Stair nosing cleaning method, apparatus, device, and storage medium

Abstract

Embodiments of the present application provide a stair kick surface cleaning method, device, equipment and storage medium, which are applied to a cleaning device, the cleaning device comprising a device main body, a walking assembly and a facade cleaning element; the walking assembly is connected with the device main body; the walking assembly is used to drive the device main body to move; the facade cleaning element is arranged on the device main body; the method comprises: in response to a kick surface cleaning instruction, controlling the device main body and / or the facade cleaning element to move, so that the facade cleaning element is close to the stair kick surface; in response to the facade cleaning element contacting the stair kick surface, controlling the device main body and / or the facade cleaning element to move relative to the stair kick surface, so that the facade cleaning element cleans the stair kick surface. By using the method provided in the present application, the facade cleaning element can be arranged separately in the cleaning device. By using the same cleaning device, all aspects of different scenes such as home scenes, office scenes and public scenes can be cleaned. By using the present application, the cleaning effect is greatly improved, and the cleaning blind area is effectively eliminated.

Description

Technical Field

[0001] This application relates to the field of smart home technology, and in particular to a method, apparatus, device and storage medium for cleaning stair risers. Background Technology

[0002] With the continuous development of smart home technology, cleaning equipment has been widely used for floor cleaning in ordinary homes and offices. Currently, most mainstream cleaning equipment on the market can only move and operate on a single plane (such as the floor), limiting its applicability to flat surfaces. However, with the increasing number of duplexes, villas, and various public buildings with staircases, the cleaning needs of staircases, as key passageways connecting different floors, are becoming increasingly prominent. How to enable cleaning equipment to autonomously traverse staircases, move stably on staircases, and perform effective cleaning has become a crucial technical challenge that urgently needs to be solved in this field.

[0003] In recent years, some studies have attempted to develop cleaning equipment that can climb stairs. However, such equipment only cleans the stair treads, easily creating cleaning blind spots in other areas of the staircase. Summary of the Invention

[0004] This application provides a method, apparatus, device, and storage medium for cleaning stair risers, in order to reduce blind spots in cleaning.

[0005] In a first aspect, embodiments of this application provide a method for cleaning staircase skirts, applied to a cleaning device, the cleaning device comprising a device body, a walking component, and a vertical cleaning component; the walking component is connected to the device body; the walking component is used to drive the device body to move; the vertical cleaning component is disposed on the device body; The method includes: In response to a kick-up cleaning command, control the movement of the main body of the equipment and / or the facade cleaning component to bring the facade cleaning component closer to the stair kick-up; In response to the facade cleaning component contacting the stair riser, the device body and / or the facade cleaning component are controlled to move relative to the stair riser so that the facade cleaning component cleans the stair riser.

[0006] Optionally, controlling the movement of the device body and / or the facade cleaning component to bring the facade cleaning component closer to the stair riser includes: Determine the starting position for cleaning the stair risers based on their geometric parameters; Control the movement of the main body of the equipment and / or the facade cleaning component to move the facade cleaning component to the starting position of the facade cleaning.

[0007] Optionally, controlling the movement of the device body and / or the facade cleaning component relative to the stair riser to clean the stair riser includes: Based on the geometric parameters of the stair riser, determine the cleaning path of the facade cleaning component on the stair riser; Control the movement of the main body of the equipment and / or the facade cleaning component so that the facade cleaning component moves along the cleaning path.

[0008] Optionally, the cleaning path includes at least one first path and at least one second path, wherein the first path and the second path are not parallel.

[0009] Optionally, the first path is parallel to the stair tread, and the second path is perpendicular to the stair tread.

[0010] Optionally, controlling the movement of the equipment body and / or the facade cleaning component to cause the facade cleaning component to move along the cleaning path includes: Starting from the initial position of the riser cleaning, control the vertical cleaning component to move horizontally to the other end of the stair riser while adhering to it; The walking component is controlled to perform bending and straightening movements to support the main body of the equipment and drive the facade cleaning component to move vertically a preset distance; The process then proceeds to the step of controlling the vertical cleaning component to move horizontally to the other end of the staircase, starting from the initial position of the cleaning operation, until the cleaning operation covers the staircase.

[0011] Optionally, controlling the walking component to perform bending and straightening movements to support the main body of the device in vertically moving the facade cleaning component a preset distance includes: Adjust the extension degree of the walking component to support the main body of the device in moving the facade cleaning component vertically upward a preset distance; and / or, Adjust the degree of convergence of the walking component to support the main body of the device in moving the facade cleaning component vertically downward a preset distance.

[0012] Optionally, the preset distance is less than or equal to the vertical coverage height of the facade cleaning component.

[0013] Optionally, the walking assembly includes a first joint, a first link, a second joint, and a second link; the first link is rotatably connected to the device body via the first joint; the second link is rotatably connected to the first link via the second joint. The control of the walking component to perform bending and straightening movements to support the main body of the equipment in moving the facade cleaning component vertically a preset distance includes: Determine the current rotation angles of the first joint and the second joint; Obtain the current height of the main body of the device; Based on the preset distance, the current height of the device body, and the current rotation angle, the desired rotation angles of the first joint and the second joint are determined respectively. The first joint and the second joint are respectively controlled to adjust to their respective desired rotation angles.

[0014] Optionally, the cleaning device includes a first walking component and a second walking component; the first walking component is supported on a first stair tread, and the second walking component is supported on a second stair tread; the second stair tread is the tread of the next step of the first stair tread. The control of the walking component to perform bending and straightening movements to support the main body of the equipment in moving the facade cleaning component vertically a preset distance includes: When the second walking component performs a bending and stretching action to a preset maximum stretching degree, the facade cleaning component is raised to the height difference between itself and the first stair tread. When it is determined that the height difference is greater than or equal to the height of the stair riser, the walking component is controlled to perform a bending and extending action to support the main body of the equipment and drive the facade cleaning component to move vertically a preset distance.

[0015] Optionally, controlling the walking component to perform bending and straightening movements to support the main body of the device in driving the facade cleaning component to move vertically a preset distance further includes: When it is determined that the height difference is less than the height of the stair riser, the second walking component is controlled to move and support itself on the first stair tread. After the second walking component is supported on the first stair tread, the walking component is controlled to perform bending and stretching movements to support the main body of the equipment and drive the facade cleaning component to move vertically a preset distance.

[0016] Optionally, the cleaning equipment is further equipped with a floor cleaning component; the method further includes: While cleaning the stair risers, the floor cleaning unit is controlled to simultaneously clean the stair treads; or... After cleaning the stair risers, the floor cleaning unit is controlled to perform stair tread cleaning at least once.

[0017] Optionally, the stair riser includes a central region and an edge region located at the end of the central region. Controlling the movement of the device body and / or the facade cleaning component relative to the stair riser to clean the stair riser includes: The device body is controlled to move, and the position of the facade cleaning component relative to the device body is kept fixed during the movement of the device body, so as to clean the middle area; The facade cleaning component is controlled to move relative to the main body of the equipment to clean the edge area.

[0018] Optionally, the cleaning equipment further includes a vertical dust suction port and a dust collection assembly; the vertical dust suction port and the dust collection assembly are connected. When the facade cleaning component cleans the stair riser, the method further includes: Dust generated during the cleaning process is drawn into the dust collection component through the dust suction port on the facade.

