A cleaning method of a cleaning apparatus

Abstract

The application provides a cleaning method of a cleaning device, the cleaning method comprising: controlling the cleaning device to run on a surface to be cleaned in a first direction until the cleaning device runs to a first position of a first preset edge; changing the running direction of the cleaning device so that the cleaning device runs in a second direction; continuing to change the running direction of the cleaning device and controlling the cleaning device to continue to run in the first direction until the cleaning device runs to a second position of the first preset edge, determining that the cleaning device runs to a limit area of the surface to be cleaned; planning a running path of the cleaning device from the limit area, and completing the cleaning work on the surface to be cleaned according to the running path. The application gradually plans the cleaning path based on the cleaning detection result of the cleaning device, can be suitable for the cleaning demand of different surfaces to be cleaned, and effectively improves the cleaning effect and the comprehensiveness of the cleaning device on the special-shaped surface to be cleaned.

Description

Technical Field

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

[0002] Smart home cleaning devices have gained popularity among users because they free people from tedious housework. As an important part of home cleaning, window cleaning is also gradually becoming a focus of attention.

[0003] However, most mainstream window cleaning robots on the market are designed primarily for rectangular glass, with their body structure, adsorption system, and travel trajectory all centered around regular shapes like rectangles. They generally suffer from insufficient adaptability for non-rectangular cleaning areas such as rhombuses. Summary of the Invention

[0004] In view of the deficiencies in the prior art, the technical solution adopted in this application is to propose a cleaning method for cleaning equipment.

[0005] A cleaning method for a cleaning device, the cleaning method comprising:

[0006] Control the cleaning device to run along a first direction on the surface to be cleaned until the cleaning device runs to a first position at a first preset edge; Change the operating direction of the cleaning equipment so that the cleaning equipment runs along the second direction; Continue to change the running direction of the cleaning equipment, and control the cleaning equipment to continue running along the first direction until the cleaning equipment runs to the second position of the first preset edge, and determine that the cleaning equipment has run to the limit area of ​​the surface to be cleaned; From the extreme area, plan the operating path of the cleaning equipment, and complete the cleaning work on the surface to be cleaned according to the operating path.

[0007] In an optional embodiment, changing the operating direction of the cleaning device so that the cleaning device runs along a second direction includes: causing the cleaning device to run to a second preset edge.

[0008] In an optional embodiment, when the cleaning device moves to a first position on a first preset edge, it determines the tilt information of the first preset edge based on the body posture, and determines the second direction based on the tilt information.

[0009] In an optional embodiment, the method for determining the limiting region further includes: After the cleaning device reaches the second position of the first preset edge, it continues to be controlled to run to the third preset edge opposite to the second preset edge, and the running direction of the cleaning device continues to be changed until the cleaning device reaches the third position of the first preset edge, at which point the cleaning device reaches the limit area.

[0010] In an optional embodiment, the limiting region includes a first type of limiting region and a second type of limiting region; The method for determining the limiting region further includes: After the cleaning device reaches a first position on the first preset edge, the operating direction of the cleaning device is changed, and the cleaning device is controlled to continue moving along the first direction until the cleaning device reaches a second position on the first preset edge, thus determining that the cleaning device has reached a first-type limit area of ​​the surface to be cleaned. Starting from the first type of extreme area, the operating path of the cleaning equipment is planned, and the cleaning work on the surface to be cleaned is completed according to the operating path.

[0011] In an optional embodiment, after the cleaning device reaches a first position on the first preset edge, the operating direction of the cleaning device is changed, and the cleaning device is controlled to continue running along the first direction until the cleaning device reaches a second position on the first preset edge, thus determining that the cleaning device has reached a second type of limit area of ​​the surface to be cleaned. When the cleaning device continues to operate to the third preset edge opposite to the second preset edge, the operating direction of the cleaning device continues to be changed, and the cleaning device continues to operate along the first direction until the cleaning device reaches the third position of the first preset edge, at which point the cleaning device reaches the first type of limit area; Starting from the first type of extreme area, the operating path of the cleaning equipment is planned, and the cleaning work on the surface to be cleaned is completed according to the operating path.

[0012] In an optional embodiment, when the angle between the first preset edge and the second preset edge is an acute angle, the limiting region is a first type of limiting region; When the angle between the first preset edge and the second preset edge is an obtuse angle, the limiting region is a second type of limiting region.

[0013] In an optional embodiment, the cleaning device includes a first cleaning unit and a second cleaning unit; After the cleaning device moves to a first position at the first preset edge, it includes: The cleaning device is controlled to perform edge probing at the first position to obtain the edge probing result; The second direction is determined based on the edge probing results.

[0014] In an optional embodiment, controlling the cleaning device to perform edge probing at the first location includes: Control the first cleaning unit and the second cleaning unit to alternately perform edge probing at a first preset probing angle; or When one of the first cleaning unit and the second cleaning unit is blocked, the other one is controlled to make a contact probe at a first preset probe angle. The edge probing results are obtained by obtaining the edge contact status information of the first cleaning unit and the second cleaning unit respectively.

[0015] In an optional embodiment, determining the second direction based on the edge probing result includes: When the edge probing result is that both the first cleaning unit and the second cleaning unit touch the edge, the second direction is determined using the first type of strategy; When the edge probing result is a contact edge in either the first cleaning unit or the second cleaning unit, the second direction is determined using the second type of strategy.

[0016] In an optional embodiment, the first type of strategy includes: The second direction is defined by a first preset direction, wherein the first direction is perpendicular or approximately perpendicular to the first preset direction.

[0017] In an optional embodiment, the second type of strategy includes: When the first cleaning unit touches the edge and the second cleaning unit does not touch the edge, the second preset direction is taken as the second direction; When the second cleaning unit touches the edge and the first cleaning unit does not touch the edge, the third preset direction is taken as the second direction; The first direction is perpendicular or approximately perpendicular to the second preset direction, and the second preset direction is opposite to the third preset direction.

