling the cleaning device to rotate around a rotation center until the straight direction of the cleaning device is parallel to the first side of the obstacle; controlling the cleaning device to execute a straight-line command, such that the second cleaning actuator cleans the angled area formed by the first side and the second side of the obstacle.

[0190] Figure 31 This is a block diagram illustrating a control device 3100 for cleaning equipment according to an exemplary embodiment. For example, device 3100 may be a mobile phone, computer, digital broadcasting terminal, messaging device, game console, tablet device, medical device, fitness equipment, personal digital assistant, etc.

[0191] Reference Figure 31 The device 3100 may include one or more of the following components: a processing component 3102, a memory 3104, a power supply component 3106, a multimedia component 3108, an audio component 3110, an input / output (I / O) interface 3112, a sensor component 3114, and a communication component 3116.

[0192] Processing component 3102 typically controls the overall operation of device 3100, such as operations associated with display, telephone calls, data communication, camera operation, and recording operations. Processing component 3102 may include one or more processors 3120 to execute instructions to perform all or part of the steps of the methods described above. Furthermore, processing component 3102 may include one or more modules to facilitate interaction between processing component 3102 and other components. For example, processing component 3102 may include a multimedia module to facilitate interaction between multimedia component 3108 and processing component 3102.

[0193] Memory 3104 is configured to store various types of data to support the operation of device 3100. Examples of such data include instructions for any application or method operating on device 3100, contact data, phonebook data, messages, pictures, videos, etc. Memory 3104 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk.

[0194] Power supply component 3106 provides power to various components of device 3100. Power supply component 3106 may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power to device 3100.

[0195] Multimedia component 3108 includes a screen that provides an output interface between the device 3100 and the user. In some embodiments, the screen may include a liquid crystal display (LCD) and a touch panel (TP). If the screen includes a touch panel, the screen may be implemented as a touchscreen to receive input signals from the user. The touch panel includes one or more touch sensors to sense touches, swipes, and gestures on the touch panel. The touch sensors may sense not only the boundaries of the touch or swipe action but also the duration and pressure associated with the touch or swipe operation. In some embodiments, multimedia component 3108 includes a front-facing camera and / or a rear-facing camera. When the device 3100 is in an operating mode, such as a shooting mode or a video mode, the front-facing camera and / or the rear-facing camera may receive external multimedia data. Each front-facing camera and rear-facing camera may be a fixed optical lens system or have focal length and optical zoom capabilities.

[0196] Audio component 3110 is configured to output and / or input audio signals. For example, audio component 3110 includes a microphone (MIC) configured to receive external audio signals when device 3100 is in an operating mode, such as call mode, recording mode, and voice recognition mode. The received audio signals may be further stored in memory 3104 or transmitted via communication component 3116. In some embodiments, audio component 3110 also includes a speaker for outputting audio signals.

[0197] I / O interface 3112 provides an interface between processing component 3102 and peripheral interface modules, such as keyboards, click wheels, buttons, etc. These buttons may include, but are not limited to, home buttons, volume buttons, power buttons, and lock buttons.

[0198] Sensor assembly 3114 includes one or more sensors for providing status assessments of various aspects of device 3100. For example, sensor assembly 3114 may detect the on / off state of device 3100, the relative positioning of components such as the display and keypad of device 3100, changes in the position of device 3100 or a component of device 3100, the presence or absence of user contact with device 3100, the orientation or acceleration / deceleration of device 3100, and temperature changes of device 3100. Sensor assembly 3114 may include a proximity sensor configured to detect the presence of nearby objects without any physical contact. Sensor assembly 3114 may also include a light sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, sensor assembly 3114 may also include an accelerometer, a gyroscope, a magnetometer, a pressure sensor, or a temperature sensor.