[0019] Optionally, the cleaning equipment further includes a sensor assembly for detecting the contact pressure between the facade cleaning component and the stair riser; The control of the movement of the equipment body and / or the facade cleaning component to bring the facade cleaning component closer to the stair riser includes: Control the movement of the main body of the device and / or the facade cleaning component until the sensor assembly detects that the contact pressure between the facade cleaning component and the stair riser is a preset pressure value, then stop moving closer.

[0020] Optionally, controlling the movement of the device body and / or the facade cleaning component until the sensor assembly detects that the contact pressure between the facade cleaning component and the stair riser is a preset pressure value and then stops the approach, includes: Detect the material properties of the stair riser; Determine the preset pressure value corresponding to the material properties; Control the movement of the main body of the device and / or the facade cleaning component until the sensor assembly detects that the contact pressure between the facade cleaning component and the stair riser is a determined preset pressure value, then stop moving closer.

[0021] Optionally, the material property is any one or more of ceramic tile, wood, and carpet; Determining the preset pressure value corresponding to the material properties includes: The preset pressure value corresponding to the tile is determined to be a first value; and / or, The preset pressure value corresponding to the wood is determined to be a second value; and / or, The preset pressure value corresponding to the blanket is determined to be a third value; Wherein, the first value is greater than the second value, and the second value is greater than the third value.

[0022] Secondly, embodiments of this application provide a staircase skirt cleaning device, which is disposed in a cleaning equipment. The cleaning equipment includes a main body, a walking component, and a vertical cleaning component. The walking component is connected to the main body. The walking component is used to drive the main body to move. The vertical cleaning component is disposed in the main body. The device includes: The first control module is used to control the movement of the main body of the equipment and / or the facade cleaning component in response to the riser cleaning command, so that the facade cleaning component moves closer to the stair riser; The second control module is used to control the main body of the equipment and / or the facade cleaning component to move relative to the stair riser in response to the facade cleaning component contacting the stair riser, so as to clean the stair riser.

[0023] Optionally, the first control module is configured to: Determine the starting position for cleaning the stair risers based on their geometric parameters; Control the movement of the main body of the equipment and / or the facade cleaning component to move the facade cleaning component to the starting position of the facade cleaning.

[0024] Optionally, the second control module is used for: Based on the geometric parameters of the stair riser, determine the cleaning path of the facade cleaning component on the stair riser; Control the movement of the main body of the equipment and / or the facade cleaning component so that the facade cleaning component moves along the cleaning path.

[0025] Optionally, the cleaning path includes at least one first path and at least one second path, wherein the first path and the second path are not parallel.

[0026] Optionally, the first path is parallel to the stair tread, and the second path is perpendicular to the stair tread.

[0027] Optionally, the second control module is used for: Starting from the initial position of the riser cleaning, control the vertical cleaning component to move horizontally to the other end of the stair riser while adhering to it; The walking component is controlled to perform bending and straightening movements to support the main body of the equipment and drive the facade cleaning component to move vertically a preset distance; The process then proceeds to the step of controlling the vertical cleaning component to move horizontally to the other end of the staircase, starting from the initial position of the cleaning operation, until the cleaning operation covers the staircase.

[0028] Optionally, the second control module is used for: Adjust the extension degree of the walking component to support the main body of the device in moving the facade cleaning component vertically upward a preset distance; and / or, Adjust the degree of convergence of the walking component to support the main body of the device in moving the facade cleaning component vertically downward a preset distance.

[0029] Optionally, the preset distance is less than or equal to the vertical coverage height of the facade cleaning component.

[0030] Optionally, the walking assembly includes a first joint, a first link, a second joint, and a second link; the first link is rotatably connected to the device body via the first joint; the second link is rotatably connected to the first link via the second joint. The second control module is used for: Determine the current rotation angles of the first joint and the second joint; Obtain the current height of the main body of the device; Based on the preset distance, the current height of the device body, and the current rotation angle, the desired rotation angles of the first joint and the second joint are determined respectively. The first joint and the second joint are respectively controlled to adjust to their respective desired rotation angles.

[0031] Optionally, the cleaning device includes a first walking component and a second walking component; the first walking component is supported on a first stair tread, and the second walking component is supported on a second stair tread; the second stair tread is the tread of the next step of the first stair tread. The second control module is used for: When the second walking component performs a bending and stretching action to a preset maximum stretching degree, the facade cleaning component is raised to the height difference between itself and the first stair tread. When it is determined that the height difference is greater than or equal to the height of the stair riser, the walking component is controlled to perform a bending and extending action to support the main body of the equipment and drive the facade cleaning component to move vertically a preset distance.

[0032] Optionally, the second control module is further configured to: When it is determined that the height difference is less than the height of the stair riser, the second walking component is controlled to move and support itself on the first stair tread. After the second walking component is supported on the first stair tread, the walking component is controlled to perform bending and stretching movements to support the main body of the equipment and drive the facade cleaning component to move vertically a preset distance.

[0033] Optionally, the cleaning equipment is further equipped with a floor cleaning component; the second control module is further configured to: While cleaning the stair risers, the floor cleaning unit is controlled to simultaneously clean the stair treads; or... After cleaning the stair risers, the floor cleaning unit is controlled to perform stair tread cleaning at least once.

[0034] Optionally, the stair riser includes a central area and an edge area located at the end of the central area, and the second control module is used for: The device body is controlled to move, and the position of the facade cleaning component relative to the device body is kept fixed during the movement of the device body, so as to clean the middle area; The facade cleaning component is controlled to move relative to the main body of the equipment to clean the edge area.

[0035] Optionally, the cleaning equipment further includes a vertical dust suction port and a dust collection assembly; the vertical dust suction port and the dust collection assembly are connected. The second control module is also used for: Dust generated during the cleaning process is drawn into the dust collection component through the dust suction port on the facade.

[0036] Optionally, the cleaning equipment further includes a sensor assembly for detecting the contact pressure between the facade cleaning component and the stair riser; The first control module is further configured to: Control the movement of the main body of the device and / or the facade cleaning component until the sensor assembly detects that the contact pressure between the facade cleaning component and the stair riser is a preset pressure value, then stop moving closer.

[0037] Optionally, the first control module is configured to: Detect the material properties of the stair riser; Determine the preset pressure value corresponding to the material properties; Control the movement of the main body of the device and / or the facade cleaning component until the sensor assembly detects that the contact pressure between the facade cleaning component and the stair riser is a determined preset pressure value, then stop moving closer.

[0038] Optionally, the material property is any one or more of ceramic tile, wood, and carpet; The first control module is used for: The preset pressure value corresponding to the tile is determined to be a first value; and / or, The preset pressure value corresponding to the wood is determined to be a second value; and / or, The preset pressure value corresponding to the blanket is determined to be a third value; Wherein, the first value is greater than the second value, and the second value is greater than the third value.

[0039] Thirdly, embodiments of this application provide an electronic device, including a processor and a memory, wherein the memory stores executable code, and when the executable code is executed by the processor, the processor can at least implement the staircase kickboard cleaning method of the first aspect.