[0018] In an optional embodiment, the method further includes: After determining the extreme area, starting from the second preset edge, control the cleaning equipment to gradually move backward; After retracting a preset distance, the cleaning device is controlled to rotate and wipe the first cleaning unit and the second cleaning unit respectively, with the first cleaning unit and the second cleaning unit as the pivot and at the second preset trial angle. The second preset probing angle is greater than the first preset probing angle.

[0019] In an optional embodiment, after the cleaning device reaches a first position at a first preset edge, changing the direction of operation of the cleaning device includes: Control the cleaning device to move along the second direction to the second preset edge in the current posture; Alternatively, the cleaning equipment can be controlled to adjust its body posture and then move along the second direction to the second preset edge; The fuselage attitude includes a horizontal attitude and a vertical attitude.

[0020] Beneficial effects: This application provides a cleaning method for a cleaning device, which gradually completes the planning of the cleaning path based on the cleaning detection results of the cleaning device. It can be applied to the cleaning needs of different surfaces to be cleaned, and effectively improves the cleaning effect and comprehensiveness of the cleaning device on surfaces with special shapes. Specifically, in the cleaning process of a surface with a special shape, the first position of the first preset edge, the second preset edge, and the second position of the first preset edge within the surface to be cleaned are determined to confirm the limit area of ​​the surface to be cleaned. Based on the limit area, the running path is planned to complete the cleaning of the surface to be cleaned. This effectively improves the adaptability of the cleaning equipment to surfaces with different shapes and the cleaning coverage, and can also reduce ineffective movement to improve cleaning efficiency. Attached Figure Description

[0021] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 A flowchart illustrating a cleaning method using a cleaning device according to one embodiment; Figure 2 This is a schematic diagram of the cleaning route of a cleaning device according to one embodiment; Figure 3 for Figure 2 A diagram illustrating the edge probing action of the cleaning equipment at point A. Figure 1 ; Figure 4 for Figure 2 A diagram illustrating the edge probing action of the cleaning equipment at point A. Figure 2 ; Figure 5 for Figure 2 A breakdown diagram of the cleaning equipment's operation from point B to point C; Figure 6 for Figure 2A breakdown diagram of the cleaning equipment's operation from point C to point D; Figure 7 A cleaning route for a cleaning device to move between a second type of extreme zone and a first type of extreme zone, as described in one embodiment; Figure 8 This is a schematic diagram of the cleaning route of a cleaning device according to another embodiment; Figure 9 This is a schematic diagram of the cleaning route of a cleaning device in another embodiment; Figure 10 An exploded view of the motion of the cleaning device in the embodiment as it moves from a first preset edge along a first direction; Figure 11 An exploded view of the action during the process of determining the limit point for the cleaning equipment in the embodiment. Detailed Implementation

[0023] Various embodiments of this disclosure will be described more fully below. This disclosure may have various embodiments, and adjustments and changes may be made therein. However, it should be understood that there is no intention to limit the various embodiments of this disclosure to the specific embodiments disclosed herein, but rather this disclosure should be understood to cover all adjustments, equivalents, and / or alternatives falling within the spirit and scope of the various embodiments of this disclosure.

[0024] In the following, the terms “comprising” or “may include”, which may be used in various embodiments of this disclosure, indicate the presence of the disclosed functions, operations, or elements, and do not limit the addition of one or more functions, operations, or elements. Furthermore, as used in various embodiments of this disclosure, the terms “comprising,” “having,” and their cognates are intended only to indicate a particular feature, number, step, operation, element, component, or combination of the foregoing, and should not be construed as primarily excluding the presence of one or more other features, numbers, steps, operations, elements, components, or combinations of the foregoing, or the possibility of adding one or more combinations of the foregoing.

[0025] In various embodiments of this disclosure, the expression "or" or "at least one of A and / or B" includes any combination or all combinations of the words listed simultaneously. For example, the expression "A or B" or "at least one of A and / or B" may include A, may include B, or may include both A and B.

[0026] The terms used in the various embodiments of this disclosure (such as "first," "second," etc.) may modify various components in the various embodiments, but do not limit the corresponding components. For example, the above terms do not limit the order and / or importance of the components. The above terms are only used for the purpose of distinguishing one component from others. For example, a first user device and a second user device refer to different user devices, although both are user devices. For example, a first component may be referred to as a second component without departing from the scope of the various embodiments of this disclosure, and similarly, a second component may also be referred to as a first component.

[0027] It should be noted that if a description is made of "connecting" one component to another, then the first component can be directly connected to the second component, and a third component can be "connected" between the first and second components. Conversely, when a component is "directly connected" to another component, it can be understood that there is no third component between the first and second components.

[0028] The term "user" as used in various embodiments of this disclosure may refer to a person using an electronic device or a device using an electronic device (e.g., an artificial intelligence electronic device).

[0029] The terminology used in the various embodiments of this disclosure is for the purpose of describing particular embodiments only and is not intended to limit the various embodiments of this disclosure. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Unless otherwise defined, all terms used herein (including technical and scientific terms) have the same meaning as commonly understood by one of ordinary skill in the art to which the various embodiments of this disclosure pertain. Terms (such as those defined in a generally used dictionary) are to be interpreted as having the same meaning as in the context of the relevant technical field and are not to be interpreted as having an idealized or overly formal meaning, unless clearly defined in the various embodiments of this disclosure.

