A cleaning method for a self-moving cleaning device

Abstract

The invention provides a cleaning method of self-moving cleaning equipment, which comprises the following steps: in an edge cleaning process, acquiring surrounding environment information of the self-moving cleaning equipment in real time, and determining a boundary scene type of a to-be-cleaned area according to the surrounding environment information; according to the boundary scene type, an edge cleaning strategy matched with the boundary scene type is determined, and cleaning is carried out in sequence; in each edge cleaning strategy, the cleaning piece is configured with a corresponding target external expansion position, and the target external expansion position at least comprises a first external expansion position and a second external expansion position; the edge of the cleaning part is flush with the edge of the machine body or extends to the outside of the edge of the machine body under the first external expansion position, and the distance of the cleaning part extending to the outside of the edge of the machine body under the second external expansion position is larger than the distance of the cleaning part extending to the outside of the edge of the machine body under the first external expansion position. The technical problem that the cleaning strategy of the cleaning piece on the corner area is single can be solved.

Description

(19) State Intellectual Property Office (12) Invention Patent Application (10) Application Publication Number (43) Application Publication Date (21) Application Number 202512059749.4 (22) Application Date 2025.12.31 (71) Applicant: Zhuimi Innovation Technology (Suzhou) Co., Ltd. Address: Units 1, 2, and 3, Building 8, No. 1688, Songwei Road, Guoxiang Street, Wuzhong Economic Development Zone, Suzhou City, Jiangsu Province, 215000 Applicant: Zhuimi Technology (Shenzhen) Co., Ltd. (72) Inventors: Zhong Jiale, Pan Tiancheng, Liu Xiefei, Sun Zeguang (74) Patent Agency: Shanghai Hanzhi Law Firm, 31378 Patent Attorney: Wang Haisheng (51) Int.Cl. A47L 11 / 40 (2006.01) A47L 11 / 24 (2006.01) A47L 11 / 282 (2006.01) A47L 11 / 32 (2006.01) (54) Invention Title: A Cleaning Method for a Self-Moving Cleaning Device (57) Abstract: This invention provides a cleaning method for a self-moving cleaning device, comprising: acquiring real-time information about the surrounding environment of the self-moving cleaning device during edge cleaning, and determining the boundary scene type of the area to be cleaned based on the surrounding environment information; determining an edge cleaning strategy matching the boundary scene type based on the boundary scene type, and performing cleaning sequentially; in each edge cleaning strategy, the cleaning component is configured with a corresponding target expansion position, the target expansion position including at least a first expansion position and a second expansion position; in the first expansion position, the edge of the cleaning component is flush with or extends to the outside of the edge of the body, and in the second expansion position, the distance the cleaning component extends to the outside of the edge of the body is greater than the distance the cleaning component extends to the outside of the edge of the body in the first expansion position. This invention can improve the technical problem that the cleaning strategy of the cleaning component for the corner area is relatively simple. Claims 6 pages, Description 37 pages, Drawings 11 pages, CN 121647575 A 2026.03.13 CN 1 21 64 75 75 A 1. A cleaning method for a self-moving cleaning device, characterized in that the cleaning method includes: during edge cleaning, acquiring real-time information about the surrounding environment of the self-moving cleaning device, and determining the boundary scene type of the area to be cleaned based on the surrounding environment information; determining an edge cleaning strategy matching the boundary scene type based on the boundary scene type, and cleaning the area to be cleaned based on the edge cleaning strategy; wherein, in each edge cleaning strategy, the cleaning component of the self-moving cleaning device is configured with a corresponding target outward expansion position, the target outward expansion position including at least a first outward expansion position and a second outward expansion position; at the first outward expansion position, the edge of the cleaning component is flush with or extends to the edge of the body of the self-moving cleaning device.Outside the edge, in the second outward expansion position, the edge of the cleaning component extends at least partially to the outside of the edge of the body, and the distance by which the cleaning component extends to the outside of the edge of the body is greater than the distance by which the edge of the cleaning component extends to the outside of the edge of the body when the cleaning component is in the first outward expansion position. 2. The cleaning method according to claim 1, characterized in that, determining an edge cleaning strategy matching the boundary scene type according to the boundary scene type, and cleaning the area to be cleaned according to the edge cleaning strategy, comprises: if the boundary scene type is a first boundary scene, then determining the corresponding edge cleaning strategy as a first edge cleaning strategy, and cleaning the area to be cleaned according to the first edge cleaning strategy, wherein in the first edge cleaning strategy, the target outward expansion position is the first outward expansion position; if the boundary scene type is a second boundary scene, then determining the corresponding edge cleaning strategy as a second edge cleaning strategy, and cleaning the area to be cleaned according to the second edge cleaning strategy, wherein in the second edge cleaning strategy, the target outward expansion position is the second outward expansion position; wherein, the first boundary scene includes at least a baseboard boundary scene and / or a wall edge scene, and the second boundary scene includes at least a furniture leg scene. 3. The cleaning method according to claim 1, wherein the target outward expansion position further includes a third outward expansion position, wherein in the third outward expansion position, the distance by which the edge of the cleaning component extends beyond the edge of the fuselage is greater than the distance by which the edge of the cleaning component extends beyond the edge of the fuselage in the second outward expansion position. 4. The cleaning method according to claim 3, wherein determining an edge cleaning strategy matching the boundary scene type based on the boundary scene type, and cleaning the area to be cleaned according to the edge cleaning strategy, includes: if the boundary scene type is a third boundary scene, then determining the corresponding edge cleaning strategy as a third edge cleaning strategy; cleaning the area to be cleaned according to the third edge cleaning strategy; wherein the third boundary scene is a concave edge scene, the concave edge scene includes a concave space, the height of the concave space is less than the height of the fuselage and greater than the height of the cleaning component; the concave space allows at least a portion of the cleaning component to extend into it. 5. The cleaning method according to claim 4, characterized in that the step of cleaning the area to be cleaned according to the third edge cleaning strategy includes: obtaining the concave depth of the concave edge space; determining whether the concave depth is greater than a preset depth; if yes, then taking the third outward expansion position as the target outward expansion position; if no, then taking the second outward expansion position as the target outward expansion position;Wherein, the concave depth refers to the maximum horizontal distance that the cleaning component can extend into the concave space along a direction perpendicular to the travel direction of the machine body. 6. The cleaning method according to claim 3, characterized in that, determining an edge cleaning strategy matching the boundary scene type according to the boundary scene type, and cleaning the area to be cleaned according to the edge cleaning strategy, includes: if the boundary scene type is a fourth boundary scene, then determining the corresponding edge cleaning strategy as a fourth edge cleaning strategy; cleaning the area to be cleaned according to the fourth edge cleaning strategy; wherein, the fourth boundary scene is a concave corner scene, and the concave corner scene refers to a concave corner formed by the intersection and enclosure of at least two boundaries within the area to be cleaned, and the included angle between at least two boundaries is less than or equal to a preset angle. 7. The cleaning method according to claim 6, characterized in that the concave corner includes a first boundary and a second boundary, the first boundary and the second boundary enclosing a corner body, the cleaning component also having an inwardly recessed position, in which the cleaning component is completely housed below the bottom of the body; the cleaning of the area to be cleaned according to the fourth edge cleaning strategy includes: controlling the self-moving cleaning device to move along the first boundary towards the second boundary, and acquiring the distance S1 between the self-moving cleaning device and the second boundary in real time during the movement; when the distance S1 is equal to a preset safety distance, controlling the self-moving cleaning device to start executing a first cleaning mode to complete one cleaning of the corner body; controlling the self-moving cleaning device to move along the second boundary away from the first boundary, and performing edge cleaning on the second boundary during the movement; In the first cleaning mode, the cleaning component switches between the first target expansion position and the second target expansion position; or switches between the retracted position and the second target expansion position; the first target expansion position is the first expansion position, and the second target expansion position is the second expansion position or the third expansion position. 8. The cleaning method according to claim 7, wherein the first cleaning mode includes: controlling the body to rotate a first angle along a first direction, and controlling the cleaning component to expand to the second target expansion position during the rotation, so that the cleaning component can clean at least a portion of the corner body; controlling the body to continue rotating a second angle along the first direction, and controlling the cleaning component to retract from the second target expansion position to the first target expansion position or the retracted position during the rotation, so that the cleaning component can clean at least another portion of the corner body. 9. The cleaning method according to claim 8, wherein the first cleaning mode includes controlling the body to rotate along the first direction...Before controlling the cleaning component to expand outward to the second target expansion position during rotation, the method further includes: determining whether the cleaning component is in the retracted position; if so, controlling the machine body to rotate by a first angle along the first direction; if not, controlling the cleaning component to retract to the retracted position before controlling the machine body to rotate by a first angle along the first direction. 10. The cleaning method according to claim 8, characterized in that, during the execution of the first cleaning mode, when the machine body rotates by the first angle along the first direction and / or continues to rotate by the second angle, the machine body only rotates around the first rotation axis and does not produce translational motion. 11. The cleaning method according to claim 8, characterized in that controlling the machine body to rotate along a first direction by a first angle, and controlling the cleaning component to expand outward to the second target expansion position during the rotation, comprises: controlling the machine body to rotate along the first direction by a first angle; and, during the process of the machine body rotating along the first direction by a first angle, performing the following steps: acquiring in real time a first minimum distance between the edge of the machine body and the first boundary and / or a second minimum distance between the edge and the second boundary, and when the first minimum distance and / or the second minimum distance are outside the preset distance range, controlling the machine body to translate until the first minimum distance and / or the second minimum distance are within the preset distance range; and controlling the cleaning component to expand outward to the second target expansion position. 12. The cleaning method according to claim 8, characterized in that, after controlling the body to rotate a first angle along a first direction and controlling the cleaning component to expand outward to the second target expansion position during the rotation, it further includes: obtaining a first minimum distance between the edge of the body and the first boundary and / or a second minimum distance between the edge of the body and the second boundary, and when the first minimum distance and / or the second minimum distance are outside a preset distance range, controlling the body to translate until the first minimum distance and / or the second minimum distance are within the preset distance range. 13. The cleaning method according to claim 8, characterized in that, after controlling the body to rotate a first angle along a first direction and controlling the cleaning component to expand outward to the second target expansion position during the rotation, and before controlling the body to continue rotating a second angle along the first direction and controlling the cleaning component to retract from the second target expansion position to the first target expansion position or the retracted position during the rotation, it further includes: controlling the body to rotate at least a third angle along the first direction; wherein, during the rotation of the body at the third angle, the cleaning component remains at the second target expansion position.14. The cleaning method according to claim 13, characterized in that, during or after controlling the body to rotate at least a third angle along the first direction, the method further includes: obtaining a first minimum distance between the edge of the body and the first boundary and / or a second minimum distance between the edge and the second boundary; determining whether the first minimum distance and / or the second minimum distance are within a preset distance range; if not, controlling the body to perform a translational movement until the first minimum distance and / or the second minimum distance are within the preset distance range; if yes, controlling the body to continue rotating along the first direction by the third angle; or, controlling the body to rotate along the first direction by the second angle. 15. The cleaning method according to claim 8, characterized in that, controlling the body to continue rotating a second angle along the first direction, and controlling the cleaning component to retract from the second target outward expansion position to the first target outward expansion position or the inward retraction position during the rotation, comprises: controlling the body to rotate a second angle along the first direction; and, during the process of the body rotating a second angle along the first direction, performing the following steps: acquiring in real time a first minimum distance between the edge of the body and the first boundary and / or a second minimum distance between the edge of the body and the second boundary, and when the first minimum distance and / or the second minimum distance are outside the preset distance range, controlling the body to translate until the first minimum distance and / or the second minimum distance are within the preset distance range; and controlling the cleaning component to retract from the second target outward expansion position to the first target outward expansion position or the inward retraction position. 16. The cleaning method according to claim 8, characterized in that, after controlling the machine body to continue rotating a second angle along the first direction, and controlling the cleaning component to retract from the second target expansion position to the first target expansion position or the retracted position during the rotation, the method further includes: obtaining a first minimum distance between the edge of the machine body and the first boundary and / or a second minimum distance between the edge of the machine body and the second boundary, and when the first minimum distance and / or the second minimum distance is outside a preset distance range, controlling the machine body to translate until the first minimum distance and / or the second minimum distance is within the preset distance range. 17. The cleaning method according to claim 8, characterized in that, after controlling the machine body to continue rotating a second angle along the first direction, and controlling the cleaning component to retract from the second target expansion position to the first target expansion position or the retracted position during the rotation, the method further includes: detecting whether the traveling direction of the machine body is consistent with the extension direction of the second boundary, and controlling the cleaning component to retract from the second target expansion position to the first target expansion position or the retracted position when they are inconsistent.The fuselage continues to rotate at a fourth angle until the direction of travel of the fuselage is consistent with the extension direction of the second boundary. 18. The cleaning method according to claim 7, characterized in that, after controlling the self-moving cleaning device to start executing the first cleaning mode to complete the first cleaning of the corner body when the distance S1 is equal to the preset safety distance, and before controlling the self-moving cleaning device to move along the second boundary in a direction away from the first boundary and performing edge cleaning of the second boundary during the movement, the method further includes: performing a cleanliness detection on the corner body to determine whether it is clean; if it is clean, controlling the self-moving cleaning device to move along the second boundary in a direction away from the first boundary and performing edge cleaning of the second boundary during the movement; if it is not clean, controlling the self-moving cleaning device to execute the second cleaning mode to perform a second cleaning of the corner body; after completing the second cleaning, controlling the self-moving cleaning device to execute the first cleaning mode again to perform a third cleaning of the corner body; repeating the second cleaning mode and the first cleaning mode until the corner body is clean. 19. The cleaning method according to claim 7, characterized in that, in the retracted position, the cleaning component further includes a raised position that lifts away from the area to be cleaned; after controlling the self-moving cleaning device to start executing the first cleaning mode when the distance S1 is equal to a preset safety distance to complete one cleaning of the corner body, and before controlling the self-moving cleaning device to move along the second boundary in a direction away from the first boundary and performing edge cleaning on the second boundary during the movement, the method further includes: performing a cleanliness detection on the corner body to determine whether it is clean; if it is clean, controlling the self-moving cleaning device to move along the second boundary in a direction away from the first boundary and performing edge cleaning on the second boundary during the movement; if it is not clean, controlling the cleaning component to switch to the raised position; controlling the self-moving cleaning device to rotate in a second direction opposite to the first direction until the self-moving cleaning device returns to the posture when it started executing the first cleaning mode; controlling the self-moving cleaning device to execute the first cleaning mode again to perform a second cleaning of the corner body; Repeat the first cleaning mode until the corner body is cleaned. 20. The cleaning method according to claim 18, wherein the second cleaning mode includes: controlling the body to rotate a second angle along a second direction opposite to the first direction, and controlling the cleaning component to expand outward to the second target expansion position during the rotation, so that the cleaning component can clean at least a portion of the corner body;The cleaning method according to claim 20 further comprises: controlling the body to continue rotating a first angle along the second direction, and controlling the cleaning component to retract from the second target outward expansion position to the first target outward expansion position or the inward retraction position during the rotation, so that the cleaning component can clean at least another part of the corner body. 21. The cleaning method according to claim 20, characterized in that, before controlling the body to rotate a second angle along the second direction and controlling the cleaning component to expand to the second target outward expansion position during the rotation, the method further comprises: determining whether the cleaning component is in the inward retraction position; if yes, controlling the body to rotate a second angle along the second direction; if not, controlling the cleaning component to retract to the inward retraction position and then controlling the body to rotate a second angle along the second direction. 22. The cleaning method according to claim 20, characterized in that, during the execution of the second cleaning mode, when the body rotates a second angle along the second direction and / or continues to rotate a first angle, the body only rotates around a second rotation axis and does not produce translational motion. 23. The cleaning method according to claim 20, characterized in that controlling the machine body to rotate a second angle along a second direction, and controlling the cleaning component to expand outward to the second target expansion position during the rotation, comprises: controlling the machine body to rotate a second angle along the second direction; and, during the process of the machine body rotating a second angle along the second direction, performing the following steps: acquiring in real time a first minimum distance between the edge of the machine body and the first boundary and / or a second minimum distance between the edge and the second boundary, and when the first minimum distance and / or the second minimum distance is outside the preset distance range, controlling the machine body to translate until the first minimum distance and / or the second minimum distance is within the preset distance range; and controlling the cleaning component to expand outward to the second target expansion position. 24. The cleaning method according to claim 20, characterized in that, after controlling the body to rotate a second angle along a second direction and controlling the cleaning component to expand outward to the second target expansion position during the rotation, it further includes: obtaining a first minimum distance between the edge of the body and the first boundary and / or a second minimum distance between the edge of the body and the second boundary, and when the first minimum distance and / or the second minimum distance is outside a preset distance range, controlling the body to translate until the first minimum distance and / or the second minimum distance is within the preset distance range. 25. The cleaning method according to claim 20, characterized in that, after controlling the body to rotate a second angle along a second direction and controlling the cleaning component to expand outward to the second target expansion position during the rotation, and after controlling the body to continue rotating a first angle along the second direction and controlling the cleaning component to expand outward from the target expansion position during the rotation, and after controlling the body to continue rotating a first angle along the second direction and controlling the cleaning component to expand outward from the target expansion position during the rotation, it further includes: obtaining a first minimum distance between the edge of the body and the first minimum distance between the edge of the body and the second boundary, and controlling the cleaning component to expand outward to the second target expansion position during the rotation, as claimed in the claim 20.Page 5 / 6 of the book, CN 121647575 A, before the second target expansion position retracts to the first target expansion position or the inward position, the method further includes: controlling the body to rotate at least a fifth angle along the second direction; wherein, during the process of the body rotating at the fifth angle, the cleaning component remains in the second target expansion position. 26. The cleaning method according to claim 25, characterized in that, during or after the process of controlling the body to rotate at least a fifth angle along the second direction, the method further includes: obtaining a first minimum distance between the edge of the body and the first boundary and / or a second minimum distance between the edge and the second boundary; determining whether the first minimum distance and / or the second minimum distance are within a preset distance range; if not, controlling the body to perform a translational movement until the first minimum distance and / or the second minimum distance are within the preset distance range; if yes, controlling the body to continue rotating along the first direction by the fifth angle; or, controlling the body to rotate along the second direction by the first angle. 27. The cleaning method according to claim 3 or 18, characterized in that, during the process of the machine body rotating at a first angle along a first direction and / or rotating at a second angle along a second direction, the rotation speed of the machine body gradually decreases, and during the process of the machine body rotating at a second angle along the first direction and / or rotating at a first angle along the second direction, the rotation speed of the machine body gradually increases. 28. The cleaning method according to claim 3, wherein the cleaning component is a roller mop or a tracked mop; the self-moving cleaning device further includes a drive mechanism for driving the cleaning component to move laterally relative to the machine body, the drive mechanism including a drive motor configured with an encoder; the step of determining an edge cleaning strategy matching the boundary scene type according to the boundary scene type, and cleaning the area to be cleaned according to the edge cleaning strategy, includes: controlling the movement of the cleaning component between the first outward expansion position, the second outward expansion position, and the third outward expansion position through an electrical signal fed back by the encoder; and / or, the cleaning device further includes a first positioning detection component and a second positioning detection component, wherein the step of determining an edge cleaning strategy matching the boundary scene type according to the boundary scene type, and cleaning the area to be cleaned according to the edge cleaning strategy, includes: if the first positioning detection component generates a first positioning electrical signal, determining that the cleaning component has moved to the first outward expansion position; if the second positioning detection component generates a second positioning electrical signal, determining that the cleaning component has moved to the third outward expansion position. 29. The cleaning method according to claim 28, characterized in that, after determining that the cleaning component has moved to the first outward expansion position if the first positioning detection component generates a first positioning electrical signal, the method further includes:Controlling the encoder to zero so that the cleaning component's current position relative to the body at the first extended position is recorded as zero. 30. The cleaning method according to claim 28, characterized in that, if the second positioning detection component generates a second positioning electrical signal, it is determined that the cleaning component has moved to the third extended position, further comprising: controlling the encoder to zero so that the cleaning component's current position relative to the body at the third extended position is recorded as zero. Claims 6 / 6 Page 7 CN 121647575 A Cleaning Method for a Self-Moving Cleaning Device Technical Field