[0199] Communication component 3116 is configured to facilitate wired or wireless communication between device 3100 and other devices. Device 3100 can access wireless networks based on communication standards, such as WiFi, 2G or 3G, 4G LTE, 5G NR, or combinations thereof. In one exemplary embodiment, communication component 3116 receives broadcast signals or broadcast-related information from an external broadcast management system via a broadcast channel. In one exemplary embodiment, communication component 3116 also includes a near-field communication (NFC) module to facilitate short-range communication. For example, the NFC module may be implemented based on radio frequency identification (RFID) technology, Infrared Data Association (IrDA) technology, ultra-wideband (UWB) technology, Bluetooth (BT) technology, and other technologies.

[0200] In an exemplary embodiment, the apparatus 3100 may be implemented by one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field-programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components to perform the methods described above.

[0201] In an exemplary embodiment, a non-transitory computer-readable storage medium including instructions is also provided, such as a memory 3104 including instructions, which can be executed by a processor 3120 of the device 3100 to perform the above-described method. For example, the non-transitory computer-readable storage medium may be a ROM, random access memory (RAM), CD-ROM, magnetic tape, floppy disk, and optical data storage device, etc.

[0202] Other embodiments of this disclosure will readily occur to those skilled in the art upon consideration of the specification and practice of the disclosure herein. This disclosure is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this disclosure are indicated by the following claims.

[0203] It should be understood that this disclosure is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this disclosure is limited only by the appended claims.

Claims

1. A cleaning component, characterized in that, include: A roller cleaning assembly includes a first cleaning actuator, a driving component, and a roller bracket. The first cleaning actuator is fixedly connected to the roller bracket. The driving component drives the first cleaning actuator and the roller bracket to reciprocate in a first direction, thereby enabling the roller cleaning assembly to switch between an edge cleaning mode and a regular cleaning mode. A rear cleaning component, the rear cleaning component including a second cleaning actuator, and the rear cleaning component including a corner sweeping mode and a storage mode; When the roller cleaning assembly switches to the edge cleaning mode, the rear cleaning assembly moves with the roller bracket to switch to the corner sweeping mode. In the corner sweeping mode, the cleaning boundary of the second cleaning actuator forms the outermost edge of the device in the straight direction and the outermost edge of the device in the first direction, which is perpendicular to the straight direction.

2. The cleaning component according to claim 1, characterized in that, The rear cleaning assembly further includes a rear bracket fixedly connected to the second cleaning actuator. The rear bracket is rotatably connected to the roller bracket, and the rotation axis is parallel to the height direction of the cleaning assembly. When the rear cleaning assembly switches to the corner sweeping mode, the rear cleaning assembly swings outward relative to the roller bracket. When the rear cleaning assembly switches to the storage mode, the rear cleaning assembly retracts inward relative to the roller bracket.

3. The cleaning component according to claim 2, characterized in that, The rear cleaning assembly includes an elastic element, one end of which abuts against the rear bracket and the other end of which abuts against the roller bracket; When the roller cleaning assembly switches to the conventional cleaning mode, the device fixing block contacts and limits the rear bracket in the direction of the device in the first direction, the rear cleaning assembly is retracted relative to the roller cleaning assembly to switch to the storage mode, and the elastic element switches to the first pressing state. When the roller cleaning assembly switches to the edge cleaning mode, the fixing block separates from the rear support, and the elastic element acts on the rear support, causing the rear support to swing outward relative to the roller support.

4. The cleaning component according to claim 2, characterized in that, The roller support includes a roller support body and a sliding block. The sliding block is slidably connected to the roller support body along the first direction, and the sliding block is rotatably connected to the rear support. The rear cleaning component includes an elastic element, one end of which abuts against the sliding block and the other end of which abuts against the rear support. The cleaning component also includes: A locking assembly includes a locked state and an unlocked state. When the locking assembly is in the locked state, it restricts the movement of the rear bracket relative to the sliding block to maintain it in the storage mode. When the locking assembly switches to the unlocked state, the rear bracket is subjected to a force by the elastic element to swing outward relative to the sliding block; When the locking assembly switches to the locking state, it pulls the rear bracket inward relative to the sliding block.

5. The cleaning component according to claim 4, characterized in that, The locking assembly includes a telescopic component and a power component. One end of the telescopic component is connected to the power component, and the other end is connected to the rear bracket. When the power component pulls the telescopic component to its shortest state, the locking assembly switches to the locking state, and the rear cleaning assembly switches to the storage mode.