[0030] Example 1 See Figures 1 to 6 As shown in the figure, this application embodiment provides a cleaning method for a cleaning device, the cleaning method including: S100, control the cleaning device to run along the first direction on the surface to be cleaned until the cleaning device runs to the first position of the first preset edge; S200, change the operating direction of the cleaning equipment so that the cleaning equipment runs in a second direction; S300, continue to change the running direction of the cleaning equipment, and control the cleaning equipment to continue running along the first direction until the cleaning equipment runs to the second position of the first preset edge, and determine that the cleaning equipment has run to the limit area of ​​the surface to be cleaned; The S400 plans the operating path of the cleaning equipment from the extreme area and completes the cleaning work on the surface to be cleaned according to the operating path.

[0031] The cleaning equipment involved in this application embodiment is used to perform cleaning operations on the surface to be cleaned. The cleaning equipment can be a cleaning machine that needs to be attached to the surface to be cleaned, such as a wall cleaner, ceiling cleaner, window cleaner, etc., or a cleaning machine that does not need to be attached to the surface to be cleaned, such as a floor cleaner, etc. Accordingly, the surface to be cleaned can be a door, tiled wall, ceiling, window surface, floor, etc., and the shape of the surface to be cleaned can be rhomboid, parallelogram, circle, or rectangle, etc.

[0032] In cleaning equipment, the shape of the body can be disc-shaped, elliptical disc-shaped, rectangular, etc. The body 100 has an outer shell, and an installation cavity is formed inside the outer shell. Other structural settings can be made in the installation cavity, such as control devices, negative pressure devices, etc., including but not limited to these.

[0033] Optionally, in some embodiments of this application, the first direction can be any direction, such as up, down, left, right, etc., while the second direction is a direction different from the first direction.

[0034] For example, the first direction can be a vertically upward direction, and the second direction can be either a horizontal leftward or a horizontal rightward direction, which can be determined based on the operating results of the cleaning equipment. In this case, the limit area mainly refers to the highest point area of ​​the surface to be cleaned. Correspondingly, the first direction can also be a downward direction, and the second direction can be either a horizontal leftward or a horizontal rightward direction. In this case, the limit area mainly refers to the lowest point area of ​​the surface to be cleaned.

[0035] Of course, there are no specific restrictions on the choice of the first direction. It can be set as needed. In this embodiment, a window cleaning machine is mainly used as the main example of the cleaning equipment, a diamond-shaped glass surface is used as the main example of the surface to be cleaned, and the upward direction is used as the first direction as the main example direction for explanation. Other directions can be set with reference.

[0036] Understandably, the cleaning method of this application embodiment first actively detects the limit area, which can quickly identify and locate the important areas of the irregular surface to be cleaned, so that the planned cleaning path can effectively fit the shape of the surface to be cleaned, which largely avoids the cleaning equipment from missing areas during the cleaning process, and significantly improves the adaptability and effective cleaning coverage of the cleaning equipment.

[0037] Furthermore, this cleaning method does not rely on pre-input, precise area shape information, possesses excellent adaptability, and enhances the intelligence and adaptability of the cleaning equipment's cleaning process. It provides a unified methodological framework for handling various unconventional surfaces to be cleaned, enhancing the universality of the cleaning equipment for different cleaning scenarios. In addition, planning the cleaning path through extreme areas can also reduce a large amount of redundant movement caused by path conflicts or frequent error corrections, helping to improve the cleaning efficiency of the cleaning equipment.

[0038] In an optional embodiment, changing the operating direction of the cleaning device to make the cleaning device run along a second direction includes: making the cleaning device run to a second preset edge.

[0039] Specifically, in some embodiments of this application, the cleaning device is controlled to move along a first direction to a first position at a first preset edge, which is the extreme point position of the cleaning device in the first direction from its initial position, such as... Figure 2 Point A in the diagram represents the first position of the first preset edge, and the edge containing point A is the first preset edge. Further control alters the operating direction of the cleaning equipment, sequentially reaching the second preset edge and the second position of the first preset edge, thus determining the limit area of ​​the cleaning equipment's movement to the surface to be cleaned. Figure 2 The edge at point B is the second preset edge, and the position at point C is the second position of the first preset edge. This enables the cleaning equipment to automatically adjust and adaptively identify the extreme areas of the surface to be cleaned, and to plan the operating path of the cleaning equipment from the extreme areas to complete the cleaning work on the surface to be cleaned, thus achieving complete wiping of the surface to be cleaned.

[0040] In an optional embodiment, the method for determining the limiting region further includes: After the cleaning equipment reaches the second position of the first preset edge, it continues to be controlled to move to the third preset edge opposite to the second preset edge, and the direction of operation of the cleaning equipment continues to be changed until the cleaning equipment reaches the third position of the first preset edge, at which point the cleaning equipment reaches the limit area.

[0041] Understandably, when determining the limit area, this method controls the cleaning device to probe three positions on the first preset edge, and makes the cleaning device probe the limit point within the range of the second and third preset edges multiple times, ensuring that the cleaning device can reach the limit position of the surface to be cleaned during operation and preventing missed cleaning.

[0042] Furthermore, when the cleaning equipment reaches the third preset edge, it also detects and determines the boundary of the surface to be cleaned, facilitating the equipment's acquisition of relevant information. In addition, the detected third preset edge information allows the system to reverse-calibrate the limit area or correct the initial position of the path planning to a more reasonable location, helping to ensure the accuracy of the reference points used for subsequent global path planning.

[0043] In an optional embodiment, the limiting region includes a first type of limiting region and a second type of limiting region; Methods for determining the limiting region also include: After the cleaning equipment reaches the first position of the first preset edge, the running direction of the cleaning equipment is changed, and the cleaning equipment is controlled to continue running along the first direction until the cleaning equipment reaches the second position of the first preset edge, thus determining that the cleaning equipment has reached the first type of limit area of ​​the surface to be cleaned; Starting from the first type of extreme area, plan the operating path of the cleaning equipment, and complete the cleaning work on the surface to be cleaned according to the operating path.