[0040] Fourthly, embodiments of this application provide a non-transitory machine-readable storage medium storing executable code, which, when executed by a processor of an electronic device, enables the processor to at least implement the staircase skirt cleaning method of the first aspect.

[0041] The method provided in this application allows for the separate installation of a facade cleaning component within a cleaning device. By controlling the movement of the device body and / or the facade cleaning component, the component can be positioned close to the stair risers, thus achieving a close fit. The movement of the device body and / or the component then enables effective cleaning of the stair risers. This method eliminates the need for manual cleaning of stair treads during routine cleaning, allowing for comprehensive cleaning of various scenarios such as homes, offices, and public spaces using a single cleaning device. This application significantly improves cleaning effectiveness and effectively eliminates blind spots in cleaning. Attached Figure Description

[0042] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0043] Figure 1 This is a schematic diagram of the structure of a cleaning device provided in an embodiment of this application; Figure 2 A schematic diagram illustrating the placement of a brush according to an embodiment of this application; Figure 3 A schematic flowchart illustrating a method for cleaning stair skirts provided in an embodiment of this application; Figure 4 This is a schematic diagram of another cleaning device provided in an embodiment of this application; Figure 5 A schematic flowchart illustrating another method for cleaning stair skirts provided in this application embodiment; Figure 6 A schematic diagram of a cleaning path provided in an embodiment of this application; Figure 7 This is a schematic diagram of a staircase skirt cleaning device provided in an embodiment of this application; Figure 8 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0044] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0045] The terminology used in the embodiments of this application is for the purpose of describing particular embodiments only and is not intended to limit the application. The singular forms “a,” “said,” and “the” used in the embodiments of this application and the appended claims are also intended to include the plural forms, and “multiple” generally includes at least two unless the context clearly indicates otherwise.

[0046] Depending on the context, the words “if” or “suppose” as used here can be interpreted as “when” or “in response to determination” or “in response to detection.” Similarly, depending on the context, the phrases “if determination” or “if detection (of the stated condition or event)” can be interpreted as “when determination” or “in response to determination” or “when detection (of the stated condition or event)” or “in response to detection (of the stated condition or event).”

[0047] Furthermore, the timing of the steps in the following method embodiments is merely an example and not a strict limitation.

[0048] This application provides a method for cleaning staircase skirts, which can be applied to cleaning equipment. For example... Figure 1As shown, the cleaning device 10 may include a main body 110, a walking assembly 120, and a facade cleaning component 130. The walking assembly 120 is connected to the main body 110. The walking assembly 120 can drive the main body 110 to move. The walking assembly 120 can be configured in two forms: a retracted state, where the walking assembly 120 is retracted to the bottom of the main body 110; and an extended state, where the main body 110 can be lifted off the ground to a certain height depending on the degree of bending or extension of the walking assembly 120 in the extended state. The walking assembly 120 can perform walking and climbing actions to assist the cleaning device 10 in climbing stairs. Furthermore, the facade cleaning component 130 is located on the main body 110. Figure 2 As shown, a brush can be installed at the end of the facade cleaning component 130. When in operation, the brush can be perpendicular to the plane formed by the x-axis and y-axis in the coordinate system of the cleaning device 10. This arrangement allows the facade cleaning component 130 to better conform to building components such as stair risers perpendicular to the stair treads or skirting boards perpendicular to the ground.

[0049] Figure 3 A flowchart of a method for cleaning stair skirts provided in this application embodiment is shown below. Figure 3 As shown, the method includes the following steps: 301. In response to a riser cleaning command, control the movement of the equipment body 110 and / or the facade cleaning component 130 so that the facade cleaning component 130 approaches the stair riser.

[0050] In practical applications, the kickboard cleaning command can be generated when the cleaning device 10 detects that it has moved near the stairs and automatically triggers the cleaning task, or it can be triggered by the user through voice commands, specific buttons on the cleaning device 10, or corresponding control programs in the terminal.

[0051] When a kick surface cleaning command is detected, in response to the command, the main body 110 of the equipment can be moved independently, the facade cleaning component 130 can be moved independently, or the main body 110 of the equipment and the facade cleaning component 130 can be moved together to allow the facade cleaning component 130 to approach the stair kick surface.

[0052] It should be noted that when the cleaning device 10 performs cleaning tasks on stairs, the narrowness of typical stair treads makes it difficult for the cleaning device 10 to make large-angle directional adjustments, thus hindering its ability to turn around. However, when the cleaning device 10 is on the stair tread, it can make small-angle adjustments to align its front end with the length of the tread, allowing for lateral cleaning by moving forward or backward. Similarly, when cleaning the stair risers, the cleaning device 10 can adopt the same posture as when cleaning the stair treads. This necessitates that the cleaning device 10 be positioned sideways to clean the stair risers.

[0053] As can be seen from the above description, if the vertical cleaning component 130 is brought closer to the stair riser by controlling the movement of the main body 110, the main body 110 can be moved to the side to approach the stair riser. If the vertical cleaning component 130 is brought closer to the stair riser by controlling its movement, the vertical cleaning component 130 needs to be connected to an expansion mechanism. The expansion mechanism moves the vertical cleaning component 130 closer to the stair riser by expanding outward from the side of the cleaning device 10. If both methods are combined to bring the vertical cleaning component 130 closer to the stair riser, the main body 110 and the vertical cleaning component 130 can move simultaneously.

[0054] To ensure that the cleaning operation on the stair risers covers as much of the surface as possible and avoids leaving blind spots, a suitable cleaning path can be established. By ensuring that the cleaning path covers as much of the stair risers as possible, blind spots can be effectively reduced. Before starting cleaning on the facade cleaning unit 130, it is advisable to first move to the planned starting position for riser cleaning and then proceed with the cleaning operation systematically along the cleaning path from that starting position.

[0055] Optionally, the process of controlling the movement of the main body 110 of the equipment and / or the facade cleaning component 130 so that the facade cleaning component 130 approaches the stair riser can be achieved by: determining the starting position of the riser cleaning according to the geometric parameters of the stair riser; controlling the movement of the main body 110 of the equipment and / or the facade cleaning component 130 so that the facade cleaning component 130 moves to the starting position of the riser cleaning.

[0056] The geometric parameters of the stair riser can include its length, height, and position coordinates. Based on these parameters, the position coordinates of the top-left, bottom-left, top-right, and bottom-right corners of the stair riser can be determined. Any one of these coordinates can be used as the starting point for cleaning the riser. This method allows selecting any one of the four corners of the riser as the starting point for cleaning. It should also be noted that, due to the limited surface area of ​​the brush of the vertical cleaning component 130, or limitations in the device's structure, the vertical cleaning component 130 may not perfectly fit the top corner of the stair riser. In practice, the vertical cleaning component 130 should be fitted as close as possible to the top corner of the stair riser.

[0057] By controlling the movement of the main body 110 of the equipment and / or the facade cleaning component 130, the facade cleaning component 130 can be brought closer to the stair riser, specifically to the determined starting position for facade cleaning, in preparation for subsequent cleaning operations.