[0001] This invention relates to the field of cleaning technology, and in particular to a cleaning method for a self-moving cleaning device. Background Art

[0002] With the development of smart home technology, self-moving cleaning devices have been widely used in the field of indoor cleaning. In order to improve the cleaning effect of corner areas, devices with cleaning component extension functions have appeared in the prior art, enabling them to reach and clean areas near corners to a certain extent.

[0003] However, in existing cleaning methods, the cleaning strategies for corner areas are relatively simple and cannot be adapted to different boundary scene types (such as wall edges, furniture edges, concave corners, etc.). In complex and ever-changing home environments, this can easily lead to incomplete coverage of the cleaning area and difficulty in guaranteeing the cleaning effect. Therefore, it limits the applicability of cleaning equipment in diverse scenarios, which in turn affects the overall cleaning ability of the cleaning equipment and the user experience. Summary of the Invention

[0004] The present invention provides a cleaning method for a self-moving cleaning device to improve the technical problem that the cleaning strategies for corner areas are relatively simple and cannot meet the cleaning needs of diverse boundary scenes in complex and ever-changing home environments.

[0005] This invention provides a cleaning method for a self-moving cleaning device, the cleaning method comprising:

[0006] during edge cleaning, acquiring real-time information about the surrounding environment of the self-moving cleaning device, and determining the boundary scene type of the area to be cleaned based on the surrounding environment information;

[0007] determining an edge cleaning strategy matching the boundary scene type based on the boundary scene type, and cleaning the area to be cleaned based on the edge cleaning strategy;

[0008] wherein, in each edge cleaning strategy, the cleaning component of the self-moving cleaning device is configured with a corresponding target outward expansion position, the target outward expansion position including at least a first outward expansion position and a second outward expansion position; in the first outward expansion position, the edge of the cleaning component is flush with or extends to the outside of the edge of the self-moving cleaning device body; in the second outward expansion position, the edge of the cleaning component extends at least partially to the outside of the edge of the body, and the distance by which the cleaning component extends to the outside of the edge of the body is greater than the distance by which the edge of the cleaning component extends to the outside of the edge of the body when the cleaning component is in the first outward expansion position.

[0009] The beneficial effects of this design are as follows: The cleaning method of the self-moving cleaning device in this embodiment effectively addresses the technical problem that a single cleaning strategy is insufficient to meet the diverse cleaning needs of complex and ever-changing home environments. Specifically, this cleaning method acquires surrounding environmental information in real time and identifies different boundary scene types, dynamically matching appropriate edge cleaning strategies. This overcomes the limitations of existing technologies with relatively singular cleaning strategies, thereby improving the completeness and effectiveness of cleaning coverage for various boundary scenes such as wall edges, furniture edges, and recessed corners. Simultaneously, this cleaning method configures corresponding target expansion positions for different boundary scenes, allowing the cleaning component to adjust its expansion distance based on actual scene requirements. This enables effective access and cleaning of various boundary structures, from regular straight wall edges to deep recessed corners, thus enhancing the adaptability of the self-moving cleaning device to diverse home environments. Through the synergistic effect of scene recognition, strategy matching, and expansion control, this method significantly reduces cleaning blind spots and automates and intelligentizes the corner cleaning process. It achieves optimal boundary scene cleaning results without manual intervention, thereby improving the autonomous cleaning capability and user experience of the cleaning device in multiple scenarios. Instruction manual, page 1 / 37, CN 121647575 A

[0010] In one embodiment of the present invention, a cleaning strategy matching the boundary scene type is determined according to the boundary scene type, and the area to be cleaned is cleaned according to the cleaning strategy, including:

[0011] If the boundary scene type is a first boundary scene, the corresponding cleaning strategy is determined to be a first cleaning strategy, and the area to be cleaned is cleaned according to the first cleaning strategy, and in the first cleaning strategy, the target outward expansion position is the first outward expansion position;

[0012] If the boundary scene type is a second boundary scene, the corresponding cleaning strategy is determined to be a second cleaning strategy, and the area to be cleaned is cleaned according to the second cleaning strategy, and in the second cleaning strategy, the target outward expansion position is the second outward expansion position;

[0013] Wherein, the first boundary scene includes at least a baseboard boundary scene and / or a wall edge scene, and the second boundary scene includes at least a furniture leg scene.

[0014] The beneficial effects of this design are as follows: In the first edge-cleaning strategy, the target outward expansion position is set as the first outward expansion position, ensuring that the cleaning component maintains a small outward expansion at continuous straight boundaries, or even flush with the edge of the machine body, ensuring close cleaning while avoiding collisions or efficiency reductions caused by excessive outward expansion. In the second edge-cleaning strategy, the target outward expansion position is set as a larger second outward expansion position, allowing the cleaning component to extend further, effectively reaching the area around isolated obstacles such as table legs and concave areas, achieving in-depth cleaning of complex boundary structures. This design achieves intelligent matching between the outward expansion distance and scene requirements, balancing cleaning coverage and operational reliability. Through the above scene differentiation and strategy matching, this method can significantly reduce the impact of cleaning...The single strategy avoids omissions or blind spots, especially in traditionally difficult-to-clean areas such as table legs and concave furniture edges, achieving more comprehensive coverage. It also optimizes the contact state between the cleaning component and different boundaries, further improving the cleanliness of corners while ensuring cleaning power, ultimately achieving an overall improvement in cleaning coverage integrity.

[0015] In one embodiment of the present invention, the target outward expansion position also includes a third outward expansion position. In the third outward expansion position, the distance the edge of the cleaning component extends beyond the edge of the machine body is greater than the distance in the second outward expansion position.

