Cleaning apparatus, cleaning method, electronic apparatus, and storage medium

Abstract

Embodiments of the present application provide a cleaning device, a cleaning method, an electronic device and a storage medium. The cleaning device comprises: a device main body; a wheel-foot assembly, the wheel-foot assembly comprising a connecting rod mechanism and a walking wheel, the connecting rod mechanism being connected to the walking wheel and the device main body respectively; and a cleaning assembly, the cleaning assembly being connected to the device main body and having an outward expansion mode in which the cleaning assembly expands outward beyond at least part of the edge of the device main body. The wheel-foot assembly is configured to avoid the outward expansion path of the cleaning assembly when the cleaning assembly is working in the outward expansion mode. According to the present application, the wheel-foot assembly can be designed to have a structure that can avoid the outward expansion path of the cleaning assembly when the cleaning assembly is working in the outward expansion mode. According to the present application, the cleaning assembly can still freely expand outward in a cleaning device having a climbing function, thereby improving the use flexibility of the cleaning assembly.

Description

Technical Field

[0001] This application relates to the field of smart home technology, and more particularly to a cleaning device, cleaning method, electronic device, and storage medium. Background Technology

[0002] With the development of technology, more and more smart devices are entering people's lives. As the need to free people from tedious cleaning tasks increases, cleaning equipment has emerged. Cleaning equipment can automatically handle cleaning needs in different environments, such as cleaning floors.

[0003] In related technologies, cleaning equipment includes cleaning components. When it is necessary to clean corners formed by buildings or furniture, the cleaning components can be controlled to extend beyond the main body of the equipment to clean the corners.

[0004] However, the design of cleaning components in related technologies only focuses on conventional cleaning equipment. With the advent of cleaning equipment with climbing capabilities, the design of cleaning components in these technologies is no longer perfectly adapted to such equipment. For example, cleaning equipment with climbing capabilities has wheel assemblies on the outside of the main body. These wheel assemblies need to rotate relative to the main body. If the design in the related technologies is still used, the cleaning component will be blocked by the wheel assemblies, preventing it from expanding outwards and thus forcing it to remain in a fixed position. Summary of the Invention

[0005] This application provides a cleaning device, a cleaning method, an electronic device, and a storage medium to enable cleaning components to expand freely even within a cleaning device with climbing capabilities, thereby improving the flexibility of the cleaning components in use.

[0006] In a first aspect, embodiments of this application provide a cleaning device, the cleaning device comprising: Equipment body; A wheel assembly, comprising a linkage mechanism and a traveling wheel, wherein the linkage mechanism connects the traveling wheel and the main body of the equipment respectively; A cleaning component, the cleaning component being connected to the device body, and the cleaning component having an outward expansion pattern extending at least partially beyond the edge of the device body; The wheel assembly is configured to avoid the outward expansion path of the cleaning component when the cleaning component is operating in the outward expansion mode.

[0007] Optionally, the wheel assembly is connected to the side of the device body, and the device body is provided with an expansion notch for the cleaning component to expand outward. In the expansion mode, the wheel assembly is adjusted to avoid the expansion notch.

[0008] Optionally, the cleaning device further includes: A control component that, in response to an outward cleaning command, controls the linkage mechanism to adjust its attitude so that the linkage mechanism avoids the outward gap.

[0009] Optionally, the linkage mechanism includes: The first link is rotatably connected to the main body of the equipment; The second link has one end rotatably connected to the first link and the other end rotatably connected to the walking wheel; In response to the outward cleaning command, the control component controls the first link and the second link to rotate, so that the end of the second link connected to the first link is higher than the top surface of the main body of the device, so that the first link and the second link avoid the outward gap.

[0010] Optionally, the linkage mechanism is provided with a clearance notch, and in the outward expansion mode, the clearance notch and the outward expansion notch are opposite each other.

[0011] Optionally, in the outward expansion mode, the linkage mechanism is in a convergent state, where the projection of the linkage mechanism onto the side of the device body is located within the side of the device body.