[0058] 302. In response to the facade cleaning component 130 contacting the stair riser, control the main body 110 and / or the facade cleaning component 130 to move relative to the stair riser so that the facade cleaning component 130 cleans the stair riser.

[0059] After the control device body 110 and / or the facade cleaning component 130 move to the starting position for cleaning the staircase riser, an event can be triggered whereby the facade cleaning component 130 contacts the staircase riser. This allows the control device body 110 and / or the facade cleaning component 130 to move relative to the staircase riser, enabling the facade cleaning component 130 to clean the staircase riser. Specifically, starting from the risingr cleaning starting position, the facade cleaning component 130 can perform orderly cleaning operations on the staircase riser along a planned cleaning path.

[0060] Optionally, controlling the movement of the main body 110 and / or the facade cleaning component 130 relative to the stair riser so that the facade cleaning component 130 cleans the stair riser can be achieved by: determining the cleaning path of the facade cleaning component 130 on the stair riser based on the geometric parameters of the stair riser; controlling the movement of the main body 110 and / or the facade cleaning component 130 so that the facade cleaning component 130 moves along the cleaning path.

[0061] In practical applications, the cleaning path of the vertical cleaning component 130 on the stair riser can be planned based on its length, height, and location coordinates. It should be noted that if the stair riser to be cleaned is significantly taller than the brush height of the vertical cleaning component 130, then one or more horizontal movements will not be sufficient to completely clean the entire riser. For example, if the riser height is 20cm and the brush height is 5cm, then one horizontal movement of the vertical cleaning component 130 will only cover 25% of the riser's height.

[0062] like Figure 4 As shown, the cleaning device 10 includes a walking component 120. The height of the main body 110 can be freely adjusted by the bending and straightening of the walking component 120, thereby driving the vertical cleaning component 130 to move vertically. Based on this, supported by the walking component 120, the vertical cleaning component 130 can be raised a preset distance each time. By repeatedly raising it and then moving it horizontally after each raise, the entire stair riser surface can be thoroughly cleaned. For example, continuing from the previous example, the vertical cleaning component 130 can move 5cm vertically each time. Through three vertical movements, the vertical cleaning component 130 can clean different heights of the stair riser surface.

[0063] Based on the above analysis, it can be seen that, optionally, the cleaning path may include at least one first path and at least one second path, wherein the first path and the second path are not parallel. The first path is parallel to the stair treads, and the second path is perpendicular to the stair treads.

[0064] It should be noted that moving along the first path can be considered as a translation of the facade cleaning component 130. Moving along the second path can be considered as a vertical movement of the facade cleaning component 130. In planning the cleaning path, it can be designed as an "arch" shape formed by the first and second paths.

[0065] Optionally, such as Figure 5 As shown, the cleaning process of the facade cleaning component 130 in a "bow" shape can be achieved as follows: 501. Starting from the initial position of the riser cleaning, control the vertical cleaning component 130 to move horizontally to the other end of the stair riser while adhering to it.

[0066] 502. Control the walking component 120 to perform bending and stretching actions to support the main body of the equipment 110 and drive the facade cleaning component 130 to move a preset distance in the vertical direction.

[0067] 503. Proceed to step 501 and continue until the cleaning operation covers the stair riser and exits the loop.

[0068] In practical applications, such as Figure 6As shown, starting from the upper left corner of the stair riser, the vertical cleaning component 130 can be moved to the right while maintaining a constant vertical height until it reaches the upper right corner of the stair riser. Then, starting from the upper right corner, the vertical cleaning component 130 can be moved down a preset distance, and then moved from the right end of the stair riser to the left end. This process is repeated until the moving area of ​​the vertical cleaning component 130 covers the stair riser.

[0069] The length of the cleaning path translation can be determined based on the length of the stair riser, and the number of vertical movements required for the vertical cleaning component 130 can be determined based on the height of the stair riser. Therefore, the cleaning path can be planned based on the geometric parameters of the stair riser. After the cleaning path is planned, the movement of the main body 110 and / or the vertical cleaning component 130 can be controlled to make the vertical cleaning component 130 move along the cleaning path.

[0070] As mentioned earlier, similar to the method of bringing the facade cleaning component 130 closer to the stair riser, when moving the facade cleaning component 130 along the cleaning path, the horizontal movement can be achieved by controlling the main body 110 alone, by controlling the facade cleaning alone, or by combining the control of the main body 110 and the facade cleaning component 130. During vertical movement, the cooperation of the traveling component 120 is required; that is, controlling the bending and straightening of the traveling component 120, as well as the movement of the main body 110 and / or the facade cleaning component 130, is necessary to make the facade cleaning component 130 move along the cleaning path.

[0071] It should be added that if the height of the stair riser is small, the same as or even smaller than the height of the brush of the vertical cleaning component 130, then it is not necessary to clean the stair riser in a "bow" shape; the stair riser can be cleaned simply by moving it horizontally.

[0072] It is worth noting that when cleaning the stair riser, it can be cleaned from top to bottom or from bottom to top. In this embodiment, cleaning from top to bottom is preferred. This is because when the vertical cleaning component 130 cleans dust from the upper part of the stair riser, since the stair riser is a vertical surface, some dust may fall downwards and contaminate the lower part of the stair riser. Therefore, if the upper part of the stair riser is cleaned first, even if some dust falls, it can be cleaned again when cleaning the lower part of the stair riser. However, if cleaning is done from bottom to top, the lower part of the stair riser has already been cleaned, and dust falling during the cleaning of the upper part of the stair riser will cause secondary contamination of the lower part of the stair riser, resulting in poor cleaning effect.

[0073] If the cleaning method is from top to bottom, the walking component 120 needs to be gradually retracted; if the cleaning method is from bottom to top, the walking component 120 needs to be gradually extended.

[0074] Optionally, the process of controlling the walking component 120 to perform bending and stretching actions to support the main body 110 in driving the facade cleaning component 130 to move vertically a preset distance can be achieved by: adjusting the extension degree of the walking component 120 to support the main body 110 in driving the facade cleaning component 130 to move vertically upward a preset distance; and / or adjusting the retraction degree of the walking component 120 to support the main body 110 in driving the facade cleaning component 130 to move vertically downward a preset distance.

[0075] It should be noted that the walking component 120 can be composed of a first joint, a second joint, a first link, and a second link. The first link is rotatably connected to the main body 110 of the device via the first joint: the rotation of the first joint drives the first link to rotate relative to the main body 110 of the device. The second link is rotatably connected to the first link via the second joint: the rotation of the second joint drives the second link to rotate relative to the first link and ultimately relative to the main body 110 of the device. This is equivalent to simulating the extension and flexion of a human thigh and calf. Based on this structure, by controlling the rotation of the first and second joints, the extension and / or retraction degree of the walking component 120 can be adjusted, thereby driving the vertical cleaning component 130 to move in the vertical direction. When the extension degree is increased, the vertical cleaning component 130 can move upward in the vertical direction. When the retraction degree is increased, the vertical cleaning component 130 can move downward in the vertical direction.

[0076] Optionally, the process of controlling the walking component 120 to perform bending and stretching movements to support the main body 110 and drive the facade cleaning component 130 to move vertically a preset distance can be achieved by: determining the current rotation angles of the first joint and the second joint; obtaining the current height of the main body 110; determining the desired rotation angles of the first joint and the second joint according to the preset distance, the current height of the main body 110 and the current rotation angle; and controlling the first joint and the second joint to adjust to their respective desired rotation angles.