[0016] The beneficial effect of this setting is that by adding a third outward expansion position based on the first and second outward expansion positions, and in the third outward expansion position, the distance the edge of the cleaning component can extend beyond the edge of the machine body is greater than the outward expansion distance in the second outward expansion position, thereby enabling the cleaning component to deeply clean deep dead corners that are difficult for traditional cleaning equipment to reach, such as the deep bottom of wide furniture, the back of narrow crevices, and other special areas, significantly improving the cleaning coverage of the edges and complex corners of the entire house. Therefore, the addition of a third outward expansion position provides more options for the target outward expansion position, thereby enabling the adaptation to a wider range of cleaning strategies and further meeting the adaptability requirements of the cleaning method in diverse scenarios.

[0017] In one embodiment of the present invention, according to the boundary scene type, an edge cleaning strategy matching the boundary scene type is determined, and the area to be cleaned is cleaned according to the edge cleaning strategy, including:

[0018] If the boundary scene type is a third boundary scene, the corresponding edge cleaning strategy is determined to be a third edge cleaning strategy;

[0019] The area to be cleaned is cleaned according to the third edge cleaning strategy;

[0020] Wherein, the third boundary scene is a concave edge scene, the concave edge scene includes a concave space, the height of the concave space is less than the height of the body and greater than the height of the cleaning component; the concave space allows at least a portion of the cleaning component to extend into it.

[0021] The beneficial effects of this design are as follows: By identifying concave edge scenarios and matching them with a third edge cleaning strategy, the cleaning component can extend into the concave space between the machine body and the cleaning component, thereby achieving cleaning of concave areas that are difficult for traditional cleaning equipment to reach, such as the bottom of low cabinets, under furniture, and wall grooves, significantly improving the cleaning coverage. Clearly defining concave edge scenarios as the third boundary scenario and configuring dedicated cleaning strategies independently demonstrates the cleaning method's ability to differentiate and adapt to complex home structures. This design overcomes the limitations of traditional edge cleaning methods, which often have a single strategy and cannot distinguish between flat and concave boundaries. It achieves precise matching between cleaning actions and different boundary shapes, improving cleaning targeting while comprehensively enhancing the coverage and consistency of cleaning effects across all scenarios.

[0022] In one embodiment of the present invention, the area to be cleaned is cleaned according to a third edge cleaning strategy; including:

[0023] obtaining the concave depth of the concave space;

[0024] determining whether the concave depth is greater than a preset depth;

[0025] if yes, then the third outward expansion position is taken as the target outward expansion position;

[0026] if no, then the second outward expansion position is taken as the target outward expansion position;

[0027] wherein, the concave depth refers to the maximum horizontal distance that the cleaning component is allowed to extend into the concave space along the direction of travel perpendicular to the machine body.

[0028] The beneficial effect of this setting is that by obtaining the concave depth of the concave space, the third outward expansion position and the second outward expansion position can be configured differently for concave spaces of different depths, so that the cleaning component can fully extend to perform deep cleaning in deep concave scenarios (large concave depth size), and perform close cleaning with moderate outward expansion in shallow concave scenarios (small concave depth size), thereby reflecting the fine response of the cleaning strategy to the boundary geometry and enhancing the targeting and adaptability of cleaning.

[0029] In one embodiment of the present invention, a cleaning strategy matching the boundary scene type is determined according to the boundary scene type, and the area to be cleaned is cleaned according to the cleaning strategy, including:

[0030] If the boundary scene type is a fourth boundary scene, the corresponding cleaning strategy is determined to be the fourth cleaning strategy;

[0031] The area to be cleaned is cleaned according to the fourth cleaning strategy;

[0032] Wherein, the fourth boundary scene is a concave corner scene, and a concave corner scene refers to a concave corner formed by the intersection and enclosure of at least two boundaries in the area to be cleaned, and the included angle between at least two boundaries is less than or equal to a preset angle.

[0033] The beneficial effects of this configuration are as follows:

[0034] In one embodiment of the present invention, the concave corner includes a first boundary and a second boundary, which enclose and form a corner body; the cleaning component also has a recessed position, in which the cleaning component is completely housed below the bottom of the body; the cleaning of the area to be cleaned is performed according to the fourth edge cleaning strategy, including:

[0035] controlling the self-moving cleaning device to move along the first boundary towards the second boundary, and acquiring the distance S1 between the self-moving cleaning device and the second boundary in real time during the movement;

[0036] when the distance S1 is equal to a preset safety distance, controlling the self-moving cleaning device to start executing the first cleaning mode to complete one cleaning of the corner body;

[0037] controlling the self-moving cleaning device to move along the second boundary away from the first boundary, and performing edge cleaning on the second boundary during the movement;

[0038] During the execution of the first cleaning mode, the cleaning component switches between the first target expansion position and the second target expansion position; or switches between the inward position and the second target expansion position; the first target expansion position is the first expansion position, and the second target expansion position is the second expansion position or the third expansion position.

[0039] The beneficial effects of this setting: In this embodiment, by dynamically switching the state of the cleaning component between the first target expansion position and the second target expansion position (or between the retracted position and the second target expansion position) during the execution of the first cleaning mode, the cleaning component can flexibly adjust the expansion distance according to the geometric characteristics of different areas of the corner. For example, when approaching the corner, it switches to the retracted position to avoid interference, and when going deep into the corner, it switches to a larger expansion position to enhance the reach, thereby significantly improving the cleaning effect in deep corners and dead corners. Specification 3 / 37 pages 10 CN 121647575 A

[0040] In one embodiment of the present invention, the first cleaning mode includes:

[0041] Controlling the body to rotate a first angle along a first direction, and controlling the cleaning component to expand to the second target expansion position during the rotation, so that the cleaning component can clean at least a part of the corner body;

[0042] Controlling the body to continue rotating a second angle along the first direction, and controlling the cleaning component to retract from the second target expansion position to the first target expansion position or the retracted position during the rotation, so that the cleaning component can clean at least another part of the corner body.

[0043] The beneficial effects of this configuration are as follows: In this embodiment, the coordinated execution of the machine body rotation and the outward / retraction movement of the cleaning component allows the machine body movement and cleaning operation to overlap in time, reducing pauses and idle runs during the cleaning process, thereby improving work efficiency while ensuring cleaning quality. The multi-stage angle rotation mechanism can dynamically adjust the rotation angle and the outward expansion degree of the cleaning component at each stage according to the real-time perceived corner shape, depth, and opening size, achieving real-time matching between cleaning parameters and the actual corner structure, avoiding cleaning omissions or ineffective movements caused by fixed action paths. In addition, synchronous control of the cleaning component's retraction during rotation can actively prevent it from colliding with the opposite boundary or protrusions inside the corner, reducing the risk of machine body jamming or damage, thereby improving the stability and safety of the equipment during long-term operation in complex corner environments.

[0044] In one embodiment of the present invention, before controlling the machine body to rotate a first angle along a first direction and controlling the cleaning component to expand outward to a second target expansion position during the rotation, the method further includes:

[0045] determining whether the cleaning component is in an inward position;

[0046] if yes, controlling the machine body to rotate a first angle along the first direction;

[0047] if no, controlling the cleaning component to retract to the inward position before controlling the machine body to rotate a first angle along the first direction.

[0048] The beneficial effect of this setting is that by determining whether the cleaning component is in an inward position before rotating a first angle, and performing a retraction action first in a non-inward state, it can be ensured that the cleaning component is in an inward position during the machine body's turning process, thereby effectively avoiding damage to the cleaning component or scratches on surfaces such as furniture and walls caused by the collision between the outward expansion portion of the cleaning component and the boundary.This significantly reduces the risk of collision for self-moving cleaning equipment in complex corner environments. Simultaneously, this mechanism allows the cleaning component to approach the corner body as closely as possible during rotation, thereby expanding the cleaning coverage area within a limited space and improving the cleaning effect and coverage integrity of corner areas. Furthermore, unifying the cleaning component's state before starting the first angle of rotation provides consistent initial conditions for subsequent dynamic adjustments to the outward expansion strategy based on corner characteristics, thereby improving the accuracy of parameter control, enhancing the repeatability of cleaning actions, and ensuring stable and reliable cleaning effects for corners with different structures.

[0049] In one embodiment of the present invention, during the execution of the first cleaning mode, when the body rotates along the first direction by a first angle and / or continues to rotate by a second angle, the body only rotates around the first rotation axis without translational movement.

[0050] The beneficial effect of this setting is that in a movement mode with only rotation and no translation, the body can complete multi-angle adjustments at a fixed point. This characteristic is particularly suitable for space-constrained scenarios such as narrow corners, effectively avoiding interference between the body and the boundary caused by translational movement. After rotating at the first angle, the machine body can maintain the position of the rotation axis and continue to rotate at the second angle around the same axis, thereby achieving continuous adjustment of the cleaning components in terms of angle, and thus covering the surface in different directions of the corner. At the same time, this method can also avoid positioning errors and collision risks that may be caused by translational movement, thereby enhancing the control accuracy and overall reliability of the cleaning process.

[0051] In one embodiment of the present invention, controlling the machine body to rotate a first angle along a first direction, and controlling the cleaning component to expand outward to a second target expansion position during the rotation, includes:

[0052] controlling the machine body to rotate a first angle along a first direction;

[0053] during the process of the machine body rotating a first angle along a first direction, performing the following steps: Specification 4 / 37 page 11 CN 121647575 A

[0054] real-time acquisition of a first minimum distance between the edge of the machine body and a first boundary and / or a second minimum distance between the edge and a second boundary, and when the first minimum distance and / or the second minimum distance are outside a preset distance range, controlling the machine body to translate until the first minimum distance and / or the second minimum distance are within the preset distance range;

[0055] and controlling the cleaning component to expand outward to a second target expansion position.

[0056] The beneficial effects of this configuration are: real-time monitoring of the distance to the boundary during the machine's rotation, and timely correction of detected deviations through translational motion, effectively compensating for rotation errors caused by mechanical transmission, ground friction, or sensor noise, ensuring that the actual position of the machine remains consistent with the expected rotation path. By dynamically maintaining a safe distance between the machine and the two side boundaries, the cleaning component can always be in the optimal working position close to the corner body during rotation, avoiding the cleaning component being suspended or too far from the corner area due to machine offset, thereby improving the actual coverage and cleaning efficiency of the cleaning component on the corner surface.Effect. At the same time, real-time distance monitoring and translation adjustment form an active anti-collision mechanism, which can prevent the machine body or cleaning parts from interfering with the first boundary and the second boundary due to error accumulation during rotation, ensuring the safe operation of the machine body in narrow corner environments and reducing cleaning interruptions or equipment damage caused by collisions. In addition, the translation adjustment and rotation actions overlap in time, so there is no need to perform position correction separately after the rotation stops, thus not taking up extra cleaning time, thereby improving the tightness of the cleaning action connection and helping to improve the overall work efficiency of corner cleaning.

[0057] In one embodiment of the present invention, after controlling the machine body to rotate a first angle along the first direction and controlling the cleaning parts to expand to the second target expansion position during the rotation, the method further includes:

[0058] obtaining the first minimum distance between the edge of the machine body and the first boundary and / or the second minimum distance between the edge of the machine body and the second boundary, and when the first minimum distance and / or the second minimum distance are outside the preset distance range, controlling the machine body to translate until the first minimum distance and / or the second minimum distance are within the preset distance range.

[0059] The beneficial effects of this setting: In this embodiment, after the first angle rotation is completed, distance remeasurement and translation correction are performed, which can eliminate the positional deviation that may occur during the rotation process and ensure that the body finally stops at the ideal position that maintains a preset safe distance from the two side boundaries. This adjustment is conducive to the accurate execution of subsequent cleaning actions (such as continuing to rotate the second angle), reduces the cleaning path deviation caused by the cumulative error of rotation, thereby avoiding omission of coverage of the corner body area, and thus can improve the stability of the cleaning effect.

[0060] In one embodiment of the present invention, after controlling the body to rotate the first angle along the first direction and controlling the cleaning component to expand to the second target expansion position during the rotation, and after controlling the body to continue rotating the second angle along the first direction and controlling the cleaning component to retract from the second target expansion position to the first target expansion position or retraction position during the rotation, the method further includes:

[0061] Controlling the body to rotate at least one third angle along the first direction;

[0062] Wherein, during the process of the body rotating the third angle, the cleaning component remains at the second target expansion position.

[0063] The beneficial effects of this design: In this embodiment, by increasing the rotation at the intermediate angle (i.e., the third angle), the cleaning component can continuously contact the corner surface at different angles, thereby achieving multi-angle extended coverage of the corner body. This not only helps to expand the cleaning coverage area of ​​the cleaning component on the corner body, but also reduces cleaning blind spots caused by excessively large rotation angle intervals. At the same time, the rotation at the third angle can be flexibly set according to the actual geometry of the corner body, including the angle size, number of rotations, and movement mode, so that the cleaning process can more precisely adapt to corner structures of different depths and opening widths, thereby enhancing the cleaning adaptability to diverse home scenarios.