[0012] Secondly, embodiments of this application provide a cleaning method applied to a cleaning device, the cleaning device including a device body, a wheel assembly, and a cleaning component; the wheel assembly is connected to the side of the device body, the wheel assembly includes a linkage mechanism and a traveling wheel, the linkage mechanism connecting the traveling wheel and the device body respectively; the cleaning component is connected to the device body, and the cleaning component has an outward expansion pattern extending at least partially beyond the edge of the device body; the device body is provided with an outward expansion notch for the outward expansion of the cleaning component; The method includes: In response to an outward cleaning command, the linkage mechanism is controlled to adjust its posture so that it avoids the outward path of the cleaning component; The cleaning component is controlled to expand outward along the expansion path to a preset position through the expansion notch; In response to the cleaning component extending to the preset position, the cleaning device is controlled to perform a cleaning action.

[0013] Optionally, controlling the linkage mechanism to adjust its attitude includes: Determine whether the linkage mechanism is in a retracted state, wherein when the linkage mechanism is in a retracted state, the linkage mechanism is folded to a preset maximum angle; If the linkage mechanism is in the retracted state, then control the linkage mechanism to adjust its posture.

[0014] Optionally, the linkage mechanism includes a first link and a second link; the first link is rotatably connected to the main body of the equipment; one end of the second link is rotatably connected to the first link, and the other end of the second link is rotatably connected to the traveling wheel; controlling the linkage mechanism to adjust its attitude includes: While keeping the walking wheel in contact with the surface being cleaned and the linkage mechanism folded to the preset maximum angle, control the first linkage and the second linkage to rotate so that the end of the second linkage connected to the first linkage is higher than the top surface of the main body of the equipment, so that the first linkage and the second linkage avoid the outward expansion notch.

[0015] Optionally, the extended cleaning component extends at least partially beyond the walking wheel.

[0016] Optionally, the cleaning component is movably connected to the device body; controlling the cleaning component to expand outward along the expansion path to a preset position through the expansion notch includes: The cleaning component is controlled to move along the outward path through the outward expansion notch to a preset position.

[0017] Optionally, the cleaning component is deformably disposed on the device body; controlling the cleaning component to expand outward along the expansion path to a preset position through the expansion notch includes: The cleaning component is controlled to deform along the outward expansion path through the outward expansion notch to a preset position.

[0018] Optionally, the outward cleaning instruction is used to instruct cleaning operations to be performed on the ground and / or stair treads.

[0019] Thirdly, embodiments of this application provide an electronic device, including a processor and a memory, wherein executable code is stored in the memory, and when the executable code is executed by the processor, the processor can at least implement the cleaning method in the second aspect.

[0020] 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 cleaning method of the second aspect.

[0021] By employing this application, the wheel assembly can be designed to avoid the outward expansion path of the cleaning assembly when it is operating in outward expansion mode. This allows the cleaning assembly to expand to at least partially beyond the edge of the device body when the wheel assembly does not need to extend. This method enables the outward-expanding cleaning assembly to reach certain hard-to-reach areas, even when there is interference between the device body's outer shell and obstacles, achieving effective cleaning of these areas. Furthermore, this application allows the cleaning assembly to expand freely even in cleaning equipment with climbing capabilities, improving its usability. Attached Figure Description

[0022] 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.

[0023] Figure 1 This is a schematic diagram of the structure of a cleaning device provided in an embodiment of this application; Figure 2 This is a schematic diagram of another cleaning device provided in an embodiment of this application; Figure 3 A schematic diagram of an outwardly expanding notch in the main body of a device provided in an embodiment of this application; Figure 4 A schematic diagram illustrating the raising of one end of a connecting rod, provided in an embodiment of this application; Figure 5 A schematic diagram illustrating another elevation of one end of the connecting rod provided in an embodiment of this application; Figure 6 A schematic diagram of an outwardly expanding notch and an avoidance notch provided for embodiments of this application; Figure 7 A schematic flowchart of a cleaning method 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.

[0024] Explanation of reference numerals in the attached figures: 10—Cleaning equipment; 110—Equipment body; 120—Wheel and foot assembly; 130—Cleaning assembly; 121—Linkage mechanism; 122—Walking wheel; 21—First link; 22—Second link. Detailed Implementation

[0025] 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.

[0026] 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.

[0027] 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).”

[0028] Furthermore, the timing of the steps in the following method embodiments is merely an example and not a strict limitation.