6. The cleaning component according to claim 5, characterized in that, The telescopic component includes a telescopic rope and a ball head, with one end of the telescopic rope connected to the power component and the other end connected to the ball head; The rear support includes a storage slot, and the ball head is stored in and confined within the storage slot.

7. The cleaning component according to claim 6, characterized in that, The rear support includes a rear support body and a cover plate connected to the rear support body, the cover plate covering the ball head and the storage slot.

8. The cleaning component according to any one of claims 3-7, characterized in that, The roller support includes a first limiting surface, and the rear support includes a second limiting surface; When the rear cleaning component is in the storage mode, the first limiting surface and the second limiting surface contact and limit the rear bracket from retracting relative to the roller bracket.

9. The cleaning component according to any one of claims 3-7, characterized in that, The roller support includes a third limiting surface; the rear support includes a fourth limiting surface, and the elastic element acts on the rear support until the fourth limiting surface and the third limiting surface come into contact and limit the outward swing boundary of the rear support relative to the roller support.

10. The cleaning component according to claim 9, characterized in that, The third limiting surface is perpendicular to the first direction. When the third limiting surface and the fourth limiting surface are in contact and limiting, the third limiting surface is located inside the fourth limiting surface.

11. The cleaning component according to claim 9, characterized in that, When the third limiting surface and the fourth limiting surface are in contact and limiting, the elastic element is in a second pressing state. In the second pressing state, the elastic force exerted by the elastic element on the rear bracket is less than the elastic force exerted by the elastic element on the rear bracket in the first pressing state.

12. The cleaning component according to any one of claims 3-7, characterized in that, It also includes a rotating shaft that rotatably connects the rear support and the roller support, and the elastic element includes a torsion spring, through which the rotating shaft passes and is wound around the torsion spring.

13. The cleaning component according to claim 1, characterized in that, The rear cleaning assembly also includes a rear bracket fixedly connected to the second cleaning actuator. The rear bracket is fixedly connected to the roller bracket. The rear cleaning assembly switches to the corner sweeping mode or the storage mode after it moves along the first direction with the roller bracket.

14. The cleaning component according to claim 1, characterized in that, In the straight direction, the cleaning boundary of the second cleaning actuator is flush with the cleaning boundary of the first cleaning actuator.

15. A cleaning device, characterized in that, include: body; The cleaning assembly as described in any one of claims 1-14, wherein the roller bracket is slidably connected to the body along a first direction, the first direction being perpendicular to the straight direction of the cleaning equipment.

16. A method for controlling a cleaning component, characterized in that, The control method, applied to the cleaning equipment as described in claim 15, comprises: Control the rear cleaning component to switch to corner cleaning mode; Control the cleaning equipment to rotate around the rotation center until the straight direction of the cleaning equipment is parallel to the first side of the obstacle; The cleaning device is controlled to execute a straight-line command, so that the second cleaning actuator cleans the area of ​​the angle formed by the first and second sides of the obstacle.

17. The control method according to claim 16, characterized in that, The control of the cleaning component to execute the straight-line command includes: The cleaning component is controlled to execute a backward movement toward the second side, which is perpendicular to the first side; Obtain the distance between the second cleaning actuator and the second side; When the distance is less than or equal to a preset threshold, the cleaning device is controlled to execute a forward command.

18. The control method according to claim 16, characterized in that, The control of the cleaning component to execute the straight-line command includes: The cleaning device is controlled to execute a forward movement command away from the second side, which is perpendicular to the first side; After a preset time, the cleaning device is controlled to execute a reverse command.

19. The control method according to claim 16, characterized in that, Also includes: The cleaning device is controlled to rotate alternately in opposite directions around the rotation center, so that the straight direction of the cleaning device is parallel to the first side again, and the first distance between the center of the second cleaning actuator and the first side is greater than the second distance between the center of the second cleaning actuator and the first side when the straight command was executed in the previous time.

20. The control method according to claim 19, characterized in that, The difference between the first spacing and the second spacing is less than or equal to the radius of the second cleaning actuator.