[0064] In one embodiment of the present invention, during or after controlling the fuselage to rotate at least a third angle along a first direction, the method further includes:

[0065] obtaining a first minimum distance between the edge of the fuselage and a first boundary and / or a second minimum distance between the edge and a second boundary;

[0066] determining whether the first minimum distance and / or the second minimum distance are within a preset distance range;

[0067] if not, controlling the fuselage to perform a translational movement until the first minimum distance and / or the second minimum distance are within the preset distance range;

[0068] if yes, controlling the fuselage to continue rotating a third angle along the first direction; or, controlling the fuselage to rotate a second angle along the first direction.

[0069] The beneficial effect of this setting is that by detecting the distance between the fuselage and the boundary during or after the third angle rotation, and controlling the fuselage to perform translational adjustments based on the detected distance, it can be ensured that each third angle rotation is performed at the optimized position. This mechanism effectively reduces the accumulation of rotation errors and ensures the positional accuracy and action continuity during multi-angle rotation, thereby helping to further improve the integrity of cleaning coverage and the consistency of cleaning effect at the corner body.

[0070] In one embodiment of the present invention, controlling the body to continue rotating at a second angle along the first direction, and controlling the cleaning component to retract from the second target expansion position to the first target expansion position or retraction position during the rotation, includes:

[0071] Controlling the body to rotate at a second angle along the first direction;

[0072] During the process of the body rotating at a second angle along the first direction, performing the following steps:

[0073] Real-time acquisition of the first minimum distance between the edge of the body and the first boundary and / or the second minimum distance between the edge and the second boundary, and when the first minimum distance and / or the second minimum distance are outside the preset distance range, controlling the body to translate until the first minimum distance and / or the second minimum distance are within the preset distance range;

[0074] And controlling the cleaning component to retract from the second target expansion position to the first target expansion position or retraction position.

[0075] The beneficial effects of this configuration are as follows: During the second-angle rotation of the machine body, the distance to the boundary is monitored in real time, and the detected deviation is corrected promptly through translational movement. This effectively compensates for rotational errors caused by mechanical transmission, ground friction, or sensor noise, ensuring that the actual position of the machine body remains consistent with the expected rotation path. By dynamically maintaining a safe distance between the machine body and the two side boundaries, the cleaning component is always in the optimal working position close to the corner body during rotation, avoiding the cleaning component being suspended or too far from the corner area due to machine body offset, thereby improving the actual coverage and cleaning effect of the cleaning component on the corner surface. Simultaneously, real-time distance monitoring and translational adjustment form an active anti-collision mechanism, preventing the machine body or...During rotation, the cleaning component interferes with the first and second boundaries due to the accumulation of errors, ensuring the safe operation of the equipment in narrow corner environments and reducing cleaning interruptions or equipment damage caused by collisions. In addition, the translation adjustment and rotation actions overlap in time, eliminating the need for separate position correction after rotation stops, thus not taking up extra cleaning time, thereby improving the tightness of the cleaning action connection and improving the overall work efficiency of corner cleaning.

[0076] In one embodiment of the present invention, after controlling the machine body to continue rotating at a second angle along the first direction, and controlling the cleaning component to retract from the second target expansion position to the first target expansion position or inward position during the rotation, the method further includes:

[0077] obtaining the first minimum distance between the edge of the machine body and the first boundary and / or the second minimum distance between the edge and the second boundary, and when the first minimum distance and / or the second minimum distance are outside the preset distance range, controlling the machine body to translate until the first minimum distance and / or the second minimum distance are within the preset distance range.

[0078] The beneficial effects of this setting: In this embodiment, after the second angle rotation is completed, distance remeasurement and translation correction are performed, which can eliminate the positional deviation that may occur during the rotation process and ensure that the body finally stops at the ideal position that maintains a preset safe distance from the two side boundaries. This adjustment is conducive to the accurate execution of subsequent cleaning actions (such as continuing to travel along the second boundary or performing the reverse rotation), reducing the cleaning path deviation caused by the cumulative error of rotation, thereby avoiding omission of the corner body coverage and improving the stability of the cleaning effect. Specification 6 / 37 pages 13 CN 121647575 A

[0079] In one embodiment of the present invention, after controlling the body to continue rotating the second angle along the first direction, and controlling the cleaning component to retract from the second target expansion position to the first target expansion position or inward position during the rotation, it further includes:

[0080] Detecting whether the traveling direction of the body is consistent with the extension direction of the second boundary, and if they are inconsistent, controlling the body to continue rotating the fourth angle until the traveling direction of the body is consistent with the extension direction of the second boundary.

[0081] The beneficial effects of this setting are as follows: By calibrating the orientation of the machine body after completing the second angle rotation and aligning the machine body's travel direction with the extension direction of the second boundary, it can be ensured that the machine body's movement trajectory remains parallel to the boundary during subsequent edge cleaning, reducing the probability of cleaning parts shifting due to machine body orientation deviation, thereby improving the coverage accuracy and cleaning quality of subsequent edge cleaning. Simultaneously, after completing corner cleaning, by fine-tuning the machine body orientation to match the edge cleaning path of the next stage, a smooth transition from "corner cleaning" to "edge cleaning" can be achieved, avoiding path replanning or repeated adjustments due to machine body orientation mismatch, thereby improving the overall continuity and efficiency of the cleaning operation.In addition, this orientation calibration method allows self-moving cleaning equipment to actively adapt to boundary conditions of different angles and directions. Especially in scenarios with non-standard corners or irregular furniture edges, this dynamic detection and adjustment method can effectively cope with sudden changes in direction or boundary transitions, thereby improving the environmental adaptability of the cleaning process.

[0082] In one embodiment of the present invention, after controlling the self-moving cleaning device to start executing the first cleaning mode when the distance S1 is equal to the preset safety distance, to complete the first cleaning of the corner body, and before controlling the self-moving cleaning device to move along the second boundary in a direction away from the first boundary, and before cleaning the second boundary along the edge during the movement, the method further includes:

[0083] performing a cleanliness detection on the corner body to determine whether it is clean;

[0084] if it is clean, controlling the self-moving cleaning device to move along the second boundary in a direction away from the first boundary, and cleaning the second boundary along the edge during the movement;

[0085] if it is not clean, controlling the self-moving cleaning device to execute the second cleaning mode to perform a second cleaning of the corner body;

[0086] after completing the second cleaning, controlling the self-moving cleaning device to execute the first cleaning mode again to perform a third cleaning of the corner body;

[0087] repeating the second cleaning mode and the first cleaning mode until the corner body is clean.

[0088] The beneficial effects of this setup are as follows: By detecting the cleanliness of the corner itself, the initial cleaning result can be objectively evaluated, and a second cleaning can be intelligently determined based on the detection result, forming a closed-loop process of "cleaning-detection-decision-re-cleaning," thereby improving the autonomy and targeting of the cleaning process. Specifically, when the initial cleaning fails to meet the standard, a second cleaning can be performed on the same area by switching to a second cleaning mode (e.g., reverse rotation, parameter adjustment, etc.), which can effectively deal with stubborn stains in the corner that are difficult to handle with just one cleaning, thereby improving the thoroughness and reliability of the cleaning. In addition, this mechanism enables the self-moving cleaning device to dynamically adjust the cleaning strategy and the number of cycles according to the actual pollution situation, which can quickly complete the cleaning of lightly polluted corners, and can also thoroughly handle heavy stains through multiple cleanings, thereby improving the overall adaptability and cleaning stability to different home environments.

[0089] In one embodiment of the present invention, in the retracted position, the cleaning component further includes a raised position that lifts it away from the area to be cleaned; after controlling the self-moving cleaning device to start executing the first cleaning mode when the distance S1 is equal to the preset safety distance, to complete one cleaning of the corner body, and before controlling the self-moving cleaning device to move along the second boundary in a direction away from the first boundary, and before cleaning the second boundary along the edge during the movement, the method further includes:

[0090] performing a cleanliness detection on the corner body to determine whether it is clean;

[0091] if it is clean, controlling the self-moving cleaning device to move along the second boundary in a direction away from the first boundary, and specifying the description.Page 7 / 37, 14 CN 121647575 A During the movement, the second boundary is cleaned along the edge;

[0092] If it is not cleaned properly, then:

[0093] Control the cleaning component to switch to the raised position;

[0094] Control the self-moving cleaning device to rotate in the second direction opposite to the first direction until the self-moving cleaning device returns to the posture when it started executing the first cleaning mode;

[0095] Control the self-moving cleaning device to execute the first cleaning mode again to perform secondary cleaning on the corner body;

[0096] Repeat the first cleaning mode until the corner body is cleaned.

[0097] The beneficial effect of this setting is that by raising the cleaning component to a position off the ground, secondary contamination or scratches to the cleaned area can be avoided during the rotation and reset of the self-moving cleaning device. At the same time, by rotating in the opposite direction, the self-moving cleaning device can return to the initial cleaning posture, providing a consistent positional reference for repeated cleaning, thereby achieving directional reprocessing of the uncleaned area while protecting the cleaned results. In addition, in this embodiment, a "lift-rotate-reclean" cycle is triggered by cleanliness detection, enabling the self-moving cleaning device to autonomously decide whether and how to repeat cleaning based on the actual cleaning effect, realizing intelligent adaptation from single cleaning to multiple cleanings, and improving the thoroughness of cleaning stubborn stains or complex corners.

[0098] In one embodiment of the present invention, the second cleaning mode includes:

[0099] controlling the body to rotate a second angle in a second direction opposite to the first direction, and controlling the cleaning component to expand outward to a second target expansion position during the rotation, so that the cleaning component can clean at least a part of the corner body;

[0100] controlling the body to continue rotating a first angle in the second direction, and controlling the cleaning component to retract from the second target expansion position to the first target expansion position or retraction position during the rotation, so that the cleaning component can clean at least another part of the corner body.

[0101] The beneficial effect of this setting: In this embodiment, by controlling the body to rotate in a direction opposite to the first cleaning mode and performing the corresponding expansion-retraction action, the second cleaning mode can form a secondary coverage of the corner body surface from the reverse path. This method allows the second cleaning mode to complement the first cleaning mode in the rotation direction, effectively reducing stain residue or cleaning blind spots that may be caused by unidirectional cleaning motion, thereby improving the comprehensiveness of cleaning coverage.

[0102] In one embodiment of the present invention, before controlling the machine body to rotate a second angle along the second direction and controlling the cleaning component to expand outward to the second target expansion position during the rotation, the method further includes:

[0103] determining whether the cleaning component is in the retracted position;

[0104] if yes, then controlling the machine body to rotate a second angle along the second direction;

[0105] if no, then controlling the cleaning component to retract to the retracted position before controlling the machine body to rotate a second angle along the second direction.

[0106] The beneficial effects of this design are as follows: By determining whether the cleaning component is in the retracted position before rotating to the second angle, and performing a retraction action if it is not in the retracted state, the cleaning component is ensured to be in the retracted position during the machine's rotation. This effectively avoids damage to the cleaning component or scratches on furniture, walls, and other surfaces caused by collisions between the extended portion of the cleaning component and the boundary, significantly reducing the collision risk of self-moving cleaning equipment in complex corner environments. Simultaneously, this mechanism allows the cleaning component to be as close as possible to the corner body during rotation, thereby expanding the cleaning coverage area within a limited space and improving the cleaning effect and coverage integrity in corner areas. Furthermore, unifying the cleaning component's state before starting the second angle rotation provides consistent initial conditions for subsequent dynamic adjustments to the expansion strategy based on corner characteristics, thereby improving the accuracy of parameter control, enhancing the repeatability of cleaning actions, and ensuring stable and reliable cleaning effects for corners with different structures. In one embodiment of the present invention, during the execution of the second cleaning mode, when the machine body rotates at a second angle along the second direction and / or continues to rotate at a first angle, the machine body only rotates around the second rotation axis without producing translational motion.

[0108] The beneficial effects of this setting are: in the motion mode of only rotating without translation, the machine body can complete multi-angle direction adjustment at a fixed point. This feature is particularly suitable for scenarios with limited space, such as narrow corners, and can effectively avoid interference between the machine body and the boundary caused by translational motion. After rotating at the second angle, the machine body can keep the rotation axis position unchanged and continue to rotate at the first angle around the same axis, thereby realizing continuous adjustment of the cleaning part in terms of angle, and thus covering the surface in different directions of the corner. At the same time, this method can also avoid positioning errors and collision risks that may be caused by translational motion, thereby enhancing the control accuracy and overall reliability of the cleaning process.

[0109] In one embodiment of the present invention, controlling the machine body to rotate a second angle along a second direction, and controlling the cleaning component to expand outward to a second target expansion position during the rotation, includes:

[0110] controlling the machine body to rotate a second angle along a second direction;

[0111] during the process of the machine body rotating a second angle along a second direction, performing the following steps:

[0112] acquiring in real time the first minimum distance between the edge of the machine body and the first boundary and / or the second minimum distance between the edge and the second boundary, and when the first minimum distance and / or the second minimum distance are outside a preset distance range, controlling the machine body to translate until the first minimum distance and / or the second minimum distance are within the preset distance range;

[0113] and controlling the cleaning component to expand outward to the second target expansion position.