[0029] This application provides a cleaning device with a climbing function. Figure 1 This is a schematic diagram of the structure of a cleaning device provided in an embodiment of this application, such as... Figure 1 As shown, the cleaning device 10 may include a device body 110, a wheel assembly 120, and a cleaning assembly 130. Wherein, as... Figure 2 As shown, the wheel assembly 120 may include a linkage mechanism 121 and a traveling wheel 122, with the linkage mechanism 121 connecting the traveling wheel 122 and the equipment body 110 respectively. The cleaning assembly 130 is connected to the equipment body 110 and has an outward expansion mode that extends at least partially beyond the edge of the equipment body 110. The wheel assembly 120 is configured to avoid the outward expansion path of the cleaning assembly 130 when the cleaning assembly 130 is operating in the outward expansion mode.

[0030] In the cleaning device 10 of this application, the wheel and foot assembly 120 specifically includes a first wheel and foot assembly and a second wheel and foot assembly. The linkage mechanism 121 in the first and second wheel and foot assemblies can rotate relative to the device body 110 and adjust the folding angle. This structural design enables the cleaning device 10 to have a climbing function. This capability allows the cleaning device 10 to freely traverse obstacles of a certain height, such as multi-step stairs. Furthermore, the walking wheels 122 of the wheel and foot assembly 120 are drive wheels, enabling the cleaning device 10 to move on a plane.

[0031] It is understood that the cleaning device 10 in this embodiment may include a device body 110 and a cleaning component 130, the cleaning component 130 being disposed at the bottom of the device body 110. Optionally, the cleaning component 130 may be a mop assembly, a sweeping assembly, etc. The mop assembly may be, for example, a flat mop, a disc mop, a side mop, etc.

[0032] The cleaning component 130 can be movably connected to the device body 110 via an expansion mechanism, allowing the cleaning component 130 to expand outward relative to the device body 110. Before expanding, to facilitate storage and prevent interference with the rotation of the linkage mechanism 121, the cleaning component 130 can be stored at the bottom of the device body 110, meaning it will not extend beyond the edge of the device body 110. In some applications, when the cleaning component 130 expands, at least a portion of it extends beyond the edge of the device body 110 after the expansion is complete; this working mode is called the expansion mode. In the expansion mode, the cleaning component 130 can extend beyond the outer shell of the device body 110, reaching corners where interference with the outer shell prevents the cleaning device 10 from reaching them. The expanded cleaning component 130 can effectively clean these corners, preventing the formation of hard-to-reach areas.

[0033] As mentioned earlier, the cleaning device 10 has a climbing function. To achieve this function, a wheel assembly 120 capable of rotating relative to the main body 110 needs to be provided in the cleaning device 10. The wheel assembly 120 is located on the outside of the main body 110. When the cleaning component 130 operates in the outward expansion mode, the cleaning component 130 needs to extend at least partially beyond the edge of the main body 110. Therefore, the wheel assembly 120 may interfere with the outward expansion movement of the cleaning component 130. To solve this problem, in this embodiment, the wheel assembly 120 is designed to avoid the outward expansion path of the cleaning component 130 when it operates in the outward expansion mode.

[0034] Specifically, the space occupied by the cleaning component 130 during its outward expansion movement can be recorded, and this space constitutes the outward expansion path of the cleaning component 130. When the cleaning component 130 is operating in the outward expansion mode, the wheel assembly 120 can be designed to avoid the outward expansion path of the cleaning component 130.

[0035] It should be added that the cleaning component 130 can operate in the outward expansion mode under one condition: the wheel assembly 120 must be in a retracted state, that is, the wheel assembly 120 must not be extended. The application scenario where the wheel assembly 120 is in a retracted state is when the cleaning device 10 is cleaning flat surfaces such as floors and stair treads. In such scenarios, the wheel assembly 120 does not need to extend to overcome obstacles or raise the main body 110. It is worth noting that when the wheel assembly 120 is in an extended state, the cleaning component 130 still needs to be retracted to the bottom of the main body 110 to prevent the cleaning component 130 from interfering with the rotation of the wheel assembly 120 relative to the main body 110. When the wheel assembly 120 is in a retracted state, it can remain stationary relative to the main body 110 and does not need to rotate frequently. Therefore, in this case, the cleaning component 130 can be controlled to operate in the outward expansion mode, but it must be ensured that the wheel assembly 120 can avoid the outward expansion path of the cleaning component 130.

[0036] In this application embodiment, several implementation methods are provided to ensure that the wheel assembly 120 is adjusted to avoid the outward expansion notch in the outward expansion mode. These implementation methods provided in this application embodiment are merely examples and do not limit the specific way in which the wheel assembly 120 is adjusted to avoid the outward expansion notch.