[0044] When the angle between the first preset edge and the second preset edge is an acute angle, the limit region is the first type of limit region; When the angle between the first preset edge and the second preset edge is an obtuse angle, the limit region is the second type of limit region.

[0045] like Figure 2 After the cleaning equipment reaches the first position A of the first preset edge, the running direction of the cleaning equipment is changed and the cleaning equipment is controlled to continue running along the first direction until the cleaning equipment reaches the second position C of the first preset edge. At this time, the angle between the first preset edge and the second preset edge is an acute angle. It is determined that the cleaning equipment has reached the first type of limit area of ​​the surface to be cleaned. At this time, it can be determined that the cleaning equipment has reached the highest point area of ​​the surface to be cleaned. When planning the running path of the cleaning equipment from the first type of limit area, it can be ensured that the highest point is not missed.

[0046] like Figure 7As shown, in an optional embodiment, after the cleaning device reaches a first position A on the first preset edge, the running direction of the cleaning device is changed so that the cleaning device runs along the second direction to point B on the second preset edge. The cleaning device is then controlled to continue running along the first direction until it reaches a second position C on the first preset edge. At this point, the angle between the first preset edge and the second preset edge is obtuse, indicating that the cleaning device has reached the second type of limit region of the surface to be cleaned. When the cleaning device continues to run to point D on the third preset edge opposite to the second preset edge, the running direction of the cleaning device is changed again, and the cleaning device continues to run along the first direction until it reaches a third position E on the first preset edge. At this point, the angle between the first preset edge and the third preset edge is acute, indicating that the cleaning device has reached the first type of limit region. Starting from the first type of extreme area, plan the operating path of the cleaning equipment, and complete the cleaning work on the surface to be cleaned according to the operating path.

[0047] This embodiment eliminates the possibility that the highest point of the first preset edge cannot be reached in two attempts by eliminating the possibility of the cleaning device reaching the highest position of the surface to be cleaned after three attempts, or reaching the highest position of the surface to be cleaned during the attempts. The subsequent path planning of the cleaning device can then proceed in the opposite direction to the first direction, without having to continue in the first direction, and improves the adaptability to irregular surfaces to be cleaned.

[0048] After the cleaning equipment reaches the first position of the first preset edge, its operating direction is changed, and it moves along the first direction. On the one hand, this allows the cleaning equipment to conform to the shape of the surface to be cleaned to a greater extent, reaching the highest or lowest point of the second preset edge. Changing the operating direction of the cleaning equipment can switch from a horizontal to a vertical position, or vice versa, thereby effectively improving the cleaning coverage of the surface to be cleaned. On the other hand, after the cleaning equipment changes its operating direction, it continues to move along the first direction to the second position of the first preset edge, which is essentially a repetitive or enhanced cleaning of the edge of the surface to be cleaned. This optimizes the cleaning process of the cleaning equipment and can significantly improve the cleaning effect on the surface to be cleaned.

[0049] Understandably, the extreme areas are divided into first-class extreme areas and second-class extreme areas based on the angle difference between the first preset edge and the second preset edge, and a differentiated cleaning strategy is selected. This fully considers the characteristics of different surfaces to be cleaned, so as to adapt to the usage needs of different application scenarios and achieve an effective balance between precise cleaning and efficiency improvement.

[0050] The first type of extreme area is usually narrow and deep. Adjusting the operating direction of the cleaning equipment and moving it in a small range at a specific angle can effectively cover the extreme area and directly solve the problem of cleaning dead corners on surfaces with special shapes. The second type of extreme area is usually relatively open. When it reaches the second position of the first preset edge, it can reduce the uncovered cleaning area at the corner by moving in the direction of the third preset edge. It can eliminate the coverage blind spots caused by path planning and help the cleaning equipment to transition more smoothly, reduce the adjustment and pause at the corner, and make the cleaning process of the cleaning equipment smoother.

[0051] By selecting different cleaning paths for the first and second types of extreme zones, cleaning coverage can be ensured while reducing repetitive movements and travel distances of the cleaning equipment within these zones. This shortens the overall cleaning time and improves the efficiency of the cleaning equipment, while maintaining cleaning effectiveness. Furthermore, it enhances the adaptability of the cleaning equipment, reduces wear and tear and the risk of collisions in extreme zones, and extends the equipment's lifespan.

[0052] Specifically, in the embodiments of this application, such as Figure 2 and Figure 4 As shown, after the cleaning device reaches the first position (point A) of the first preset edge, it first moves to the right (second direction) to reach the second preset edge (point B). Then, the cleaning device adjusts its posture to turn and continues to move upward (first direction) to begin the second confirmation of whether the cleaning device has reached the limit area (point C) of the surface to be cleaned.

[0053] In one optional embodiment, the cleaning device includes a first cleaning unit and a second cleaning unit; After the cleaning equipment moves to the first position of the first preset edge, it includes: The cleaning equipment is controlled to perform edge probing at the first position to obtain the edge probing results. The second direction is determined based on the results of edge probing.

[0054] Specifically, such as Figures 3 to 6 As shown.

[0055] For example, the edge probing performed by the cleaning device at the first location can acquire data using a collision sensor, an infrared sensor, or a vision sensor.

[0056] Specifically, in some embodiments of this application, edge probing is performed using two cleaning units of a cleaning device. Of course, there are no limitations on how the cleaning device obtains the edge probing results.

[0057] Understandably, the confirmation of the second direction is based on the edge probing results of the cleaning equipment, significantly improving the equipment's autonomy and environmental adaptability, and enhancing its cleaning accuracy, thereby achieving thorough and efficient boundary cleaning. Edge probing also reduces the risk of severe collisions, repeated bumps, or getting stuck in narrow corners due to blind turning and large movements at unknown edges. After obtaining the edge probing results, the cleaning equipment can acquire information about the edge's direction and further plan a better overall cleaning path, improving the rationality of path planning and effectively reducing path duplication and missed cleaning areas.