[0114] The beneficial effect of this setting is that during the process of the machine body rotating along the second direction, the distance to the boundary is monitored in real time, and the detected deviation is corrected in a timely manner through translational movement, which can effectively compensate for the mechanical transmission, ground friction or sensor noise.The system mitigates rotational errors caused by sound, ensuring the machine's actual position aligns with the intended rotation path. By dynamically maintaining a safe distance between the machine and its side boundaries, the cleaning component remains in its optimal working position close to the corner during rotation. This prevents the component from becoming suspended or excessively distant from the corner area due to machine offset, thereby improving the actual coverage and cleaning effect of the corner surface. Simultaneously, real-time distance monitoring and translational adjustment form an active anti-collision mechanism, preventing interference between the machine or cleaning component and the first or second boundaries due to accumulated errors during rotation. This ensures safe operation in narrow corner environments and reduces cleaning interruptions or equipment damage caused by collisions. Furthermore, the translational adjustment and rotational actions completely overlap in time, eliminating the need for separate position correction after rotation stops. This avoids additional cleaning time consumption, improving the tightness of cleaning action transitions and enhancing overall corner cleaning efficiency.

[0115] In one embodiment of the present invention, after controlling the body to rotate a second angle along the second direction and controlling the cleaning component to expand outward to the second target expansion position during the rotation, the method further includes:

[0116] obtaining a first minimum distance between the edge of the body and the first boundary and / or a second minimum distance between the edge and the second boundary, and when the first minimum distance and / or the second minimum distance are outside a preset distance range, controlling the body to translate until the first minimum distance and / or the second minimum distance are within the preset distance range.

[0117] The beneficial effect of this setting is that after the body rotates a second angle along the second direction, distance remeasurement and translation correction are performed, which can eliminate the positional deviation that may occur during the rotation process and ensure that the body finally stops at an ideal position that maintains a preset safe distance from the two side boundaries. This adjustment is beneficial to the accurate execution of subsequent cleaning actions (such as continuing to rotate a first angle along the second direction), reducing the cleaning path deviation caused by the cumulative error of rotation, thereby avoiding omission of coverage of the corner body, and thus improving the stability of the cleaning effect.

[0118] In one embodiment of the present invention, after controlling the machine body to rotate a second angle along the second direction and controlling the cleaning component to expand to the second target expansion position during the rotation, and after controlling the machine body to continue rotating a first angle along the second direction and controlling the cleaning component to retract from the second target expansion position to the first target expansion position or retraction position during the rotation, the specification page 9 / 37 16 CN 121647575 A further includes:

[0119] controlling the machine body to rotate at least a fifth angle along the second direction;

[0120] wherein, during the process of the machine body rotating a fifth angle, the cleaning component remains in the second target expansion position.

[0121] The beneficial effect of this setting: In this embodiment, by introducing the rotation of the intermediate angle (i.e., the fifth angle), it is possible to achieve continuous contact with the corner surface at different angles during the rotation of the cleaning component along the second direction. This mechanism can expand the cleaning component's reach.The multi-angle coverage of the cleaning device in the corner area effectively increases the cleaning area and reduces cleaning blind spots caused by excessive rotation intervals. At the same time, the rotation parameters of the fifth angle (such as angle size, number of rotations and movement mode) can be flexibly adjusted according to the actual geometry of the corner, so that the cleaning process can more accurately adapt to corner structures of different depths and opening widths, and enhance the adaptability to diverse home scenarios.

[0122] In one embodiment of the present invention, during or after controlling the body to rotate at least a fifth angle along the second direction, the method further includes:

[0123] obtaining a first minimum distance between the edge of the body and the first boundary and / or a second minimum distance between the edge and the second boundary;

[0124] determining whether the first minimum distance and the second minimum distance are both within a preset distance range;

[0125] if not, controlling the body to perform a translational movement until the first minimum distance and the second minimum distance are both within the preset distance range;

[0126] if yes, controlling the body to continue rotating a fifth angle along the first direction; or, controlling the body to rotate a first angle along the second direction.

[0127] The beneficial effect of this setting is that by detecting the distance between the machine body and the boundary during or after the fifth angle rotation, and controlling the machine body to make translational adjustments based on the detected distance, it can be ensured that each fifth angle rotation is performed in the optimized position. This mechanism effectively reduces the accumulation of rotation errors, ensures the positional accuracy and action continuity during multi-angle rotation, and thus helps to further improve the integrity of cleaning coverage and the consistency of cleaning effect in the corner body area.

[0128] In one embodiment of the present invention, during the process of the machine body rotating at a first angle along the first direction and / or rotating at a second angle along the second direction, the rotation speed of the machine body gradually decreases, and during the process of the machine body rotating at a second angle along the first direction and / or rotating at a first angle along the second direction, the rotation speed of the machine body gradually increases.

[0129] The beneficial effect of this setting is that by matching the rotation speed of the machine body with the extension and retraction movement state of the cleaning component, the cleaning effect and work efficiency of the corner area are optimized. Specifically, when the machine body rotates at a first angle along the first direction and at a second angle along the second direction, the cleaning component extends outward from the inward or first outward position to the second or third outward position. During the outward expansion process, the rotation speed of the machine body is gradually reduced. The benefits are twofold: firstly, the low-speed rotation improves the stability of the cleaning component at the extension end, helping to maintain reliable contact with the surface to be cleaned and ensuring that cleaning pressure is fully transmitted to the surface; secondly, the reduced speed prolongs the residence time of the cleaning component in the corner of the machine body, making the cleaning effect more sustained, thereby enhancing the ability to remove stubborn stains and accumulated dust. After the cleaning component has completed its outward expansion cleaning, the machine body rotates at a second angle along the first direction and then at a first angle along the second direction, causing the cleaning component to gradually retract.During the retraction phase of this cleaning component, the rotation speed of the machine body gradually increases. The beneficial effect is that increasing the rotation speed accelerates the removal of the cleaning component from the corner of the machine, shortens unnecessary dwell time, and improves cleaning efficiency while maintaining cleaning functionality, thus achieving an overall balance between cleaning effectiveness and operational efficiency.

[0130] In one embodiment of the present invention, the cleaning component is a roller mop or a tracked mop; the self-moving cleaning device further includes a drive mechanism for driving the cleaning component to move laterally relative to the machine body, the drive mechanism including a drive motor equipped with an encoder; according to the boundary scene type, determining an edge cleaning strategy matching the boundary scene type, and cleaning the area to be cleaned according to the edge cleaning strategy, including:

[0131] controlling the movement of the cleaning component between a first outward expansion position, a second outward expansion position and a third outward expansion position through an electrical signal fed back by the encoder; and / or,

[0132] the cleaning device further includes a first positioning detection component and a second positioning detection component, determining an edge cleaning strategy matching the boundary scene type according to the boundary scene type, and cleaning the area to be cleaned according to the edge cleaning strategy, including:

[0133] if the first positioning detection component generates a first positioning electrical signal, determining that the cleaning component has moved to the first outward expansion position;

[0134] If the second positioning detection component generates a second positioning electrical signal, it is determined that the cleaning component has moved to the third outward expansion position.

[0135] The beneficial effect of this setting is that, through the closed-loop control of the encoder of the drive motor, the electrical signal feedback of the positioning detection component, or a combination of both, the precise positioning and selective adjustment of the cleaning component between the inward position and multiple preset outward expansion positions are realized. This flexible and reliable position control capability provides feasible execution conditions for the self-moving cleaning device to execute customized cleaning strategies according to different boundary scenarios, and thus can match different target outward expansion positions for different cleaning strategies to achieve specific cleaning effects under various cleaning strategies.

[0136] In one embodiment of the present invention, after determining that the cleaning component has moved to the first outward expansion position if the first positioning detection component generates a first positioning electrical signal, the method further includes:

[0137] Controlling the encoder to zero so that the current position of the cleaning component relative to the machine body at the first outward expansion position is recorded as zero.

[0138] The beneficial effects of this setting are as follows: Since the inherent defect of incremental sensors such as encoders is that errors accumulate over time or travel, by using physical reference points for periodic "zeroing" calibration, the error accumulation process is fundamentally reset, enabling the system to maintain a small positioning accuracy at all times. This improves the repeatability of the cleaning component during the expansion or retraction process relative to the machine body, thereby improving the consistency and stability of the cleaning effect.

[0139] In one embodiment of the present invention, if the second positioning detection component generates a second positioning electrical signal, the cleaning component is determined to be in position.Moving to the third outward expansion position also includes:

[0140] Controlling the encoder to zero so that the cleaning part's current position relative to the machine body at the third outward expansion position is recorded as zero.

[0141] The beneficial effect of this setting is that by using physical reference points for periodic "zeroing" calibration, the error accumulation process is fundamentally reset, enabling the system to always maintain a small positioning accuracy, thereby improving the repeatability of the cleaning part's positioning accuracy during the outward expansion or retraction process relative to the machine body, which in turn helps to improve the consistency and stability of the cleaning effect. Brief Description of the Drawings

[0142] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application. Obviously, the drawings described below are only some embodiments of this application, and other drawings can be obtained by those skilled in the art based on these drawings without creative effort.

[0143] In the accompanying drawings:

[0144] FIG1 is a flowchart illustrating a cleaning method provided in an embodiment of the present invention;

[0145] FIG2 is a flowchart illustrating step S2 provided in an embodiment of the present invention;

[0146] FIG3 is a flowchart illustrating step S22 provided in an embodiment of the present invention; Specification 11 / 37 pages 18 CN 121647575 A

[0147] FIG4 is a flowchart illustrating step S222 provided in an embodiment of the present invention;

[0148] FIG5 is a schematic diagram illustrating the cleaning state between the cleaning component and the concave space in an embodiment of the present invention;

[0149] FIG6 is a schematic diagram illustrating the cleaning state between the cleaning component and the concave space in another embodiment of the present invention;

[0150] FIG7 is a schematic diagram illustrating the state of a self-moving cleaning device approaching the concave corner along the first boundary in an embodiment of the present invention;

[0151] FIG8 is a schematic diagram illustrating the state of a self-moving cleaning device in a retracted position after approaching the second boundary in an embodiment of the present invention;

[0152] FIG9 is a schematic diagram illustrating the state of a self-moving cleaning device rotating at a first angle along the first direction in an embodiment of the present invention;

[0153] Figure 10 is a schematic diagram of the self-moving cleaning device rotating a second angle along a first direction in one embodiment of the present invention;

[0154] Figure 11 is a schematic diagram of the self-moving cleaning device rotating a third angle along a first direction in one embodiment of the present invention;

[0155] Figure 12 is a schematic diagram of the self-moving cleaning device continuing to rotate a second angle along the first direction after rotating a third angle in one embodiment of the present invention;

[0156] Figure 13 is a schematic diagram of the self-moving cleaning device after rotating a second angle in the state of the embodiment of Figure 12;

[0157] Figure 14 is a schematic diagram of the self-moving cleaning device rotating a second angle along a second direction in one embodiment of the present invention;

[0158] Figure 15 is a schematic diagram of the state after the self-moving cleaning device continues to rotate a first angle along the second direction in the state of the embodiment of Figure 14;

[0159] Figure 16 is a schematic diagram of the state after the self-moving cleaning device continues to rotate a fifth angle along the second direction in the state of the embodiment of Figure 14;

[0160] Figure 17 is a bottom view of the cleaning component in the first outward expansion position in an embodiment of the present invention;

[0161] Figure 18 is a bottom view of the cleaning component in the second outward expansion position in an embodiment of the present invention;

[0162] Figure 19 is a bottom view of the cleaning component in the third outward expansion position in an embodiment of the present invention.

[0163] The reference numerals are as follows:

[0164] 100, self-moving cleaning device; 10, body; 101, tangent; 20, cleaning component; 31, concave space; 32, concave corner; 321, corner body; 322, first boundary; 323, second boundary. Detailed Description of Embodiments

[0165] The embodiments of the present invention are described below through specific examples. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments. Various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0166] It should be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present invention. The drawings only show the components related to the present invention and are not drawn according to the number, shape and size of the components in actual implementation. In actual implementation, the form, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex. Specification 12 / 37 pages 19 CN 121647575 A

[0167] In the following description, a large number of details are discussed to provide a more thorough explanation of the embodiments of the present invention. However, it will be obvious to those skilled in the art that the embodiments of the present invention can be practiced without these specific details. In other embodiments, well-known structures and devices are shown in the form of block diagrams rather than in detail to avoid making the embodiments of the present invention difficult to understand.