[0037] Optionally, the wheel assembly 120 is connected to the side of the device body 110. The device body 110 is provided with an expansion notch for the cleaning component 130 to expand outward. In the expansion mode, the wheel assembly 120 is adjusted to avoid the expansion notch.

[0038] The wheel assembly 120 in this embodiment may include a first wheel assembly and a second wheel assembly, which are respectively disposed on both sides of the device body 110. Figure 3As shown, an expansion notch can be cut into the device body 110 at the position corresponding to the expansion path of the cleaning component 130. This allows the cleaning component 130 to expand outwards through the expansion notch, at least partially extending beyond the edge of the device body 110. When the cleaning component 130 is housed at the bottom of the device body 110, it does not extend beyond the edge of the device body 110, and the wheel assembly 120 can rotate freely without restricting its posture. When the cleaning component 130 operates in expansion mode, the wheel assembly 120 needs to be adjusted to avoid the expansion notch. In other words, the wheel assembly 120 ensures that it does not obstruct the expansion notch, allowing the cleaning component 130 to smoothly expand outwards through the expansion notch, at least partially extending beyond the edge of the device body 110.

[0039] Specifically, in this embodiment, the thickness or diameter of the linkage mechanism 121 can be reduced accordingly. In this way, when the wheel assembly 120 is retracted in the outward expansion mode, the outward expansion gap can be avoided because the linkage mechanism 121 itself is relatively thin.

[0040] Alternatively, the diameter of the walking wheel 122 can be increased accordingly. In the outward expansion mode, after the wheel assembly 120 is retracted in the normal way, since the linkage mechanism 121 is thinner than the walking wheel 122, the linkage mechanism 121 is appropriately raised by the walking wheel 122, which can avoid the outward expansion gap.

[0041] Optionally, the cleaning device 10 may further include a control component that controls the linkage mechanism 121 to adjust its posture in response to an outward cleaning command, so that the linkage mechanism 121 avoids the outward gap.

[0042] In scenarios where the wheel assembly 120 does not need to extend, an outward cleaning command can be triggered when cleaning the surface. In response to the outward cleaning command, the control component can control the attitude of the linkage mechanism 121 to avoid the outward notch.

[0043] It is worth noting that when the linkage mechanism 121 is in the retracted state, it is folded to a preset maximum angle. Optionally, in the outward expansion mode, the linkage mechanism 121 is in the retracted state, which means that the projection of the linkage mechanism 121 on the side of the device body 110 is within the side of the device body 110. In the retracted state, the upper end of the linkage mechanism 121 does not exceed the top surface of the device body 110, and the lower end does not exceed the bottom of the device body 110, thus ensuring that the projection of the linkage mechanism 121 on the side of the device body 110 is within the side of the device body 110.

[0044] When adjusting the posture of the linkage mechanism 121, it can be kept in a folded state, meaning that the linkage mechanism 121 does not provide any support to the main body 110 on the surface being cleaned. If the space above the cleaning device 10 allows, the linkage mechanism 121 can remain folded, but can extend slightly beyond the top surface of the main body 110. It should also be noted that since the end of the linkage mechanism 121 is connected to the driving wheel 122, if the driving wheel 122 is the only drive wheel in the cleaning device 10, it must be ensured that regardless of the posture of the linkage mechanism 121, the driving wheel 122 can contact the surface being cleaned so that it can move the cleaning device 10.

[0045] In practical applications, the cleaning component 130 can extend at least partially beyond the edge of the device body 110, and further, the cleaning component 130 can extend at least partially beyond the travel wheel 122. During the contact between the travel wheel 122 and the surface being cleaned, the travel wheel 122 may leave marks on the surface. If the area just cleaned is subsequently pressed over by a subsequent travel wheel 122, secondary contamination will occur. To solve this problem, the cleaning component 130, extending at least partially beyond the travel wheel 122, can clean the marks left by the travel wheel 122, thereby improving the cleaning effect.