[0077] In practical applications, before the walking component 120 performs bending and straightening movements, the current rotation angles of the first and second joints can be determined. At these current rotation angles, the walking component 120 has a corresponding shape, allowing the determination of the height the device body 110 is currently lifted from the stair tread by the walking component 120. It should be noted that when calculating the height of the device body 110, it can be considered as a point for easier calculation. Subsequently, based on the current rotation angles of the first and second joints, the height the device body 110 is lifted from the stair tread, and the aforementioned preset distance, the desired rotation angles of the first and second joints can be determined. That is, what rotation angles the first and second joints should rotate to allow the device body 110 to be raised or lowered by a preset distance from its current height. After determining the desired rotation angles, the first and second joints can be controlled to adjust to their respective desired rotation angles, thereby raising or lowering the device body 110 by a preset distance from its current height.

[0078] It should be added that the facade cleaning component 130 can move a preset distance each time. Optionally, the preset distance can be less than or equal to the vertical coverage height of the facade cleaning component 130.

[0079] It is understandable that the vertical coverage height of the facade cleaning component 130 is equal to the height of its brush. The brush height determines how high up the stair riser the facade cleaning component 130 can clean during each horizontal movement, covering the entire height of the stair riser through multiple vertical movements. Each movement is a preset distance, which can be set to be less than or equal to the brush height. This ensures that after each vertical movement, the edges between the two horizontal paths are flush, or that the two horizontal paths overlap. This method avoids leaving uncleaned areas and guarantees cleaning effectiveness.

[0080] In another optional embodiment, the cleaning device 10 may include a first walking component 120 and a second walking component 120, which are analogous to a person's two legs. The first walking component 120 is supported on a first stair tread, and the second walking component 120 is supported on a second stair tread; the second stair tread is the tread of the next step of the first stair tread. Since stair treads are generally narrow, and the width of the device body 110 is greater than the width of the stair tread, in order to prevent the center of gravity of the device body 110 from being close to the outer edge of the stair tread and causing it to tip over and fall, the first walking component 120 can be controlled to be supported on the first stair tread, i.e., the current stair tread. At the same time, the second walking component 120 can be controlled to be supported on the second stair tread, i.e., the next step of the stair tread. In this way, by having one walking component 120 on top and one walking component 120 on the bottom, the center of gravity of the device body 110 is staggered, which is more conducive to preventing the cleaning device 10 from tipping over and falling.

[0081] In the above state, optionally, the process of controlling the walking component 120 to perform bending and stretching actions to support the main body 110 to drive the vertical cleaning component 130 to move vertically a preset distance can be implemented as follows: when the second walking component 120 performs bending and stretching actions to a preset maximum stretching degree, the vertical cleaning component 130 is raised to the height difference between it and the first stair tread; when it is determined that the height difference is greater than or equal to the height of the stair riser, the walking component 120 is controlled to perform bending and stretching actions to support the main body 110 to drive the vertical cleaning component 130 to move vertically a preset distance.

[0082] Since the second traveling component 120 is supported on the second stair tread, which is lower than the first stair tread, there is a height difference between them. To support itself on the second stair tread, the second traveling component 120 must extend further than the first traveling component 120. Due to the limitation on the maximum extension, that is, when the second traveling component 120 is fully extended, the first and second connecting rods are approximately a straight rod perpendicular to the second stair tread. To prevent the main body 110 from tilting excessively to one side, the first traveling component 120 needs to be adjusted to the same height as the second traveling component 120. For example, when the second traveling component 120 is fully extended, its length is A, and the height difference between the second and first stair treads is B. Then, the first traveling component 120 needs to be adjusted so that its projected length onto the plane perpendicular to the stair tread is C=AB. In this way, when the first and second traveling components 120 are supported on stair treads of different heights, their heights at the connection points with the main body 110 are approximately the same, thus maintaining the balance of the cleaning equipment 10.

[0083] In the above situation, to prevent the cleaning equipment 10 from tipping over and falling, even if the first traveling component 120 can continue to extend further, its extended length cannot exceed C in order to cooperate with the second traveling component 120. When the second traveling component 120 is fully extended, the first traveling component 120 needs to cooperate. At this time, the main body of the equipment 110 has been lifted from the first stair tread to its maximum height, and the vertical cleaning component 130 is also lifted to its maximum height. If the vertical cleaning component 130 is raised to a height difference between itself and the first stair tread that is greater than or equal to the height of the stair riser, it means that when the second traveling component 120 is fully extended, the vertical cleaning component 130 can reach the highest point of the stair riser. Then, the traveling component 120 is controlled to perform a bending and extending action to support the main body of the equipment 110 and drive the vertical cleaning component 130 to move vertically, thereby covering the height of the stair tread.

[0084] Otherwise, the upper part of the stair riser will be inaccessible. To solve this problem, optionally, when the height difference is determined to be less than the height of the stair riser, the second traveling component 120 is controlled to move and support itself on the first stair tread; after the second traveling component 120 is supported on the first stair tread, the traveling component 120 is controlled to perform a bending and stretching action to support the main body of the equipment 110 to drive the vertical movement of the facade cleaning component 130 by a preset distance.

[0085] In practical applications, the second traveling component 120 can also be moved to the first stair tread, allowing it to support itself on the first stair tread. This can appropriately increase the maximum height of the facade cleaning component 130, making it more likely to cover the height of the stair riser. However, before the second traveling component 120 moves to the first stair tread, data collected by different sensors in the cleaning device 10 can be used to determine whether the cleaning device 10 can maintain balance when both the first and second traveling components 120 are simultaneously supported on the first stair tread. If balance is maintained, the second traveling component 120 can be moved to the first stair tread; otherwise, the cleaning of the subsequent staircases will continue.

[0086] In another alternative embodiment, the cleaning device 10 may also be equipped with a floor cleaning component. Accordingly, when cleaning the stair risers, the floor cleaning component is controlled to simultaneously perform stair tread cleaning; or, after cleaning the stair risers, the floor cleaning component is controlled to perform stair tread cleaning at least once.

[0087] In practical applications, the facade cleaning component 130 and the floor cleaning component are two independent cleaning components. The facade cleaning component 130 is used to clean building components perpendicular to the ground, while the floor cleaning component is used to clean building components on the ground or horizontally to the ground. When cleaning stair risers, since the main body of the equipment can move, the floor cleaning component can also move during the movement of the main body, thus enabling the floor cleaning component to synchronously perform stair tread cleaning.

[0088] Alternatively, you can set separate cleaning tasks for the stair risers and stair treads. After cleaning the stair risers, clean the stair treads at least once using the separate floor cleaning function. Since some dust may fall onto the stair treads during the stair riser cleaning process, cleaning the stair risers first, followed by the stair treads, can improve the cleaning effect.

[0089] Optionally, the stair riser includes a central area and an edge area located at the end of the central area. The movement of the control device body 110 and / or the facade cleaning component 130 relative to the stair riser can be achieved by: controlling the movement of the control device body 110, and keeping the position of the facade cleaning component 130 fixed relative to the control device body 110 during the movement of the control device body 110 to clean the central area; and controlling the movement of the facade cleaning component 130 relative to the control device body 110 to clean the edge area.