[0168] Please refer to Figures 1 to 19. This invention provides a cleaning method for a self-moving cleaning device 100. This cleaning method can effectively improve the technical problem that a single cleaning strategy is insufficient to meet the diverse cleaning needs of complex and ever-changing home environments. Specifically, this cleaning method dynamically matches and adapts edge cleaning strategies by acquiring surrounding environmental information in real time and identifying different edge scene types. This improves the limitations of a single strategy in the prior art, thereby enhancing the cleaning coverage integrity and cleaning effect for various edge scenes such as wall edges, furniture edges, and concave corners. Simultaneously, this cleaning...The method configures corresponding target expansion positions for different boundary scenarios, enabling the cleaning component 20 to adjust the expansion distance based on actual scenario requirements, achieving effective access and cleaning of various boundary structures from conventional straight wall edges to deep recessed corners, thereby enhancing the adaptability of the self-moving cleaning device 100 to diverse home environments. Through the synergistic effect of the above-mentioned scenario recognition, strategy matching, and expansion control, this cleaning method significantly reduces cleaning blind spots and achieves automation and intelligence of the corner cleaning process, obtaining better boundary scenario cleaning effects without manual intervention, thereby improving the autonomous cleaning capability and user experience of the cleaning device in multiple scenarios.

[0169] The self-moving cleaning device 100 includes a body 10 and a cleaning component 20. The body 10 is provided with a control unit and a drive unit. The control unit is used to control the drive unit to drive the self-moving cleaning device 100 to move. The cleaning component 20 is installed on the body 10 and its operation is controlled by the control unit.

[0170] The cleaning component 20 can be a wet cleaning component or a dry cleaning component. Wet cleaning components, such as mop assemblies, can be flat, roller, or tracked structures. In some embodiments, the wet cleaning component has a lifting function: during cleaning, the cleaning component 20 can descend to a position in contact with the ground; after cleaning, it can switch to a raised position. Furthermore, the wet cleaning component may also have an outward expansion function: during cleaning, the cleaning component 20 can extend outward from the body 10 to expand the cleaning range; after the task is completed, the cleaning component 20 can at least partially retract below the body 10, switching to a retracted position to avoid secondary pollution.

[0171] Dry cleaning components may include roller brushes, side brushes, etc., for sweeping and collecting dry waste on the ground, such as those suitable for carpeted floors. Dry cleaning components generally do not have a lifting function.

[0172] Exemplarily, in one embodiment of the present invention, the cleaning component 20 is a mop assembly, specifically a roller mop or a tracked mop. Optionally, in this embodiment, the cleaning component 20 is a roller mop. It should be understood that in other embodiments, the cleaning component 20 may also adopt a structure such as a tracked mop, which does not affect the implementation of this cleaning method. The cleaning component 20 can work in a wet cleaning state or a dry cleaning state.

[0173] The cleaning component 20 has at least a first outward expansion position (as shown in FIG. 17) and a second outward expansion position (as shown in FIG. 18) relative to the body 10. In the first outward expansion position, the edge of the cleaning component 20 is flush with the edge of the body 10. The edge of the cleaning component 20 being flush with the edge of the body 10 specifically means that: in the projection view along the height direction of the body 10, a tangent line 101 is drawn on the side of the body 10 in the width direction (as shown by the X-axis in FIG. 17) close to the edge of the cleaning component 20, and the tangent line 101 coincides with the edge of the cleaning component 20 on the side close to the tangent line 101, or within the allowable installation error range, the tangent line 101 and the edge of the cleaning component 20 are approximately coincident.In another embodiment, as shown in FIG17, in the first outward expansion position, the edge of the cleaning component 20 may extend to the outside of the edge of the body 10. Specifically, the edge of one side of the cleaning component 20 extends at least partially along the width direction of the body 10 to the side of the tangent 101 away from the edge of the body 10, and forms a distance L1.

[0174] In the second outward expansion position, the edge of the cleaning component 20 extends at least partially to the outside of the edge of the body 10. As specified in the specification 13 / 37 pages 20 CN 121647575 A, the edge of one side of the cleaning component 20 extends at least partially along the width direction of the body 10 to the side of the tangent 101 away from the edge of the body 10, and forms a distance L2. In the second outward expansion position, the distance L2 by which the cleaning component 20 extends to the outside of the edge of the body 10 is greater than the distance L1 by which the edge of the cleaning component 20 extends to the outside of the edge of the body 10 when the cleaning component 20 is in the first outward expansion position.

[0175] Please refer to Figure 1. In this embodiment, the cleaning method includes the following steps:

[0176] S1: During the edge cleaning process, the surrounding environment information of the self-moving cleaning device 100 is acquired in real time, and the boundary scene type of the area to be cleaned is determined according to the surrounding environment information.

[0177] In this step, the surrounding environment information is collected in real time by the environmental perception sensor mounted on the self-moving cleaning device 100; wherein, the environmental perception sensor includes, but is not limited to, one or more combinations of lidar, vision sensor, infrared sensor, and ultrasonic sensor.

[0178] The surrounding environment information includes at least one of the distance information, contour information, and orientation information of the boundary objects adjacent to the self-moving cleaning device 100. Based on the surrounding environment information, the following identification process can be performed:

[0179] First, the boundary structure features adjacent to the self-moving cleaning device 100 in the area to be cleaned are identified according to the surrounding environment information; the boundary structure features include one or more of the following: the geometry of the boundary objects, the distance distribution relative to the self-moving cleaning device 100, the continuity of the boundary, and the included angle features.

[0180] Then, a predefined boundary scene type is matched according to the boundary structure features; the boundary scene type includes at least one or more of the following: wall edge scene, furniture edge scene, concave corner scene, and isolated obstacle scene such as table leg or column.

[0181] Finally, the identification result of the boundary scene type is output for subsequent cleaning strategy matching module to call.

[0182] S2: According to the boundary scene type, determine the edge cleaning strategy that matches the boundary scene type, and clean the area to be cleaned according to the edge cleaning strategy.

[0183] This step includes the following steps:

[0184] Based on the boundary scene type identified in step S1, select the corresponding edge cleaning strategy from the preset strategy matching table;

[0185] Wherein, the strategy matching table establishes a mapping relationship between different boundary scene types and edge cleaning strategies, alongThe edge cleaning strategy includes at least one or more of the following: cleaning path planning mode, cleaning speed, cleaning component 20 working mode, and target expansion position.

[0186] According to the selected edge cleaning strategy, the target expansion position to which the cleaning component 20 needs to be adjusted is determined;

[0187] Wherein, in each edge cleaning strategy, the cleaning component 20 of the self-moving cleaning device 100 is configured with a corresponding target expansion position, and the target expansion position includes at least a first expansion position and a second expansion position.

[0188] The cleaning component 20 is controlled to adjust to the target expansion position, and based on the cleaning path planning mode and cleaning parameters set in the edge cleaning strategy, the self-moving cleaning device 100 is driven to perform cleaning operations along the boundary.

[0189] For example, in a wall edge scene or a straight furniture edge scene, an edge cleaning strategy with the first expansion position can be matched. In a concave corner scene or a table leg obstacle scene, an edge cleaning strategy with the second expansion position can be matched to achieve in-depth cleaning of the corner area.

[0190] It should be noted that, in this embodiment, the main body executing the above-mentioned cleaning method can be a functional unit set on the body 10, such as a controller integrating a processor and memory, or a control system composed of multiple hardware and software modules. In some other optional embodiments, the cleaning method can also be executed by an external computing device or cloud server that is communicatively connected to the self-moving cleaning device 100, such as a mobile application, a smart home central control device or a remote service platform that establishes a communication connection with the self-moving cleaning device 100, based on the received environmental information, to perform scene recognition and strategy decision-making, and issue corresponding control commands to the self-moving cleaning device 100. Specification 14 / 37 pages 21 CN 121647575 A

[0191] Regardless of whether the executing body is located locally or externally to the self-moving cleaning device 100, its core is to use the self-moving cleaning device 100 as the execution carrier of the cleaning task, and through the coordination between environmental perception, scene recognition, strategy matching and external control, to achieve targeted cleaning of different boundary scenes, thereby achieving the purpose of improving cleaning coverage and enhancing cleaning effect.

[0192] The cleaning method of the self-moving cleaning device 100 in this embodiment can effectively improve the technical problem that the single cleaning strategy is difficult to meet the diverse cleaning needs of complex and ever-changing home environments. Specifically, this cleaning method can dynamically match and adapt the edge cleaning strategy by acquiring surrounding environmental information in real time and identifying different edge scene types, thereby improving the limitation of the single strategy in the prior art and improving the cleaning coverage integrity and cleaning effect of various edge scenes such as wall edges, furniture edges, and concave corners. At the same time, this cleaning method configures corresponding target expansion positions for different edge scenes, so that the cleaning component 20 can adjust the expansion distance according to the actual scene requirements, and realize the cleaning of ordinary flat walls.This method effectively reaches and cleans various boundary structures, including deep corners, thereby enhancing the adaptability of the self-moving cleaning device 100 to diverse home environments. Through the synergistic effect of scene recognition, strategy matching, and outward control, this method significantly reduces cleaning blind spots and automates and intelligentizes the corner cleaning process. It achieves better cleaning results in boundary scenes without human intervention, thus improving the autonomous cleaning capability of the cleaning device in multiple scenarios and enhancing the user experience.

[0193] In one embodiment of the present invention, a cleaning strategy matching the boundary scene type is determined according to the boundary scene type, and the area to be cleaned is cleaned according to the cleaning strategy, including the following steps:

[0194] If the boundary scene type is a first boundary scene, the corresponding cleaning strategy is determined to be a first cleaning strategy, and the area to be cleaned is cleaned according to the first cleaning strategy, and in the first cleaning strategy, the target outward expansion position is the first outward expansion position;

[0195] If the boundary scene type is a second boundary scene, the corresponding cleaning strategy is determined to be a second cleaning strategy, and the area to be cleaned is cleaned according to the second cleaning strategy, and in the second cleaning strategy, the target outward expansion position is the second outward expansion position;

[0196] Wherein, the first boundary scene includes at least a skirting board boundary scene and / or a wall edge scene, and the second boundary scene includes at least a furniture leg scene.

[0197] Specifically, the first boundary scenario can be a baseboard boundary scenario, such as a straight edge or a continuous and smooth wall edge structure formed by baseboards; the first boundary scenario can also be a normal wall edge scenario, such as a continuous and straight boundary formed by a vertical wall. In such scenarios, the boundary usually has high continuity and consistency, and effective cleaning can be achieved without the cleaning component 20 expanding outwards significantly. It is understood that the first boundary scenario can also be a boundary formed by objects placed on the ground such as wires, data cables, signal cables, slippers, children's toys, carpets, etc., or other boundary types with continuous and straight features such as thresholds and fixed decorative lines on the ground. The cleaning component 20 can perform cleaning along such boundaries with slight outward expansion or while remaining flush, without needing to penetrate into the recessed area.

[0198] The second boundary scenario can be a furniture leg scenario, such as a boundary formed by table and chair legs (including five-pointed star table legs), cabinet support columns, flower pot bases, appliance leg corners, and other similar isolated obstacles. The characteristics of this type of scenario are that the boundaries are isolated or discontinuous, and there may be concave or annular cleaning areas around them, requiring the cleaning component 20 to further expand outward to achieve surrounding or in-depth cleaning.

[0199] The present invention divides the boundary scenario into a first boundary scenario (such as continuous straight boundaries such as baseboards and wall edges) and a second boundary scenario (such as isolated obstacle boundaries such as furniture legs), and accordingly matches a first edge cleaning strategy and a second edge cleaning strategy.The cleaning strategy achieves dynamic adaptation of cleaning modes to different boundary structure features, thus overcoming the limitations of traditional single strategies that are difficult to adapt to diverse scenarios, and improving the targeting and effectiveness of cleaning. Specifically, in the first edge-cleaning strategy, the target outward expansion position is set as the first outward expansion position, so that the cleaning component 20 maintains a small outward expansion at continuous straight boundaries, or even flush with the edge of the body 10, ensuring close cleaning while avoiding collisions or efficiency reduction caused by excessive outward expansion. In the second edge-cleaning strategy, the target outward expansion position is set as the second outward expansion position with a larger outward expansion distance, allowing the cleaning component 20 to extend further, effectively reaching the area around isolated obstacles such as table legs and concave areas, achieving in-depth cleaning of complex boundary structures. This design achieves intelligent matching of outward expansion distance and scenario requirements, taking into account both cleaning coverage and operational reliability. Through the above-mentioned scenario differentiation and strategy matching, this cleaning method can significantly reduce omissions or blind spots caused by a single cleaning strategy, especially in traditionally difficult-to-clean areas such as table legs and concave furniture edges, achieving more comprehensive coverage. At the same time, it optimizes the contact state between the cleaning component 20 and different boundaries, further improving the cleanliness of corner cleaning while ensuring cleaning power, and ultimately achieving an overall improvement in the integrity of cleaning coverage.

[0200] In one embodiment of the present invention, the target expansion position also includes a third expansion position (as shown in Figure 19). In the third expansion position, the distance from the edge of the cleaning component 20 to the outside edge of the body 10 is L3. In the second expansion position, the distance from the edge of the cleaning component 20 to the outside edge of the body 10 is L2, and L3 > L2.