[0046] Additionally, it should be noted that the adjustment of the wheel assembly 120 to avoid the outward expansion notch can be interpreted as ensuring that the wheel assembly 120 at least avoids the outward expansion path of the cleaning assembly 130. In some application scenarios, the outward expansion notch may be relatively large. When the wheel assembly 120 avoids the outward expansion notch, it is not necessary for the horizontal projection of the wheel assembly 120 on the side of the main body 110 to completely avoid the position of the outward expansion notch; a slight overlap is acceptable, as long as the wheel assembly 120, after avoiding the notch, does not interfere with the outward expansion movement of the cleaning assembly 130.

[0047] Optionally, the linkage mechanism 121 includes: a first link 21, which is rotatably connected to the equipment body 110; and a second link 22, one end of which is rotatably connected to the first link 21, and the other end of which is rotatably connected to the traveling wheel 122. The control component, in response to an outward cleaning command, controls the first link 21 and the second link 22 to rotate, such that the end of the second link 22 connected to the first link 21 is higher than the top surface of the equipment body 110, so that the first link 21 and the second link 22 avoid the outward cleaning notch.

[0048] In practical applications, the linkage mechanism 121 may further include a first joint and a second joint, which are respectively connected to corresponding motors. By controlling the motors, the first and second joints can be rotated accordingly. The first link 21 can be rotatably connected to the device body 110 via the first joint, and the second link 22 can be rotatably connected to the first link 21 via the second joint. The control component can control the rotation angle of the first and second joints, thereby driving the first link 21 and the second link 22 to rotate, such as... Figures 4-5 As shown, the final result is that the end where the second link 22 and the first link 21 are connected is higher than the top surface of the device body 110. Assuming that the outward expansion notch is located near the end where the second link 22 and the first link 21 are connected, when the end where the second link 22 and the first link 21 are connected is raised, the outward expansion notch can be avoided by the first link 21 and the second link 22, thereby ensuring the outward expansion path of the cleaning component 130.

[0049] In another way of adjusting the wheel assembly 120 to avoid the outward expansion notch, the linkage mechanism 121 is optionally provided with an avoidance notch, which is opposite to the outward expansion notch in the outward expansion mode.

[0050] It is understood that the links of the first link 21 and the second link 22 are generally continuous, complete, without gaps or breaks. However, in this embodiment, when the link mechanism 121 is in the retracted state, such as Figure 6 As shown, an avoidance gap is dug at the position corresponding to the outward expansion gap, so that even without adjusting the attitude of the linkage mechanism 121, the cleaning component 130 can still be expanded to at least partially beyond the edge of the equipment body 110.

[0051] Alternatively, if the linkage 121 has been folded but the clearance notch is not fully aligned with the outward expansion notch, the clearance notch can be aligned with the outward expansion notch by adjusting the posture of the linkage 121 to ensure that the cleaning component 130 can expand outward to at least partially extend beyond the edge of the device body 110.

[0052] Alternatively, a baffle can be added at the location of the clearance gap, and the baffle can be connected to a motor. The control unit can control this motor to drive the baffle to retract and lower. When the baffle is in the lowered state, the clearance gap is blocked; when the baffle is in the retracted state, the clearance gap is opened. Based on this, the control unit can control the baffle to retract in response to an outward cleaning command.

[0053] Additionally, it should be noted that the linkage mechanism 121 has a clearance notch, and the clearance notch relative to the outward expansion notch can be interpreted as ensuring that the clearance notch on the linkage mechanism 121 at least avoids the outward expansion path of the cleaning component 130. In some application scenarios, the outward expansion notch may be relatively large. When setting the clearance notch on the linkage mechanism 121, it is not necessary for the size of the clearance notch to be exactly the same as the size of the outward expansion notch; they can also overlap slightly, as long as the linkage mechanism 121 with the clearance notch does not interfere with the outward expansion movement of the cleaning component 130.

[0054] Finally, it should be noted that if the cleaning device 10 enters low-ceilinged spaces for cleaning, such as under beds or cabinets, the limited space above the cleaning device 10 makes it difficult to adjust the end connecting the second link 22 and the first link 21 to be higher than the top surface of the device body 110. In such cases, instead of adjusting the attitude of the link mechanism 121 to avoid the outward expansion gap, other methods can be used. If no suitable solution exists, the cleaning component 130 can be stopped from operating in the outward expansion mode, allowing it to perform regular cleaning while retracted at the bottom of the device body 110. Once the cleaning device 10 leaves the low-ceilinged space, the cleaning component 130 can be switched back to the outward expansion mode.