[0058] Specifically, in one optional embodiment, such as Figure 3 and Figure 4 As shown, controlling the cleaning equipment to perform edge probing at the first position includes: Control the first cleaning unit and the second cleaning unit to alternately perform edge probing at a first preset probing angle; or When one of the first cleaning unit and the second cleaning unit is blocked, the other one is controlled to make a contact probe at the first preset probe angle. The edge probing results are obtained by obtaining the edge contact status information of the first cleaning unit and the second cleaning unit respectively.

[0059] The first and second cleaning units are rotatably mounted on the machine body. Specifically, the first and second cleaning units are positioned opposite each other on the side of the machine body facing the surface to be cleaned. Optionally, the first and second cleaning units are symmetrical about the central axis of the machine body. When the cleaning machine is placed on the surface to be cleaned, the first and second cleaning units respectively contact the surface to be cleaned, and can generate friction between themselves and the surface to be cleaned through rotation, thereby driving the machine body to move on the surface to be cleaned. That is, the first and second cleaning units can simultaneously perform the functions of cleaning the surface to be cleaned and moving the machine. Preferably, the contact parts of the first and second cleaning units with the surface to be cleaned are fitted or adhered with a material with a high coefficient of friction, such as silicone or rubber, to ensure sufficient friction between the first and second cleaning units and the surface to be cleaned, thereby guaranteeing the cleaning effect.

[0060] Understandably, cleaning equipment can use different edge probing methods based on real-time conditions. Under normal circumstances, it can alternate between the first and second cleaning units to achieve maximum efficiency and information richness. In special situations, it can seamlessly switch to another strategy to ensure the continuity and flexibility of the edge probing function.

[0061] Furthermore, edge probing is achieved using the first and second cleaning units without the need for additional sensors, reducing manufacturing costs and energy consumption of the cleaning equipment. The edge probing process is equivalent to cleaning the edges of the surface to be cleaned, which helps to optimize the cleaning effect.

[0062] Specifically, the alternating exploration by the first and second cleaning units can significantly shorten the overall time required to determine the overall direction of the edge, thereby improving detection efficiency and speed. Furthermore, the alternating exploration is equivalent to sampling the same edge from two different locations, which can detect more diverse and three-dimensional environmental information, helping to more accurately determine the surface characteristics of the surface to be cleaned.

[0063] When one of the first cleaning unit and the second cleaning unit is obstructed, the other unit is controlled to make an edge probe at a first preset probe angle. This allows it to adapt to some extremely narrow or specially shaped corners, and the cleaning device can flexibly complete the edge probe, thus shortening the edge probe time.

[0064] In an optional embodiment, determining the second direction based on the edge probing results includes: like Figure 2 As shown, when the edge probing result is that both the first cleaning unit and the second cleaning unit touch the edge, the second direction is determined using the first type of strategy; like Figure 3 As shown, when the edge probing result is a contact edge in either the first cleaning unit or the second cleaning unit, the second direction is determined using the second type of strategy.

[0065] In an optional embodiment, the first type of strategy includes: The first preset direction is taken as the second direction, wherein the first direction and the first preset direction are perpendicular or approximately perpendicular.

[0066] In an optional embodiment, the second type of strategy includes: When the first cleaning unit touches the edge and the second cleaning unit does not touch the edge, the second preset direction is taken as the second direction; When the second cleaning unit touches the edge and the first cleaning unit does not touch the edge, the third preset direction is taken as the second direction; The first direction and the second preset direction are perpendicular or approximately perpendicular, and the second preset direction and the third preset direction are opposite.

[0067] Specifically, in some embodiments of this application, when the edge probing result is that both the first cleaning unit and the second cleaning unit touch the edge, the second direction is determined using a first-type strategy.

[0068] Specifically, when the edge probing results show that both the first and second cleaning units touch the edge, the tilt direction of the first preset edge cannot be determined. In this case, the cleaning equipment will operate in the direction pre-planned, i.e., the second direction will be determined using the first type of strategy. The first type of strategy can be understood as a direction preset by the system in advance.

[0069] When the edge probing result shows that only one of the first and second cleaning units touches the edge, it can be determined that the tilt direction of the surface to be cleaned can be determined based on the contact result of the first and second cleaning units at this time. For example, Figure 4 As shown, the cleaning device moves in the first direction (upwards), the second cleaning unit touches the edge, and the first cleaning unit does not touch the edge. It can be determined that the first preset edge of the surface to be cleaned is tilted to the upper right, which means that the first type of limit area is in the upper right. Therefore, the cleaning device can move directly to the right to the second edge and then move in the first direction to reach the first type of limit area.

[0070] This embodiment can determine the first type of extreme area in advance based on the identification results of the first cleaning unit and the second cleaning unit, so that the cleaning equipment can reduce one trial movement in the first direction when planning the operation path, making the operation path simpler and improving cleaning efficiency while ensuring coverage.

[0071] When the first cleaning unit and the second cleaning unit perform edge probing, they use the same probing angle.

[0072] Understandably, using different strategies to determine the movement direction of cleaning equipment based on edge probing results can effectively improve the operating efficiency of cleaning equipment and enhance the accuracy in extreme areas.

[0073] In an optional embodiment, the method further includes: After determining the limit area, starting from the second preset edge, control the cleaning equipment to gradually move backward; After retracting a preset distance, the cleaning equipment is controlled to rotate and wipe the first and second cleaning units respectively, with the first cleaning unit and the second cleaning unit as the pivot and at the second preset trial angle. The second preset probing angle is greater than the first preset probing angle.