[0201] By adding a third outward expansion position based on the first and second outward expansion positions, and in the third outward expansion position, the distance L3 by which the edge of the cleaning component 20 extends beyond the edge of the body 10 is greater than the outward expansion distance L2 in the second outward expansion position, thereby enabling the cleaning component 20 to deeply clean deep dead corners that are difficult for traditional cleaning equipment to reach, such as the deep bottom of wide furniture, the back of narrow crevices, and other special areas, significantly improving the cleaning coverage of the edges and complex corners of the whole house. Therefore, the addition of the third outward expansion position provides more options for the target outward expansion position, thereby adapting to a wider range of cleaning strategies and further meeting the adaptability requirements of cleaning methods in diverse scenarios.

[0202] In one embodiment of the present invention, according to the boundary scene type, an edge cleaning strategy matching the boundary scene type is determined, and the area to be cleaned is cleaned according to the edge cleaning strategy, including the following steps:

[0203] If the boundary scene type is a third boundary scene, then the corresponding edge cleaning strategy is determined to be the third edge cleaning strategy;

[0204] The area to be cleaned is cleaned according to the third edge cleaning strategy.

[0205] Among them, please refer to FIGS. 5 and 6. The third boundary scenario is an inwardly concave edge scenario, which includes an inwardly concave space 31. The height of the inwardly concave space 31 is less than the height of the fuselage 10 and greater than the height of the cleaning member 20, and at least part of the cleaning member 20 is allowed to extend into the inwardly concave space 31.

[0206] In this embodiment, the inwardly concave edge scenario refers to a type of boundary environment that has a limited space in the vertical direction (i.e., the height direction of the fuselage 10) and forms an inwardly concave structure in the horizontal direction (the direction perpendicular to the height of the fuselage 10). Let the vertical height of the inwardly concave space 31 be H, the maximum height of the cleaning member 20 in the cleaning operation state be Hc, and the overall height of the fuselage 10 of the self - moving cleaning device 100 in the cleaning posture be Hm, where Hm refers to the overall height of the cleaning device. Then, the relationship is satisfied: Hc < H < Hm. This dimensional relationship ensures that at least part of the cleaning member 20 can extend into the inwardly concave space 31 for cleaning operations, while the main body of the fuselage 10 remains outside the inwardly concave space 31, thus avoiding jamming or collision of the fuselage 10.

[0207] Among them, the inwardly concave edge scenario can specifically include various scenario types. For example: the bottom clearance scenario of furniture, which refers to the flat space formed between furniture such as low cabinets, TV cabinets, sofas or beds and the ground; the area under furniture with legs, which refers to the area enclosed under furniture such as dining tables, desks or coffee tables with support feet; the wall groove or the recessed structure of the skirting board, which refers to the narrow slit area formed by the recess of the built - in skirting board or decorative line in the wall.

[0208] By identifying the inwardly concave edge scenario and matching the third edge cleaning strategy, the cleaning member 20 can extend into the inwardly concave space 31 with a height between the fuselage 10 and the cleaning member 20, thereby directly realizing the cleaning of inwardly concave areas that are difficult for traditional cleaning devices to reach, such as the bottom of low cabinets, under furniture, and wall grooves, significantly expanding the cleaning coverage. Defining the inwardly concave edge scenario as the third boundary scenario and independently configuring a dedicated cleaning strategy reflects the refined differentiation and adaptability of the cleaning method to complex home structures. This design overcomes the limitations of single - strategy in traditional edge cleaning, where it is unable to distinguish between flat boundaries and inwardly concave boundaries, realizes the precise matching between cleaning actions and different boundary forms, and while enhancing the cleaning pertinence, comprehensively enhances the coverage ability of full - scenario cleaning and the consistency of cleaning effects.

[0209] In an embodiment of the present invention, cleaning the area to be cleaned according to the third edge cleaning strategy includes the following steps:

[0210] Obtain the inward depth of the inwardly concave space 31.

[0211] Among them, please refer to FIGS. 5 and 6. The inward depth B refers to the maximum horizontal distance that the inwardly concave space 31 allows the cleaning member 20 to extend in a direction perpendicular to the traveling direction of the fuselage 10. This inward depth B can be measured by a distance - measuring sensor (such as a laser radar) mounted on the fuselage 10The cleaning device can obtain the information in real time by scanning with sensors such as ultrasonic sensors or optical modules, or it can be calculated based on the pre-stored environmental map and the current positioning information of the device body 10.

[0212] Determine whether the concave depth is greater than the preset depth.

[0213] The preset depth B can be preset according to the maximum outward stroke of the cleaning component 20 and the cleaning coverage requirements. For example, it can be set to 80%-100% of the extension length of the cleaning component 20 when it is in the third outward position, or it can be determined according to the structural dimensions of common concave furniture.

[0214] If yes, the third outward position is taken as the target outward position.

[0215] In this step, if the concave depth B is greater than the preset depth, the third outward position is taken as the target outward position. At this time, the cleaning component 20 can move to the third outward position with a larger outward distance to achieve full penetration and cleaning of the deep concave area.

[0216] If no, the second outward position is taken as the target outward position.

[0217] In this step, if the concave depth B is not greater than the preset depth, the second outward position is taken as the target outward position. At this time, the cleaning component 20 cleans with the outward expansion distance corresponding to the second outward expansion position, which is smaller than the outward expansion distance corresponding to the third outward expansion position. This can effectively reach the concave space 31 with a shallow depth, and avoid the problem of the cleaning component 20 being suspended or the cleaning force decreasing due to excessive insertion.

[0218] By obtaining the concave depth B of the concave space 31, the third outward expansion position and the second outward expansion position can be configured differently for concave areas of different depths. This allows the cleaning component 20 to fully extend to perform deep cleaning in deep concave scenarios (with a large concave depth), and to perform close cleaning with moderate outward expansion in shallow concave scenarios (with a small concave depth). This reflects the fine response of the cleaning strategy to the boundary geometry and enhances the targeting and adaptability of the cleaning.

[0219] Please refer to Figure 2. In one embodiment of the present invention, a cleaning strategy matching the boundary scene type is determined according to the boundary scene type, and the area to be cleaned is cleaned according to the cleaning strategy, including the following steps:

[0220] S21: If the boundary scene type is a fourth boundary scene, then the corresponding cleaning strategy is determined to be the fourth cleaning strategy;

[0221] S22: The area to be cleaned is cleaned according to the fourth cleaning strategy.

[0222] Wherein, the fourth boundary scene is a concave corner scene. A concave corner scene refers to a concave corner 32 formed by the intersection and enclosure of at least two boundaries in the area to be cleaned, and the included angle between at least two boundaries is less than or equal to a preset angle C.

[0223] In this embodiment, please refer to Figure 7. The preset angle C is mainly defined as an included angle less than or equal to 90°, such as a typical right-angle corner or an acute corner less than a right angle. Alternatively, the preset angle C can also be extended to an angle greater than 90° but less than 180°, such as an obtuse concave corner 32. This type of structure, due to the machine's 10-degree turning radius during routine edge cleaning...Or the layout of the cleaning component 20 may be limited, making it difficult to effectively cover the area.

[0224] The minimum value of the preset angle C can be adaptively set according to the physical dimensions of the cleaning component 20, the movement path of the body 10, and the turning ability. For example, the minimum value can be 20°, 30°, etc. The specific value must ensure that the cleaning component 20 can effectively extend into the corner and that the body 10 does not interfere with or collide with the boundary of the concave corner 32. In one specific embodiment, the value range of the preset angle C can be set from 20° to 100°, preferably from 30° to 90°, to cover the concave corner 32 that actually exists in most home environments.

[0225] It should be noted that, in this embodiment, the concave corner 32 scenario can be manifested in various specific structural forms in the actual home environment, including but not limited to the following types: corners formed by the combination of baseboards, such as the corner area formed by the intersection of two mutually perpendicular or at a certain angle at the base of the wall; wall corners formed by the intersection of two walls, such as the corner formed by the intersection of two vertical or non-vertical walls in the room; corners formed by the combination of furniture and walls, such as the corner formed by the intersection of the side of the cabinet and the wall, the angle space between the table leg and the base of the wall, or the right-angle concave area formed by the bed and the wall; and corners formed by the combination of multiple pieces of furniture, such as the irregular concave corner 32 formed when multiple cabinets, tables and chairs are placed adjacent to each other.

[0226] Please refer to Figure 7. In one embodiment of the present invention, the concave corner 32 includes a first boundary 322 and a second boundary 323, and a corner body 321 is formed between the first boundary 322 and the second boundary 323.

[0227] The first boundary 322 and the second boundary 323 can be a wall edge, a baseboard, or the outer contour boundary of furniture, etc. For example, in this embodiment, the first boundary 322 and the second boundary 323 are both wall edges. The cleaning component 20 also has an inward position (as shown in FIG8), in which the cleaning component 20 is completely stored under the bottom of the body 10. Referring to FIG3, step S22 cleans the area to be cleaned according to the fourth edge cleaning strategy, including the following steps:

[0228] S221, control the self-moving cleaning device 100 to move along the first boundary 322 towards the direction closer to the second boundary 323, and obtain the distance S1 between the self-moving cleaning device 100 and the second boundary 323 in real time during the movement.

[0229] In this step, the self-moving cleaning device 100 moves along the first boundary 322 towards the direction closer to the second boundary 323. During travel, the cleaning component 20 can be in a first outward expansion position to perform edge cleaning of the first boundary 322, or it can be in an inward retraction position (e.g., a raised position or a lowered position), in which case edge cleaning of the first boundary 322 is not performed.

[0230] The distance S1 is measured by an environmental sensing sensor (e.g., lidar, ultrasonic sensor, or visual sensor) mounted on the body 10.The sensor measures in real time, and the acquired data is used to determine whether the body 10 has moved to the preset turning starting point close to the concave corner 32.

[0231] S222: When the distance S1 is equal to the preset safe distance, the self-moving cleaning device 100 is controlled to start executing the first cleaning mode to complete one cleaning of the corner body 321.

[0232] When the distance S1 is detected to be equal to the preset safe distance, it indicates that the body 10 has reached the optimal position for entering the corner for cleaning. At this time, the self-moving cleaning device 100 is controlled to decelerate or pause and start the first cleaning mode. In the first cleaning mode, the cleaning component 20 can switch between the first target outward expansion position and the second target outward expansion position, or switch between the inward position and the second target outward expansion position, according to the cleaning path requirements. For example, when approaching the corner entrance, the cleaning component 20 can first switch to the inward position to avoid interference, and then switch to the second outward expansion position or the third outward expansion position for deep cleaning when entering the deep corner; or dynamically adjust the outward expansion position during the cleaning process to adapt to the shape and depth of different areas of the corner body 321.

[0233] It should be noted that when the distance S1 is equal to the preset safety distance, the self-moving cleaning device 100 is controlled to start executing the first cleaning mode. During the execution of the first cleaning mode, the distance S1 between the self-moving cleaning device 100 and the second boundary 323 can change dynamically within a certain range. That is, the distance S1 can always be equal to the preset safety distance, or it can be slightly less than or greater than the preset safety distance according to the needs of the cleaning action. The preset safety distance refers to the safety distance threshold under the condition that the body 10 can avoid collision with the first boundary 322 and / or the second boundary 323 during the execution of the first cleaning mode. Specification 18 / 37 pages 25 CN 121647575 A

[0234] It should be noted that the specific execution steps of the first cleaning mode are not limited to a single form. In one embodiment, the self-moving cleaning device 100 can be controlled to move along a preset corner cleaning trajectory. The trajectory can be designed to include multiple forward and backward movements, small-angle rotations, or partial swings, so that the system covers the surface of the corner body 321 in different directions. During this movement, the outward expansion position of the cleaning component 20 is dynamically adjusted according to the real-time perceived corner geometric features (such as depth, width, and included angle), thereby achieving adaptive and close-fitting cleaning with the corner structure. In other embodiments, the first cleaning mode can also adopt a composite cleaning method of cleaning back and forth along a fixed path, cleaning in designated areas, or combining the coordinated action of the body 10 and the cleaning component 20. As long as effective cleaning coverage of the corner body 321 can be achieved, it should be considered to fall within the scope of the first cleaning mode of this embodiment.

[0235] S223, Control the self-moving cleaning device 100 to move along the second boundary 323 in a direction away from the first boundary 322, and perform edge cleaning on the second boundary 323 during the movement.

[0236] After cleaning the corner body 321, the self-moving cleaning device 100 is controlled to move along the second boundary 323 in a direction away from the first boundary 322. During the movement, the cleaning component 20 switches to the first outward expansion position to achieve continuous edge cleaning on the second boundary 323, thereby completing the effective connection and coverage from the concave corner 32 to the outer boundary.

[0237] It should be noted that, in this embodiment, after completing the first cleaning mode in step S222 (i.e., completing one cleaning of the corner body 321), the following subsequent processes can be selected to be executed according to the cleaning effect or preset strategy:

[0238] Directly enter step S223, i.e., proceed along the second boundary 323;

[0239] Repeat the first cleaning mode multiple times to clean the corner body 321 multiple times, and enter step S223 after the cleaning meets the completion conditions;

[0240] Or after executing the first cleaning mode, switch to other cleaning modes (such as swing cleaning, local reciprocating cleaning, etc.) to perform supplementary cleaning of the corner body 321, and then enter step S223.