[0055] By employing this application, the wheel assembly can be designed to avoid the outward expansion path of the cleaning assembly when it is operating in outward expansion mode. This allows the cleaning assembly to expand to at least partially beyond the edge of the device body when the wheel assembly does not need to extend. This method enables the outward-expanding cleaning assembly to reach certain hard-to-reach areas, even when there is interference between the device body's outer shell and obstacles, achieving effective cleaning of these areas. Furthermore, this application allows the cleaning assembly to expand freely even in cleaning equipment with climbing capabilities, improving its usability.

[0056] In another embodiment of this application, a cleaning method is provided, which can be applied to a cleaning device. The specific structure of the cleaning device can be found in the description of the previous embodiment, and will not be repeated here. The cleaning device may include a device body, a wheel assembly, and a cleaning component; the wheel assembly is connected to the side of the device body, and includes a linkage mechanism and a traveling wheel, with the linkage mechanism connecting the traveling wheel and the device body respectively; the cleaning component is connected to the device body, and the cleaning component has an outward expansion pattern extending at least partially beyond the edge of the device body; the device body is provided with an outward expansion notch for the outward expansion of the cleaning component.

[0057] like Figure 7 As shown, the cleaning method may include the following steps: 701. In response to the outward cleaning command, control the linkage mechanism to adjust its attitude so that the linkage mechanism avoids the outward path of the cleaning component.

[0058] 702. Control the cleaning component to expand outward along the expansion path to the preset position through the expansion notch.

[0059] 703. In response to the cleaning component expanding to a preset position, control the cleaning equipment to perform cleaning actions.

[0060] First, it should be noted that the implementation principle and specific implementation method of this embodiment are similar to those of the previous embodiment of this application. The solution provided in this embodiment can be implemented with reference to the description of the previous embodiment. The similarities will not be described in detail in this embodiment.

[0061] It is understandable that cleaning equipment has a climbing function. To achieve this function, a wheel assembly capable of rotating relative to the main body of the equipment is required. The wheel assembly is located on the outside of the main body. When the cleaning component operates in outward expansion mode, it needs to expand to a preset position, which may extend beyond the edge of the main body. Therefore, the wheel assembly may interfere with the outward expansion movement of the cleaning component. To solve this problem, in this embodiment, the wheel assembly is designed to avoid the outward expansion path of the cleaning component when it operates in outward expansion mode.

[0062] Specifically, the space occupied by the cleaning component during its outward expansion movement can be recorded, and this space constitutes the outward expansion path of the cleaning component. When the cleaning component is operating in outward expansion mode, a reasonable design can allow the wheel assembly to avoid the outward expansion path of the cleaning component.

[0063] It should be added that the cleaning component can operate in the extended mode under one condition: the wheel assembly must be in the retracted state, that is, the wheel assembly must not be in the extended state. Optionally, the extended cleaning command is used to instruct cleaning operations on the ground and / or stair treads. Based on this, the application scenario where the wheel assembly is in the retracted state can be when the cleaning equipment is cleaning flat surfaces such as floors and stair treads. In such scenarios, the wheel assembly does not need to extend to overcome obstacles or raise the main body of the equipment.

[0064] It is worth noting that when the wheel assembly is in the extended state, the cleaning component still needs to be retracted to the bottom of the main body of the device to prevent the cleaning component from interfering with the rotation of the wheel assembly relative to the main body of the device. When the wheel assembly is in the retracted state, the wheel assembly can remain stationary relative to the main body of the device and does not need to rotate frequently. Therefore, in this case, the cleaning component can be controlled to operate in the outward expansion mode, but it must be ensured that the wheel assembly can avoid the outward expansion path of the cleaning component.

[0065] Optionally, the process of controlling the linkage mechanism to adjust its posture can be implemented as follows: determining whether the linkage mechanism is in a retracted state, wherein when the linkage mechanism is in a retracted state, the linkage mechanism is folded to a preset maximum angle; if the linkage mechanism is in a retracted state, the linkage mechanism is controlled to adjust its posture.

[0066] It should be noted that when the linkage mechanism is folded to its preset maximum angle, it occupies the least space, making it easy to store. If the linkage mechanism is in the extended state, it is determined whether it can be controlled to retract. If the linkage mechanism is in the retracted state, its posture is directly adjusted. If the linkage mechanism can be controlled to retract, it is controlled to retract, thereby allowing for posture adjustment. Otherwise, the control cleaning component is disengaged and the outward expansion movement is initiated.