[0074] Understandably, this method uses the second preset edge as the starting point for cleaning the limit area and gradually performs the backtracking cleaning operation. On the one hand, it achieves an effective connection between the cleaning path and the determined path of the limit area, which helps to achieve the smoothness and effectiveness of the cleaning equipment. On the other hand, controlling the gradual backtracking of the cleaning equipment is a fine-tuning process, which leaves a good operating space for the cleaning equipment to a large extent and allows the cleaning equipment to be adjusted to the operating angle suitable for the surface to be cleaned, which can largely avoid the cleaning equipment from getting stuck in a dead corner due to space constraints.

[0075] After retracting to a preset distance, the cleaning equipment rotates and wipes at a relatively large second preset probing angle, using the first and second cleaning units as pivots. On the one hand, this allows the movement trajectories of the two cleaning units to overlap and complement each other in the extreme area, minimizing the presence of fan-shaped cleaning dead corners. On the other hand, the first and second cleaning units rotate alternately, with one unit rotating as the pivot while the other unit has a higher end linear velocity, resulting in better cleaning force and thus optimizing the cleaning effect of the equipment in the extreme area.

[0076] Specifically, such as Figure 2 and Figure 5 As shown, when the cleaning device gradually moves back and down from the second preset edge to a certain extent, the second cleaning unit expands the probing angle to wipe the area below the oblique edge, and then directly turns to wipe in the opposite direction. After reaching the edge, it performs line-changing wiping and gradually wipes along the trajectory of the third preset edge, finally completing the wiping of the extreme area.

[0077] In an optional embodiment, after the cleaning device reaches a first position at a first preset edge, changing the direction of operation of the cleaning device includes: Control the cleaning equipment to move along the second direction to the second preset edge in the current posture; Alternatively, the cleaning equipment can be controlled to adjust its body posture and then move along the second direction to the second preset edge; The fuselage attitude includes horizontal attitude and vertical attitude.

[0078] Specifically, in some embodiments of this application, the body posture is determined based on the edge probing results. When the edge probing results show that both the first cleaning unit and the second cleaning unit touch the edge, the cleaning device is controlled to run along the second direction to the second preset edge in the current posture. When the edge probing results show that one of the first cleaning unit and the second cleaning unit touches the edge, the cleaning device is controlled to adjust the body posture and then run along the second direction to the second preset edge.

[0079] Understandably, when the edge probing result shows that both the first and second cleaning units touch the edge, it means that the angle between the first and second preset edges is small, and the distance between the first position of the first preset edge and the second preset edge is short. Controlling the cleaning equipment to move along the second direction to the second preset edge in the current posture, that is, the machine body directly moves laterally in the direction of the second preset edge to reach the second preset edge, can improve the movement efficiency of the cleaning equipment, reduce the extra actions and time required for the adjustment of the cleaning equipment, and maximize the cleaning continuity of the cleaning equipment.

[0080] When the edge probing result is that the first cleaning unit and the second cleaning unit touch the edge, it means that the angle between the first preset edge and the second preset edge is large, and the distance between the first position of the first preset edge and the second preset edge may be long. At this time, adjusting the posture of the cleaning device so that the cleaning device reaches the second preset edge in a twisting motion can improve the moving speed and efficiency of the cleaning device, and enable the cleaning device to better fit the second preset edge.

[0081] In an optional embodiment, planning the operating path of the cleaning equipment from the first type of limit area and completing the cleaning work on the surface to be cleaned according to the operating path includes: controlling the cleaning equipment to cover the surface to be cleaned row by row along the fourth direction; The line-by-line coverage includes: controlling the cleaning device to move along the edge of the surface to be cleaned to complete the first line coverage; after reaching the edge, controlling the cleaning device to switch lines and move in the opposite direction to complete the coverage of the adjacent lines; repeating the above process until the entire surface to be cleaned is covered, and after cleaning is completed, controlling the cleaning device to return to the preset starting point or stopping point, with the fourth direction being opposite to the first direction.

[0082] The embodiments of this application have at least the following beneficial effects: This application provides a cleaning method for a cleaning device, which gradually completes the planning of the cleaning path based on the cleaning detection results of the cleaning device. It can be applied to the cleaning needs of different surfaces to be cleaned, and effectively improves the cleaning effect and comprehensiveness of the cleaning device on surfaces with special shapes. Specifically, in the cleaning process of a surface with a special shape, the first position of the first preset edge, the second preset edge, and the second position of the first preset edge within the surface to be cleaned are determined to confirm the limit area of ​​the surface to be cleaned. Based on the limit area, the running path is planned to complete the cleaning of the surface to be cleaned. This effectively improves the adaptability of the cleaning equipment to surfaces with different shapes and the cleaning coverage, and can also reduce ineffective movement to improve cleaning efficiency.

[0083] Example 2 See Figure 1 As shown in the figure, this application embodiment provides a cleaning method for a cleaning device, the cleaning method including: S100, control the cleaning device to run along the first direction on the surface to be cleaned until the cleaning device runs to the first position of the first preset edge; S200, change the operating direction of the cleaning equipment so that the cleaning equipment runs in a second direction; S300, continue to change the running direction of the cleaning equipment, and control the cleaning equipment to continue running along the first direction until the cleaning equipment runs to the second position of the first preset edge, and determine that the cleaning equipment has run to the limit area of ​​the surface to be cleaned; The S400 plans the operating path of the cleaning equipment from the extreme area and completes the cleaning work on the surface to be cleaned according to the operating path.

[0084] The cleaning equipment includes a first cleaning unit and a second cleaning unit; When the cleaning equipment moves to the first position of the first preset edge, the tilt information of the first preset edge is determined according to the body posture, and the second direction is determined according to the tilt information.