[0090] In practical applications, the facade cleaning component 130 can be connected to the main body 110 via an expansion mechanism, allowing the facade cleaning component 130 to move relative to the main body 110. For example, the facade cleaning component 130 can be positioned on the side of the main body 110, such as the left side. After the facade cleaning component 130 approaches the stair riser, it can be kept fixed relative to the main body 110. Then, the facade cleaning component 130 can be moved by controlling the movement of the main body 110. This method can clean the middle area of ​​the stair riser. However, for the edge area of ​​the stair riser, since the main body 110 occupies a certain space (generally larger than the staircase), and there are obstacles on both sides of the staircase, or to prevent falls, the cleaning device 10 cannot cross the edge of the stair tread along its length, it is difficult to clean the edge area of ​​the stair riser by moving the main body 110 alone. Therefore, the facade cleaning component 130 can be extended to the side front and / or side rear via the expansion mechanism, thus enabling cleaning of the edge area.

[0091] In another alternative embodiment, the cleaning device 10 may further include a facade suction port and a dust collection assembly; the facade suction port and the dust collection assembly are connected. Accordingly, when the facade cleaning component 130 cleans the stair riser, the dust generated during the cleaning process can be sucked into the dust collection assembly through the facade suction port.

[0092] In practical applications, when cleaning the stair risers with the facade cleaning component 130, the facade suction port can be activated to draw dust generated during the cleaning process into the dust collection assembly. This prevents dust from falling onto the lower part of the stair risers or the stair treads, thus preventing secondary pollution and improving cleaning effectiveness.

[0093] It is worth noting that the floor cleaning component, located at the bottom of the main body 110, is generally pressed against the floor or stair tread by the weight of the cleaning device 10 itself. For the cleaning device 10, there is no need to pay extra attention to the contact pressure between the floor cleaning component and the floor or stair tread. However, for the vertical cleaning component 130, since it cannot be pressed against the stair riser by the weight of the cleaning device 10 itself, the contact pressure between the vertical cleaning component 130 and the stair riser needs to be adjusted by the movement of the main body 110 or the external expansion mechanism. Therefore, attention should be paid to the contact pressure between the vertical cleaning component 130 and the stair riser to avoid insufficient contact pressure leading to poor cleaning results, or excessive contact pressure causing damage to device components or the stair riser. For example, excessive contact pressure may cause the brush to become tangled, preventing the device from continuing to work. Or, excessive contact pressure may cause scratches on the fragile stair riser.

[0094] Based on the above analysis, optionally, the cleaning device 10 also includes a sensor assembly for detecting the contact pressure between the facade cleaning component 130 and the stair riser. The process of controlling the movement of the device body 110 and / or the facade cleaning component 130 to bring the facade cleaning component 130 closer to the stair riser can be achieved by controlling the movement of the device body 110 and / or the facade cleaning component 130 until the sensor assembly detects that the contact pressure between the facade cleaning component 130 and the stair riser is a preset pressure value, at which point the movement stops.

[0095] A suitable preset pressure value can be set based on experimental data. When the adhesion pressure between the facade cleaning component 130 and the stair riser is detected to be the preset pressure value, the facade cleaning component 130 is controlled to stop moving closer.

[0096] Optionally, the process of controlling the movement of the main body 110 of the device and / or the facade cleaning component 130 until the sensor assembly detects that the contact pressure between the facade cleaning component 130 and the stair riser is a preset pressure value can be implemented as follows: detecting the material properties of the stair riser; determining the preset pressure value corresponding to the material properties; controlling the movement of the main body 110 of the device and / or the facade cleaning component 130 until the sensor assembly detects that the contact pressure between the facade cleaning component 130 and the stair riser is the determined preset pressure value and then stopping the movement.

[0097] Different pressure values ​​can be set for different material properties of stair risers. During implementation, the cleaning device 10 can also be equipped with a camera to capture images of the stair risers, analyze these images, and detect the material properties of the stair risers. Then, a preset pressure value corresponding to the material properties is determined, and the movement of the main body 110 and / or the vertical cleaning component 130 is controlled until the sensor assembly detects that the contact pressure between the vertical cleaning component 130 and the stair riser is the determined preset pressure value, at which point the device stops moving closer.

[0098] Optionally, the material attribute can be any one or more of ceramic tile, wood, and blanket. The process of determining the preset pressure value corresponding to the material attribute can be implemented as follows: determining the preset pressure value corresponding to ceramic tile as a first value; and / or, determining the preset pressure value corresponding to wood as a second value; and / or, determining the preset pressure value corresponding to blanket as a third value; wherein the first value is greater than the second value, and the second value is greater than the third value.

[0099] In some scenarios, users can choose to lay a blanket on the stairs to prevent slipping while going up and down. When a blanket is detected on the stair riser, the contact pressure between the cleaning unit 130 and the stair riser can be reduced to prevent the brush and blanket from getting tangled. If the stair riser is made of wood, it is more prone to damage and scratches than tile. Therefore, when cleaning wooden stair risers, the contact pressure can also be appropriately reduced. This ensures cleaning effectiveness while avoiding damage to the cleaning equipment 10 and the stair treads, thus improving user satisfaction.

[0100] The method provided in this application allows for the separate installation of a facade cleaning component within a cleaning device. By controlling the movement of the device body and / or the facade cleaning component, the component can be positioned close to the stair risers, thus achieving a close fit. The movement of the device body and / or the component then enables effective cleaning of the stair risers. This method eliminates the need for manual cleaning of stair treads during routine cleaning, allowing for comprehensive cleaning of various scenarios such as homes, offices, and public spaces using a single cleaning device. This application significantly improves cleaning effectiveness and effectively eliminates blind spots in cleaning.

[0101] The following describes in detail one or more embodiments of a staircase skirt cleaning device according to this application. Those skilled in the art will understand that these staircase skirt cleaning devices can all be configured using commercially available hardware components through the steps taught in this solution.

[0102] Figure 7 This is a structural schematic diagram of a staircase skirt cleaning device provided in an embodiment of this application. The device is installed within a cleaning equipment, which includes a main body, a walking assembly, and a vertical cleaning component. The walking assembly is connected to the main body; the walking assembly drives the main body to move; the vertical cleaning component is located on the main body. Figure 7 As shown, the device includes: The first control module 61 is used to control the movement of the main body of the equipment and / or the facade cleaning component in response to the riser cleaning command, so that the facade cleaning component is close to the stair riser; The second control module 62 is used to control the main body of the equipment and / or the facade cleaning component to move relative to the stair riser in response to the facade cleaning component contacting the stair riser, so as to clean the stair riser with the facade cleaning component.

[0103] Optionally, the first control module 61 is used for: Determine the starting position for cleaning the stair riser based on its geometric parameters; Control the movement of the main body of the equipment and / or the facade cleaning components so that the facade cleaning components move to the starting position of the kick surface cleaning.