[0067] Optionally, the linkage mechanism includes a first link and a second link; the first link is rotatably connected to the main body of the equipment; one end of the second link is rotatably connected to the first link, and the other end of the second link is rotatably connected to the traveling wheel; the process of controlling the linkage mechanism to adjust its posture can be achieved as follows: while keeping the traveling wheel in contact with the surface being cleaned and the linkage mechanism folded to a preset maximum angle, the first link and the second link are controlled to rotate so that the end of the second link connected to the first link is higher than the top surface of the main body of the equipment, so that the first link and the second link avoid the outward expansion notch.

[0068] In practical applications, the linkage mechanism may also include a first joint and a second joint, each connected to a corresponding motor. By controlling the motors, the first and second joints can be rotated accordingly. The first link can be rotatably connected to the equipment body via the first joint, and the second link can be rotatably connected to the first link via the second joint. The control component can control the rotation angle of the first and second joints, thereby driving the first and second links to rotate, ultimately ensuring that the end of the second link connected to the first link is higher than the top surface of the equipment body. Assuming the outward expansion notch is located near the end where the second link and the first link are connected, when that end is raised, the outward expansion notch is avoided by the first and second links, thus ensuring the outward expansion path of the cleaning component.

[0069] Optionally, the extended cleaning components extend at least partially beyond the wheels.

[0070] In practical applications, during the contact between the rollers and the surface being cleaned, the rollers may leave marks on the surface. If the area that was just cleaned is subsequently run over by the rollers, it can cause secondary contamination. To solve this problem, cleaning components that extend at least partially beyond the rollers can be used to clean the marks left by the rollers, thereby improving the cleaning effect.

[0071] Optionally, the cleaning component is movably connected to the main body of the device; the process of controlling the cleaning component to expand outward along the expansion path through the expansion notch to the preset position can be achieved by controlling the cleaning component to move to the preset position through the expansion notch along the expansion path.

[0072] Specifically, the bottom of the main body of the device can be equipped with a slide rail or guide groove, and the cleaning component can be slidably installed in the slide rail or guide groove via a slider or guide wheel. When it is necessary to move to a preset position along the outward expansion path through the outward expansion notch, the drive mechanism (such as a motor, lead screw mechanism, or electromagnetic push rod) drives the cleaning component to move to the preset position along the outward expansion path.

[0073] Optionally, the cleaning component is deformably disposed on the main body of the device; the process of controlling the cleaning component to expand outward along the outward path through the outward expansion notch to the preset position can be realized as follows: controlling the cleaning component to deform outward along the outward path through the outward expansion notch to the preset position.

[0074] For example, the cleaning component can have a foldable, retractable, or rotatable structure. When it needs to deform to a preset position, the cleaning component can unfold or extend, so that it at least partially extends beyond the edge of the device body.

[0075] By employing this application, when the cleaning component operates in the outward expansion mode, the attitude of the wheel assembly can be appropriately adjusted to ensure that the wheel assembly avoids the outward expansion path of the cleaning component. This allows the cleaning component to expand to at least partially beyond the edge of the device body when the wheel assembly does not need to extend. Using this method, even when there is interference between the device body's outer shell and obstacles, the outward-expanding cleaning component can still reach certain hard-to-reach areas, achieving effective cleaning of these areas. This application also allows the cleaning component to freely expand even in cleaning equipment with climbing capabilities, improving the flexibility of its use.

[0076] In one possible design, the above Figure 7 The cleaning method shown can be implemented in 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. Figure 7 The cleaning method provided in the illustrated embodiment.

[0077] Optionally, the electronic device may also include a communication interface 93 for communicating with other devices.

[0078] 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. Figure 7 The cleaning method provided in the illustrated embodiment.

[0079] 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.

[0080] 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.

[0081] The 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 embodiments can download the program / software to a local non-volatile storage medium, and when it needs to execute the aforementioned cleaning method, the CPU reads the program / software into memory, and then the CPU executes the program / software to implement the cleaning method provided in the foregoing embodiments. The execution process can be found in the foregoing... Figure 7 The illustration is shown in the image.