[0085] Specifically, in an optional embodiment, refer to Figure 8 As shown, the surface to be cleaned is circular. The cleaning device is controlled to move along the first direction to the first position of the first preset edge, as shown. Figure 8 Point A in the diagram represents the first position of the first preset edge, and the edge containing point A is the first preset edge. The tilt information of the first preset edge is determined by the posture of the cleaning device conforming to it. This tilt information is used to determine the direction of the first preset edge. Using the direction of the first preset edge as the second direction, the cleaning device is controlled to move gradually along the first preset edge. If a continuous change in the posture of the cleaning device is detected, the tilt information of the first preset edge is continuously acquired during the movement, and the trajectory shape of the second direction is determined based on this continuously acquired tilt information. If the trajectory shape of the second direction shows a changing trend, such as rising first and then falling, or falling first and then rising, a turning point is set on the first preset edge based on the tilt information. Figure 8 The turning point shown is point B. After reaching the turning point, the cleaning equipment moves towards the first position of the first preset edge, continuing to change its operating direction and moving along the first direction until it reaches the second position of the first preset edge. Figure 8 At the second position C of the first preset edge shown, the limit area of ​​the cleaning equipment to be cleaned is determined; and after determining the limit area, the equipment gradually changes lines from the limit area as the starting point to complete the cleaning work on the surface to be cleaned.

[0086] More specifically, the turning point can be set at a first position relative to the first preset edge, such as a point at the same horizontal level as the first position of the first preset edge. Of course, there are no restrictions on the specific location of the turning point.

[0087] Specifically, in an optional embodiment, refer to Figure 9 As shown, the cleaning device is controlled to move along a first direction to a first position at a first preset edge, as... Figure 9 Point A in the diagram represents the first position of the first preset edge, and the edge containing point A is the first preset edge. The tilt information of the first preset edge is determined based on the posture of the cleaning device. This tilt information is used to determine the direction of the first preset edge. The cleaning device is controlled to move gradually along the first preset edge until it reaches the second preset edge, using the direction of the first preset edge as the second direction. In this case, the trajectory of the second direction exhibits a stable trend, i.e., maintaining an upward or downward trend. Figure 9 The edge where point B is shown is the second preset edge. Continue to change the running direction of the cleaning equipment and control the cleaning equipment to continue running along the first direction until the cleaning equipment runs to the second position of the first preset edge. Figure 9 Position C is the second position of the first preset edge, at which point the limit area of ​​the surface to be cleaned by the cleaning equipment is determined. This enables automatic adjustment and adaptive recognition of the limit area of ​​the surface to be cleaned by the cleaning equipment, and plans the operating path of the cleaning equipment from the limit area to complete the cleaning work on the surface, achieving complete wiping of the surface. After determining the limit area, starting from the limit area, the equipment gradually changes direction to complete the cleaning work on the surface. The specific operational breakdown process of the cleaning equipment can be referred to in other embodiments.

[0088] Optionally, in some embodiments of this application, the cleaning device is controlled to drive the first cleaning unit and the second cleaning unit to respectively touch the first preset edge. After both the first cleaning unit and the second cleaning unit have touched the first preset edge, the tilt information of the first preset edge is determined based on the posture of the cleaning device. The cleaning process is completed by gradually changing lines to finish cleaning the surface. The changing angle of the cleaning device is determined in real time based on the tilt information of the edge; for example, the changing angle when changing lines at the first preset edge is determined based on the tilt information of the first preset edge, and the changing angle when changing lines at the second preset edge is determined based on the tilt information of the second preset edge.

[0089] For reference Figure 10As shown; when the inclination of the first preset edge is greater than the preset inclination value, the direction of the first preset edge is taken as the second direction, so that the cleaning device moves gradually along the first preset edge until it reaches the second preset edge. The cleaning device alternately controls the rotation of the other of the first and second cleaning units with the axis of rotation of one of the first and second cleaning units as the axis of rotation. During the rotation of the first and second cleaning units, the rotation angle is dynamically determined according to the posture of the cleaning device.

[0090] When the tilt of the first preset edge is not greater than the preset tilt value, the cleaning device alternately controls the rotation of the other of the first and second cleaning units around the axis of rotation of one of the first and second cleaning units, thereby driving the other of the first and second cleaning units to rotate by a preset angle, so as to realize the movement of the cleaning device to fit the first preset edge. The preset angle of rotation of the first and second cleaning units is 180 degrees.

[0091] At the second preset edge, such as Figure 11 As shown, the cleaning equipment body is adjusted to a horizontal state, and the cleaning equipment controls the first cleaning unit and the second cleaning unit to alternately probe and determine the limit point.

[0092] like Figure 9 As shown, after determining the limit point, the cleaning equipment is adjusted to a vertical position, and then moved in the second direction to touch the second preset edge, as shown. Figure 9 At point B, the slope information of the second preset edge is obtained, and the line break slope at the second preset edge is determined using the slope information of the second preset edge; the cleaning device is controlled to adjust to a vertical position, so that the cleaning device moves in the direction of the first preset edge, as shown. Figure 9 The device moves to the left to point C, defines the limit area, and controls the movement of the cleaning equipment. Each time the equipment moves, the slope of the border is calculated by swinging the cleaning equipment, and the slope of the move is adjusted in real time to gradually complete the cleaning of the surface to be cleaned.

[0093] The definitions, methods, specific contents, and technical effects of the same or corresponding technical features as those in Embodiment 1 will not be repeated here.

[0094] Those skilled in the art will understand that the accompanying drawings are merely schematic diagrams of a preferred embodiment, and the modules or processes shown in the drawings are not necessarily essential for implementing this application.

[0095] Those skilled in the art will understand that the modules in the apparatus of the implementation scenario can be distributed within the apparatus of the implementation scenario as described, or they can be located in one or more apparatuses different from this implementation scenario, with corresponding changes. The modules of the above-described implementation scenario can be combined into one module, or they can be further divided into multiple sub-modules.

[0096] The serial numbers in this application are for descriptive purposes only and do not represent the superiority or inferiority of the implementation scenario.

[0097] The above disclosures are only a few specific implementation scenarios of this application. However, this application is not limited to these. Any variations that can be conceived by those skilled in the art should fall within the protection scope of this application.