[0104] Optionally, the second control module 62 is used for: Based on the geometric parameters of the stair riser, determine the cleaning path of the facade cleaning components on the stair riser; Control the movement of the main body of the equipment and / or the facade cleaning components so that the facade cleaning components move along the cleaning path.

[0105] Optionally, the cleaning path includes at least one first path and at least one second path, wherein the first path and the second path are not parallel.

[0106] Optionally, the first path is parallel to the stair treads, and the second path is perpendicular to the stair treads.

[0107] Optionally, the second control module 62 is used for: Starting from the initial position of the riser cleaning, control the vertical cleaning component to move horizontally to the other end of the stair riser while adhering to the surface of the stair riser; Control the walking components to perform bending and straightening movements to support the main body of the equipment and drive the facade cleaning components to move vertically a preset distance; Proceed to the next step, starting from the initial position of the riser cleaning, and control the vertical cleaning component to move horizontally to the other end of the stair riser until the cleaning operation covers the stair riser.

[0108] Optionally, the second control module 62 is used for: Adjust the extension degree of the walking component to support the main body of the equipment in moving the facade cleaning component vertically upward a preset distance; and / or, Adjust the convergence of the walking components to support the main body of the equipment in moving the facade cleaning components vertically downwards a preset distance.

[0109] Optionally, the preset distance is less than or equal to the vertical coverage height of the facade cleaning component.

[0110] Optionally, the walking assembly includes a first joint, a first link, a second joint, and a second link; the first link is rotatably connected to the main body of the device via the first joint; the second link is rotatably connected to the first link via the second joint. The second control module 62 is used for: Determine the current rotation angles of the first and second joints; Get the current height of the main body of the device; Based on the preset distance, the current height of the main body of the equipment, and the current rotation angle, determine the desired rotation angles of the first joint and the second joint respectively; The first and second joints are controlled to adjust to their respective desired rotation angles.

[0111] Optionally, the cleaning device includes a first walking component and a second walking component; the first walking component is supported on a first stair tread, and the second walking component is supported on a second stair tread; the second stair tread is the tread of the next step of the first stair tread. The second control module 62 is used for: When the second walking component performs a bending and stretching motion to the preset maximum stretching degree, the facade cleaning component is raised to the height difference between itself and the first stair tread. When the height difference is determined to be greater than or equal to the height of the stair riser, the walking component is controlled to perform bending and stretching movements to support the main body of the equipment and drive the facade cleaning component to move vertically a preset distance.

[0112] Optionally, the second control module 62 is also used for: When the height difference is determined to be less than the height of the stair riser, the second walking component is controlled to move and support itself on the first stair tread. After the second walking component is supported on the first stair tread, the walking component is controlled to perform bending and stretching movements to support the main body of the equipment and drive the facade cleaning component to move vertically a preset distance.

[0113] Optionally, the cleaning equipment is also equipped with a floor cleaning component; the second control module 62 is also used for: When cleaning the stair risers, control the floor cleaning unit to simultaneously clean the stair treads; or... After cleaning the stair risers, the floor cleaning unit should perform a stair tread cleaning at least once.

[0114] Optionally, the stair riser includes a central area and an edge area located at the ends of the central area, and the second control module 62 is used for: Control the movement of the main body of the equipment, and keep the position of the facade cleaning component relative to the main body of the equipment fixed during the movement of the main body of the equipment, so as to clean the middle area; Control the movement of the facade cleaning component relative to the main body of the equipment to clean the edge areas.

[0115] Optionally, the cleaning equipment also includes a facade suction port and a dust collection assembly; the facade suction port and the dust collection assembly are connected. The second control module 62 is also used for: Dust generated during the cleaning process is sucked into the dust collection unit through the dust suction port on the facade.

[0116] Optionally, the cleaning equipment also includes a sensor assembly for detecting the contact pressure between the facade cleaning component and the stair riser; The first control module 61 is also used for: Control the movement of the main body of the control device and / or the facade cleaning component until the sensor assembly detects that the contact pressure between the facade cleaning component and the stair riser is at a preset pressure value, then stop moving closer.

[0117] Optionally, the first control module 61 is used for: Test the material properties of the stair risers; Determine the preset pressure value corresponding to the material properties; Control the movement of the main body of the control device and / or the facade cleaning component until the sensor assembly detects that the contact pressure between the facade cleaning component and the stair riser is a predetermined preset pressure value, at which point the device stops approaching.

[0118] Optionally, the material properties are any one or more of ceramic tile, wood, and carpet; The first control module 61 is used for: The preset pressure value corresponding to the tile is determined to be the first value; and / or, The preset pressure value corresponding to the wood is determined to be the second value; and / or, The preset pressure value corresponding to the blanket is determined to be the third value; Among them, the first value is greater than the second value, and the second value is greater than the third value.

[0119] Figure 7 The device shown can perform the aforementioned Figures 1 to 6 The detailed execution process and technical effects of the staircase skirt cleaning method provided in the illustrated embodiment are described in the foregoing embodiments and will not be repeated here.

[0120] In one possible design, the above Figure 7 The structure of the stair riser cleaning device shown can be implemented as an electronic device, such as... Figure 8 As shown, the electronic device may include a processor 91 and a memory 92. The memory 92 stores executable code, which, when executed by the processor 91, enables the processor 91 to at least perform the functions described above. Figures 1 to 6 The staircase kickboard cleaning method provided in the illustrated embodiment.

[0121] Optionally, the electronic device may also include a communication interface 93 for communicating with other devices.

[0122] Furthermore, embodiments of this application provide a non-transitory machine-readable storage medium storing executable code. When the executable code is executed by a processor of an electronic device, the processor is able to at least perform the functions described above. Figures 1 to 6 The staircase kickboard cleaning method provided in the illustrated embodiment.

[0123] The device embodiments described above are merely illustrative, and the units described as separate components may or may not be physically separate. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0124] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of a necessary general-purpose hardware platform, or by a combination of hardware and software. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a computer product. This application can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0125] The staircase skirt cleaning method provided in this application embodiment can be executed by a program / software, which can be provided by a network side. The electronic device mentioned in the foregoing embodiment can download the program / software to a local non-volatile storage medium, and when it needs to execute the aforementioned staircase skirt cleaning method, the CPU reads the program / software into memory, and then the CPU executes the program / software to implement the staircase skirt cleaning method provided in the foregoing embodiment. The execution process can be referred to the foregoing embodiment. Figures 1 to 6 The illustration is shown in the image.

[0126] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A method for cleaning staircase skirts, characterized in that, This is applied to cleaning equipment, which includes a main body, a walking assembly, and a facade cleaning component; the walking assembly is connected to the main body. The walking component is used to drive the main body of the equipment to move; the facade cleaning component is located on the main body of the equipment. The method includes: In response to a kick-up cleaning command, control the movement of the main body of the equipment and / or the facade cleaning component to bring the facade cleaning component closer to the stair kick-up; In response to the facade cleaning component contacting the stair riser, the device body and / or the facade cleaning component are controlled to move relative to the stair riser so that the facade cleaning component cleans the stair riser.

2. The method according to claim 1, characterized in that, The control of the movement of the equipment body and / or the facade cleaning component to bring the facade cleaning component closer to the stair riser includes: Determine the starting position for cleaning the stair risers based on their geometric parameters; Control the movement of the main body of the equipment and / or the facade cleaning component to move the facade cleaning component to the starting position of the facade cleaning.