[0082] 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 cleaning device, characterized in that, The cleaning equipment includes: Equipment body; A wheel assembly, comprising a linkage mechanism and a traveling wheel, wherein the linkage mechanism connects the traveling wheel and the main body of the equipment respectively; A cleaning component, the cleaning component being connected to the device body, and the cleaning component having an outward expansion pattern extending at least partially beyond the edge of the device body; The wheel assembly is configured to avoid the outward expansion path of the cleaning component when the cleaning component is operating in the outward expansion mode.

2. The cleaning equipment according to claim 1, characterized in that, The wheel assembly is connected to the side of the device body, and the device body is provided with an expansion notch for the cleaning component to expand outward. In the expansion mode, the wheel assembly is adjusted to avoid the expansion notch.

3. The cleaning equipment according to claim 2, characterized in that, The cleaning equipment also includes: A control component that, in response to an outward cleaning command, controls the linkage mechanism to adjust its attitude so that the linkage mechanism avoids the outward gap.

4. The cleaning equipment according to claim 3, characterized in that, The linkage mechanism includes: The first link is rotatably connected to the main body of the equipment; The second link has one end rotatably connected to the first link and the other end rotatably connected to the walking wheel; In response to the outward cleaning command, the control component controls the first link and the second link to rotate, such that the end of the second link connected to the first link is higher than the top surface of the main body of the device, so that the first link and the second link avoid the outward gap.

5. The cleaning equipment according to claim 2, characterized in that, The linkage mechanism is provided with a clearance notch, and in the outward expansion mode, the clearance notch and the outward expansion notch are opposite each other.

6. The cleaning equipment according to claim 5, characterized in that, In the extended mode, the linkage mechanism is in a contracted state, which means that the projection of the linkage mechanism on the side of the device body is located within the side of the device body.

7. A cleaning method, characterized in that, The cleaning equipment includes a main body, a wheel assembly, and a cleaning component. The wheel assembly is connected to the side of the main body and includes a linkage mechanism and a walking wheel. The linkage mechanism connects the walking wheel and the main body. The cleaning component is connected to the main body and has an outward expansion pattern that extends at least partially beyond the edge of the main body. The main body of the device is provided with an expansion notch for the cleaning component to expand outward; The method includes: In response to an outward cleaning command, the linkage mechanism is controlled to adjust its posture so that it avoids the outward path of the cleaning component; The cleaning component is controlled to expand outward along the expansion path to a preset position through the expansion notch; In response to the cleaning component extending to the preset position, the cleaning device is controlled to perform a cleaning action.

8. The method according to claim 7, characterized in that, The control of the linkage mechanism to adjust its attitude includes: Determine whether the linkage mechanism is in a retracted state, wherein when the linkage mechanism is in a retracted state, the linkage mechanism is folded to a preset maximum angle; If the linkage mechanism is in the retracted state, then control the linkage mechanism to adjust its posture.

9. The method according to claim 8, characterized in that, The linkage mechanism includes a first link and a second link; the first link is rotatably connected to the main body of the equipment; one end of the second link is rotatably connected to the first link, and the other end of the second link is rotatably connected to the walking wheel; The control of the linkage mechanism to adjust its attitude includes: While keeping the walking wheel in contact with the surface being cleaned and the linkage mechanism folded to the preset maximum angle, control the first linkage and the second linkage to rotate so that the end of the second linkage connected to the first linkage is higher than the top surface of the main body of the equipment, so that the first linkage and the second linkage avoid the outward expansion notch.

10. The method according to claim 7, characterized in that, The extended cleaning components extend at least partially beyond the walking wheels.

11. The method according to claim 7, characterized in that, The cleaning component is movably connected to the device body; controlling the cleaning component to expand outward along the expansion path to a preset position through the expansion notch includes: The cleaning component is controlled to move along the outward path through the outward expansion notch to a preset position.

12. The method according to claim 7, characterized in that, The cleaning component is deformably disposed on the device body; controlling the cleaning component to expand outward along the expansion path to a preset position through the expansion notch includes: The cleaning component is controlled to deform along the outward expansion path through the outward expansion notch to a preset position.

13. The method according to any one of claims 7-12, characterized in that, The extended cleaning command is used to instruct cleaning operations to be performed on the ground and / or stair treads.

14. An electronic device, characterized in that, include: A memory and a processor; wherein the memory stores executable code, which, when executed by the processor, causes the processor to perform the cleaning method as described in any one of claims 7-13.

15. 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 cleaning method as described in any one of claims 7-13.

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