21. The control method according to claim 16, characterized in that, Applied to the cleaning component as described in claim 3; The control of the rear cleaning component to switch to the corner sweeping mode includes: The drive unit of the control roller cleaning assembly is switched to the working state, so that the rear cleaning assembly swings outward relative to the roller bracket, and after moving outward along the first direction with the roller bracket, it switches to the sweeping angle mode.

22. The control method according to claim 16, characterized in that, Applied to the cleaning component as described in claim 4; The control of the rear cleaning component to switch to the corner sweeping mode includes: Control the locking assembly to switch to the unlocked state, so that the rear cleaning assembly rotates relative to the roller bracket outward from the machine body; The control drive is switched to the working state, so that the rear cleaning component moves outward along the first direction with the roller bracket to switch to the sweeping angle mode.

23. The control method according to claim 22, characterized in that, Also includes: Control the locking component to switch to the locking state, so that the rear cleaning component retracts relative to the roller bracket; The drive unit is controlled to switch to the working state, and the rear cleaning component moves into the cleaning equipment along the first direction with the roller bracket to switch to the storage mode.

24. A control device for a cleaning component, characterized in that, The control device, applied to the cleaning equipment as described in claim 15, comprises: The first control module controls the rear cleaning component to switch to corner sweeping mode; The second control module controls the cleaning equipment to rotate around the rotation center until the straight direction of the cleaning equipment is parallel to the first side of the obstacle. The third control module controls the cleaning equipment to execute a straight-line command, so that the second cleaning actuator cleans the angled area formed by the first and second sides of the obstacle.

25. The control device according to claim 24, characterized in that, The third control module includes: A first control unit controls the cleaning component to execute a backward movement command toward the second side, which is perpendicular to the first side; The acquisition unit acquires the distance between the second cleaning actuator and the second side; The second control unit controls the cleaning device to execute a forward command when the distance is less than or equal to a preset threshold.

26. The control device according to claim 24, characterized in that, The third control module includes: The third control unit controls the cleaning device to execute a forward movement command away from the second side, which is perpendicular to the first side; The fourth control unit controls the cleaning device to execute a reverse command after a preset time.

27. The control device according to claim 24, characterized in that, Also includes: The fourth control module controls the cleaning device to rotate alternately in opposite directions around the rotation center, so that the straight direction of the cleaning device is parallel to the first side again, and the first distance between the center of the second cleaning actuator and the first side is greater than the second distance between the center of the second cleaning actuator and the first side when the straight command was executed in the previous time.

28. The control device according to claim 27, characterized in that, The difference between the first spacing and the second spacing is less than or equal to the radius of the second cleaning actuator.

29. The control device according to claim 24, characterized in that, Applied to the cleaning component as described in claim 3; The first control module includes: The fifth control unit controls the drive component of the roller cleaning assembly to switch to the working state, so that the rear cleaning assembly swings outward relative to the roller bracket, and after moving outward along the first direction with the roller bracket, it switches to the sweeping angle mode.

30. The control device according to claim 24, characterized in that, Applied to the cleaning component as described in claim 4; The first control module includes: The sixth control unit controls the locking assembly to switch to the unlocked state, causing the rear cleaning assembly to rotate outward relative to the roller bracket. The seventh control unit controls the drive unit to switch to the working state, so that the rear cleaning component moves outward along the first direction with the roller bracket to switch to the sweeping mode.

31. The control device according to claim 30, characterized in that, Also includes: The fifth control module controls the locking component to switch to the locking state, so that the rear cleaning component retracts relative to the roller bracket; The sixth control module controls the drive unit to switch to the working state, and the rear cleaning component moves into the cleaning equipment along the first direction with the roller bracket to switch to the storage mode.

32. A computer-readable storage medium storing computer instructions thereon, characterized in that, When executed by the processor, this instruction implements the steps of the method as described in any one of claims 16-23.

33. A cleaning device, characterized in that, include: processor; Memory used to store processor-executable instructions; The processor is configured to implement the steps of the method as described in any one of claims 16-23 when executing.

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