3. The method according to claim 2, characterized in that, The control of the device body and / or the facade cleaning component to move relative to the stair riser, so that the facade cleaning component cleans the stair riser, includes: Based on the geometric parameters of the stair riser, determine the cleaning path of the facade cleaning component on the stair riser; Control the movement of the main body of the equipment and / or the facade cleaning component so that the facade cleaning component moves along the cleaning path.

4. The method according to claim 3, characterized in that, The cleaning path includes at least one first path and at least one second path, wherein the first path and the second path are not parallel.

5. The method according to claim 4, characterized in that, The first path is parallel to the stair treads, and the second path is perpendicular to the stair treads.

6. The method according to claim 5, characterized in that, Controlling the movement of the equipment body and / or the facade cleaning component to cause the facade cleaning component to move along the cleaning path includes: Starting from the initial position of the riser cleaning, control the vertical cleaning component to move horizontally to the other end of the stair riser while adhering to it; The walking component is controlled to perform bending and straightening movements to support the main body of the equipment and drive the facade cleaning component to move vertically a preset distance; The process then proceeds to the step of controlling the vertical cleaning component to move horizontally to the other end of the staircase, starting from the initial position of the cleaning operation, until the cleaning operation covers the staircase.

7. The method according to claim 6, characterized in that, The control of the walking component to perform bending and straightening movements to support the main body of the equipment in moving the facade cleaning component vertically a preset distance includes: Adjust the extension degree of the walking component to support the main body of the device in moving the facade cleaning component vertically upward a preset distance; and / or, Adjust the degree of convergence of the walking component to support the main body of the device in moving the facade cleaning component vertically downward a preset distance.

8. The method according to claim 6, characterized in that, The preset distance is less than or equal to the vertical coverage height of the facade cleaning component.

9. The method according to claim 6, characterized in that, The walking assembly includes a first joint, a first link, a second joint, and a second link; the first link is rotatably connected to the main body of the device via the first joint; the second link is rotatably connected to the first link via the second joint. The control of the walking component to perform bending and straightening movements to support the main body of the equipment in moving the facade cleaning component vertically a preset distance includes: Determine the current rotation angles of the first joint and the second joint; Obtain the current height of the main body of the device; Based on the preset distance, the current height of the device body, and the current rotation angle, the desired rotation angles of the first joint and the second joint are determined respectively. The first joint and the second joint are respectively controlled to adjust to their respective desired rotation angles.

10. The method according to claim 6, characterized in that, The cleaning device includes a first walking component and a second walking component; the first walking component is supported on a first stair tread, and the second walking component is supported on a second stair tread; the second stair tread is the tread of the next step of the stairs below the first stair tread; The control of the walking component to perform bending and straightening movements to support the main body of the equipment in moving the facade cleaning component vertically a preset distance includes: When the second walking component performs a bending and stretching action to a preset maximum stretching degree, the facade cleaning component is raised to the height difference between itself and the first stair tread. When it is determined that the height difference is greater than or equal to the height of the stair riser, the walking component is controlled to perform a bending and extending action to support the main body of the equipment and drive the facade cleaning component to move vertically a preset distance.

11. The method according to claim 10, characterized in that, The method of controlling the walking component to perform bending and straightening movements to support the main body of the equipment in driving the facade cleaning component to move vertically a preset distance also includes: When it is determined that the height difference is less than the height of the stair riser, the second walking component is controlled to move and support itself on the first stair tread. After the second walking component is supported on the first stair tread, the walking component is controlled to perform bending and stretching movements to support the main body of the equipment and drive the facade cleaning component to move vertically a preset distance.

12. The method according to claim 1, characterized in that, The cleaning equipment is also equipped with a floor cleaning component; the method further includes: While cleaning the stair risers, the floor cleaning unit is controlled to simultaneously clean the stair treads; or... After cleaning the stair risers, the floor cleaning unit is controlled to perform stair tread cleaning at least once.

13. The method according to claim 1, characterized in that, The stair riser includes a central region and an edge region located at the end of the central region. Controlling the movement of the device body and / or the facade cleaning component relative to the stair riser to clean the stair riser includes: The device body is controlled to move, and the position of the facade cleaning component relative to the device body is kept fixed during the movement of the device body, so as to clean the middle area; The facade cleaning component is controlled to move relative to the main body of the equipment to clean the edge area.

14. The method according to any one of claims 1-13, characterized in that, The cleaning equipment also includes a vertical dust suction port and a dust collection component; the vertical dust suction port and the dust collection component are connected; When the facade cleaning component cleans the stair riser, the method further includes: Dust generated during the cleaning process is drawn into the dust collection component through the dust suction port on the facade.

15. The method according to any one of claims 1-13, characterized in that, The cleaning equipment also includes a sensor assembly for detecting the contact pressure between the facade cleaning component and the stair riser. The control of the movement of the equipment body and / or the facade cleaning component to bring the facade cleaning component closer to the stair riser includes: Control the movement of the main body of the device and / or the facade cleaning component until the sensor assembly detects that the contact pressure between the facade cleaning component and the stair riser is a preset pressure value, then stop moving closer.

16. The method according to claim 15, characterized in that, The control of the movement of the device body and / or the facade cleaning component until the sensor assembly detects that the contact pressure between the facade cleaning component and the stair riser is a preset pressure value, includes: Detect the material properties of the stair riser; Determine the preset pressure value corresponding to the material properties; Control the movement of the main body of the device and / or the facade cleaning component until the sensor assembly detects that the contact pressure between the facade cleaning component and the stair riser is a determined preset pressure value, then stop moving closer.

17. The method according to claim 16, characterized in that, The material properties are any one or more of ceramic tiles, wood, and blankets; Determining the preset pressure value corresponding to the material properties includes: The preset pressure value corresponding to the tile is determined to be a first value; and / or, The preset pressure value corresponding to the wood is determined to be a second value; and / or, The preset pressure value corresponding to the blanket is determined to be a third value; Wherein, the first value is greater than the second value, and the second value is greater than the third value.

18. A staircase riser cleaning device, characterized in that, The cleaning equipment is installed in a cleaning device, which includes a main body, a walking component, and a facade cleaning component; the walking component is connected to the main body. The walking component is used to drive the main body of the equipment to move; the facade cleaning component is located on the main body of the equipment. The device includes: The first control module is used to control the movement of the main body of the equipment and / or the facade cleaning component in response to the riser cleaning command, so that the facade cleaning component moves closer to the stair riser; The second control module is used to control the main body of the equipment and / or the facade cleaning component to move relative to the stair riser in response to the facade cleaning component contacting the stair riser, so as to clean the stair riser.

19. An electronic device, characterized in that, include: A memory and a processor; wherein the memory stores executable code, and when the executable code is executed by the processor, the processor performs the staircase kickboard cleaning method as described in any one of claims 1-17.

20. A non-transitory machine-readable storage medium, characterized in that, The non-transitory machine-readable storage medium stores executable code that, when executed by a processor of an electronic device, causes the processor to perform the staircase kickboard cleaning method as described in any one of claims 1-17.

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