Claims

1. A cleaning method for cleaning equipment, characterized in that, The cleaning method includes: Control the cleaning device to run along a first direction on the surface to be cleaned until the cleaning device runs to a first position at a first preset edge; Change the operating direction of the cleaning equipment so that the cleaning equipment runs along the second direction; Continue to change the running direction of the cleaning equipment, and control the cleaning equipment to continue running along the first direction until the cleaning equipment runs to the second position of the first preset edge, and determine that the cleaning equipment has run to the limit area of ​​the surface to be cleaned; From the extreme area, plan the operating path of the cleaning equipment, and complete the cleaning work on the surface to be cleaned according to the operating path.

2. The cleaning method according to claim 1, characterized in that, Changing the operating direction of the cleaning device so that the cleaning device runs along the second direction includes: causing the cleaning device to run to the second preset edge.

3. The cleaning method according to claim 1, characterized in that, When the cleaning device moves to a first position on a first preset edge, it determines the tilt information of the first preset edge based on the body posture, and determines the second direction based on the tilt information.

4. The cleaning method according to claim 2, characterized in that, The method for determining the limiting region further includes: After the cleaning device reaches the second position of the first preset edge, it continues to be controlled to run to the third preset edge opposite to the second preset edge, and the running direction of the cleaning device continues to be changed until the cleaning device reaches the third position of the first preset edge, at which point the cleaning device reaches the limit area.

5. The cleaning method for the cleaning equipment according to claim 4, characterized in that, The extreme regions include first-type extreme regions and second-type extreme regions; The method for determining the limiting region further includes: After the cleaning device reaches the first position of the first preset edge, the running direction of the cleaning device is changed, and the cleaning device is controlled to continue running along the first direction until the cleaning device reaches the second position of the first preset edge, thus determining that the cleaning device has reached the first type of limit area of ​​the surface to be cleaned; Starting from the first type of extreme area, the operating path of the cleaning equipment is planned, and the cleaning work on the surface to be cleaned is completed according to the operating path.

6. The cleaning method for the cleaning equipment according to claim 4, characterized in that, After the cleaning device reaches the first position of the first preset edge, the running direction of the cleaning device is changed, and the cleaning device is controlled to continue running along the first direction until the cleaning device reaches the second position of the first preset edge, and the cleaning device is determined to have reached the second type of limit area of ​​the surface to be cleaned; When the cleaning device continues to operate to the third preset edge opposite to the second preset edge, the operating direction of the cleaning device continues to be changed, and the cleaning device continues to operate along the first direction until the cleaning device reaches the third position of the first preset edge, at which point the cleaning device reaches the first type of limit area; Starting from the first type of extreme area, the operating path of the cleaning equipment is planned, and the cleaning work on the surface to be cleaned is completed according to the operating path.

7. The cleaning method for the cleaning equipment according to claim 5 or 6, characterized in that, When the angle between the first preset edge and the second preset edge is an acute angle, the limiting region is a first type of limiting region; When the angle between the first preset edge and the second preset edge is an obtuse angle, the limiting region is a second type of limiting region.

8. The cleaning method for the cleaning equipment according to claim 1, characterized in that, The cleaning equipment includes a first cleaning unit and a second cleaning unit; After the cleaning device moves to a first position at the first preset edge, it includes: The cleaning device is controlled to perform edge probing at the first position to obtain the edge probing result; The second direction is determined based on the edge probing results.

9. The cleaning method for the cleaning equipment according to claim 8, characterized in that, The control of the cleaning device to perform edge probing at the first position includes: Control the first cleaning unit and the second cleaning unit to alternately perform edge probing at a first preset probing angle; or When one of the first cleaning unit and the second cleaning unit is blocked, the other one is controlled to make a contact probe at a first preset probe angle. The edge probing results are obtained by obtaining the edge contact status information of the first cleaning unit and the second cleaning unit respectively.

10. The cleaning method for the cleaning equipment according to claim 9, characterized in that, Determining the second direction based on the edge probing results includes: When the edge probing result is that both the first cleaning unit and the second cleaning unit touch the edge, the second direction is determined using the first type of strategy; When the edge probing result is a contact edge in either the first cleaning unit or the second cleaning unit, the second direction is determined using the second type of strategy.

11. The cleaning method for the cleaning equipment according to claim 10, characterized in that, The first type of strategy includes: The second direction is defined by a first preset direction, wherein the first direction is perpendicular or approximately perpendicular to the first preset direction.

12. The cleaning method for the cleaning equipment according to claim 10, characterized in that, The second type of strategy includes: When the first cleaning unit touches the edge and the second cleaning unit does not touch the edge, the second preset direction is taken as the second direction; When the second cleaning unit touches the edge and the first cleaning unit does not touch the edge, the third preset direction is taken as the second direction; The first direction is perpendicular or approximately perpendicular to the second preset direction, and the second preset direction is opposite to the third preset direction.

13. The cleaning method for the cleaning equipment according to claim 10, characterized in that, The method further includes: After determining the extreme area, starting from the second preset edge, control the cleaning equipment to gradually move backward; After retracting a preset distance, the cleaning device is controlled to rotate and wipe the first cleaning unit and the second cleaning unit respectively, with the first cleaning unit and the second cleaning unit as the pivot and at the second preset trial angle. The second preset probing angle is greater than the first preset probing angle.

14. The cleaning method for the cleaning equipment according to claim 1, characterized in that, After the cleaning equipment reaches a first position at the first preset edge, changing the direction of operation of the cleaning equipment includes: Control the cleaning device to move along the second direction to the second preset edge in the current posture; Alternatively, the cleaning equipment can be controlled to adjust its body posture and then move along the second direction to the second preset edge; The fuselage attitude includes a horizontal attitude and a vertical attitude.

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