[0241] The selection of the above subsequent processes can be automatically determined based on the cleanliness detection results, scene complexity, or user settings, to ensure that the cleaning of the corner body 321 meets the preset requirements before continuing the edge operation.

[0242] In this embodiment, by dynamically switching the state of the cleaning component 20 between the first target expansion position and the second target expansion position (or between the retracted position and the second target expansion position) during the execution of the first cleaning mode, the cleaning component 20 can flexibly adjust the expansion distance according to the geometric characteristics of different areas of the corner. For example, when approaching the corner, it switches to the retracted position to avoid interference, and when going deep into the corner, it switches to a larger expansion position to enhance the reach, thereby significantly improving the cleaning effect in deep corners and dead corners.

[0243] Please refer to FIG4. In one embodiment of the present invention, the first cleaning mode includes the following steps:

[0244] S2221: Control the body 10 to rotate a first angle A1 along a first direction (as shown by direction N1 in FIG9), as shown in FIG9, and control the cleaning component 20 to expand to the second target expansion position during the rotation, so that the cleaning component 20 can clean at least a part of the corner body 321.

[0245] The first direction usually points to the inside direction of the corner body 321, for example, counterclockwise or clockwise rotation. The first angle A1 can be set according to the actual opening angle of the corner, for example, 30° to 60°, so that the body 10 can initially cut into the corner body 321. During the rotation, the differential speed control of the drive wheel at the bottom of the body 10 can be used to achieve smooth steering, and angle closed-loop feedback can be performed in conjunction with a gyroscope or visual odometer.

[0246] At the start of rotation or during rotation, the cleaning component 20 is controlled to switch from the current state (such as the inward position or the first target outward expansion position) to the second target outward expansion position (such as the second outward expansion position or the third outward expansion position). Outward expansion action and rotationThe actions can partially overlap in time to achieve a continuous "rotating and expanding" action, so that the cleaning component 20 gradually extends as it enters the corner, conforming to the contour of the corner entrance area.

[0247] S2222: The body 10 continues to rotate along the first direction at a second angle A2, as shown in Figure 10, and during the rotation, the cleaning component 20 is controlled to retract from the second target expansion position to the first target expansion position or retraction position, so that the cleaning component 20 can clean at least the other part of the corner body 321.

[0248] The second angle A2 may be equal to or unequal to the first angle A1, and can be determined according to the specific shape of the corner body 321. For example, the second angle A2 can be set to 10° to 45°. While continuing to rotate the second angle A2, the cleaning component 20 is controlled to gradually retract from the second target expansion position to the first target expansion position or retraction position. For example, after the cleaning component 20 has completed the coverage of the deeper area of ​​the corner body 321, it can avoid interference with the opposite boundary by retracting. The retraction action can be dynamically triggered according to the real-time detected distance between the cleaning component 20 and the boundary, or it can be executed sequentially according to the preset rotation stages.

[0249] It should be noted that in this step, after completing step S2221 (i.e., completing the first angle A1 rotation), the execution process is not limited to directly entering the second angle A2 rotation (step S2222), or the second angle A2 rotation can be executed after performing one or more other angle rotations. During the rotation at other angles, the cleaning component 20 can remain in the second target expansion position, or it can switch to other expansion positions or inward positions according to real-time cleaning needs. This flexible design allows the first cleaning mode to dynamically adjust the combination of the rotation stage and the expansion state of the cleaning component 20 according to the specific shape and depth of different corners, thereby achieving a more comprehensive and adaptive cleaning coverage of various concave corner 32 structures.

[0250] In this embodiment, the coordinated execution of the rotation of the machine body 10 and the expansion / retraction of the cleaning component 20 makes the movement of the machine body 10 and the cleaning operation overlap in time, reducing the pauses and idle runs during the cleaning process, thereby improving work efficiency while ensuring cleaning quality. The multi-angle rotation mechanism can dynamically adjust the rotation angle and the expansion degree of the cleaning component 20 at each stage according to the real-time perceived corner shape, depth and opening size, so as to realize the real-time matching of cleaning parameters with the actual corner structure and avoid cleaning omissions or ineffective movements caused by fixed action paths. In addition, the synchronous control of the retraction of the cleaning component 20 during the rotation can actively prevent it from colliding with the opposite boundary or protrusions inside the corner, reducing the risk of jamming or damage to the machine body 10, thereby improving the stability and safety of the equipment in the long-term operation in complex corner environments.

[0251] In one embodiment of the present invention, in step S2221, the machine body 10 is controlled to rotate along the first direction by a first angle A1, and inBefore the cleaning component 20 is controlled to expand outward to the second target expansion position during the rotation process, the following steps are also included:

[0252] Determine whether the cleaning component 20 is in the retracted position.

[0253] In this step, the current state of the cleaning component 20 can be detected by a position sensor (such as an optocoupler, Hall sensor, or encoder) to determine whether it has been completely retracted below the bottom of the body 10, i.e., in the retracted position.

[0254] If so, control the body 10 to rotate along the first direction by a first angle A1.

[0255] In this step, if it is detected that the cleaning component 20 is in the retracted position, it indicates that it has the conditions for safe turning. At this time, the body 10 can be directly controlled to rotate along the first direction (usually pointing to the inside of the corner) by a first angle A1. It should be noted that this rotation can be achieved by a differential drive wheel or a steering wheel, and angle closed-loop control can be performed in conjunction with an inertial measurement unit or visual positioning. Of course, in other embodiments, closed-loop control of the rotation angle can also be omitted, and only the differential drive wheel or steering wheel can be used.

[0256] If not, the cleaning component 20 is controlled to retract to the inward position before the main body 10 is controlled to rotate along the first direction by a first angle A1.

[0257] In this step, if the cleaning component 20 is detected not to be in the inward position (e.g., in the first outward position, the second outward position, or other outward state), the cleaning component 20 is first controlled to perform a retraction action to completely retract to the inward position.

[0258] By determining whether the cleaning component 20 is in the inward position before rotating the first angle A1, and performing the retraction action first in the non-inward state, it can be ensured that the cleaning component 20 is in the inward position during the turning of the main body 10, thereby effectively avoiding damage to the cleaning component 20 or scratches on furniture, walls, and other surfaces caused by the collision between the outward part of the cleaning component 20 and the boundary, and significantly reducing the collision risk of the self-moving cleaning device 100 in complex corner environments. Meanwhile, this mechanism also allows the cleaning component 20 to be as close as possible to the corner body 321 during the rotation process, thereby expanding the cleaning coverage area within a limited space and improving the cleaning effect and coverage integrity of the corner area. In addition, unifying the state of the cleaning component 20 before starting the rotation at the first angle A1 can also provide consistent initial conditions for the subsequent dynamic adjustment of the outward expansion strategy based on the corner characteristics, thereby improving the accuracy of parameter control, enhancing the repeatability of cleaning actions, and ensuring that the cleaning effect on corners of different structures remains stable and reliable.

[0259] In other embodiments, before controlling the body 10 to rotate at the first angle A1 along the first direction and controlling the cleaning component 20 to expand outward to the second target outward expansion position during the rotation, the cleaning component 20 can also remain at the first outward expansion position, that is, the position where the cleaning component 20 is roughly flush with the edge of the body 10. This means that the cleaning component 20 does not need to be completely retracted to the inward position, but only needs to be retracted.After retracting to the first outward expansion position, the body 10 can begin to perform a rotation action along the first direction at a first angle A1. By keeping the cleaning component 20 in the first outward expansion position that is approximately flush with the edge of the body 10, the risk of interference between the cleaning component 20 and external obstacles during the turning process can be significantly reduced, thereby ensuring the safety of the self-moving cleaning device 100. At the same time, this design also allows the cleaning component 20 to be as close as possible to the body 10 before the body 10 begins to rotate, reducing the ineffective movement distance, and also helps to clean corners, edges and other areas more efficiently in subsequent actions, taking into account both the smoothness of the turning and the cleaning coverage effect.

[0260] In one embodiment of the present invention, during the execution of the first cleaning mode, when the body 10 rotates along the first direction at a first angle A1 and / or continues to rotate at a second angle A2, the body 10 only rotates around the first rotation axis and does not produce translational motion.

[0261] Specifically, in one embodiment, when the body 10 rotates by a first angle A1 along the first direction, the body 10 only rotates around the first rotation axis without translation. In another embodiment, when the body 10 rotates by a second angle A2 along the first direction, the body 10 only rotates around the first rotation axis without translation. In other embodiments, when the body 10 rotates by both the first angle A1 and the second angle A2 along the first direction, the body 10 only rotates around the first rotation axis without translation.

[0262] The first rotation axis is generally approximately perpendicular to the ground and can be located at the geometric center of the body 10 or on the side near the installation position of the cleaning component 20. The body 10 can rotate around this first rotation axis in a horizontal plane. The rotation can be achieved by controlling the differential speed of the drive wheels on the left and right sides of the body 10, for example, the left wheel rotates clockwise and the right wheel rotates counterclockwise, and the speeds are equal, thereby eliminating the translation component while generating rotation around the axis. During rotation, the attitude angle of the body 10 can be monitored in real time by a gyroscope, encoder or visual odometry, and the speed of the drive wheel can be controlled to ensure that the rotation angle is accurate and there is no translational deviation.

[0263] In the motion mode of only rotation without translation, the body 10 can complete multi-angle direction adjustment at a fixed point. This feature is especially suitable for scenarios with limited space such as narrow corners, and can effectively avoid interference between the body 10 and the boundary caused by translational movement. After rotating the first angle A1, the body 10 can keep the position of the rotation axis unchanged and continue to rotate the second angle A2 around the same axis, thereby realizing the continuous adjustment of the cleaning part 20 in angle, and thus covering the surface of different directions of the corner. At the same time, this method can also avoid positioning errors and collision risks that may be caused by translational movement, thereby enhancing the control accuracy and overall reliability of the cleaning process.

[0264] In one embodiment of the present invention, step S2221 controls the body 10 to rotate the first angle A1 along the first direction, and in the rotationDuring the operation, the cleaning component 20 is controlled to expand outward to the second target expansion position, including the following steps:

[0265] The body 10 is controlled to rotate along the first direction by a first angle A1.

[0266] During the process of the body 10 rotating along the first direction by a first angle A1, the following steps are performed:

[0267] The first minimum distance between the edge of the body 10 and the first boundary 322 and / or the second minimum distance between the edge and the second boundary 323 are obtained in real time, and when the first minimum distance and / or the second minimum distance are outside the preset distance range, the body 10 is controlled to translate until the first minimum distance and / or the second minimum distance are within the preset distance range; and, on page 21 / 37 of the specification, CN 121647575 A, the cleaning component 20 is controlled to expand outward to the second target expansion position.

[0268] In this step, the following different implementation methods may be included.

[0269] In one embodiment, only the first minimum distance between the edge of the fuselage 10 and the first boundary 322 is acquired in real time, and when the first minimum distance is outside a preset distance range, the fuselage 10 is controlled to perform a translational movement until the first minimum distance is within the preset distance range.

[0270] In another embodiment, only the second minimum distance between the edge of the fuselage 10 and the second boundary 323 is acquired in real time, and when the second minimum distance is outside a preset distance range, the fuselage 10 is controlled to perform a translational movement until the second minimum distance is within the preset distance range.

[0271] In other embodiments, the first minimum distance between the edge of the fuselage 10 and the first boundary 322 and the second minimum distance between the edge of the fuselage 10 and the second boundary 323 are acquired in real time simultaneously, and when the first minimum distance and / or the second minimum distance is outside a preset distance range, the fuselage 10 is controlled to perform a translational movement until both the first minimum distance and the second minimum distance are within the preset distance range.

[0272] In this embodiment, the "first minimum distance" refers to the closest straight-line distance from the first boundary 322 on the outer contour of the body 10 near the first boundary 1322, as shown in S2 of FIG8. The "second minimum distance" refers to the closest straight-line distance from the second boundary 323 on the outer contour of the body 10 near the second boundary 1323, as shown in S3 of FIG8. The distance data can be collected in real time by the ranging sensor (e.g., single-point or multi-point lidar, ultrasonic sensor array or depth camera) mounted on the self-moving cleaning device 100, which collects the original distance information between the outer contour of the body 10 and the first boundary 322 and the second boundary 323, and obtains it after filtering, coordinate transformation and geometric calculation. During the rotation process, the distance data is continuously updated to ensure real-time monitoring of the relative position of the body 10 and the boundary.

[0273] It should be noted that the preset distance range in this step refers to ensuring that the body 10 or the cleaning part 20 does not collide with the boundary.The minimum safe distance range required for biological physical contact or collision. This preset distance range is a pre-set range. It generally needs to be determined comprehensively based on the outer dimensions of the body 10, the outward expansion state of the cleaning component 20, and the movement margin of the body 10.

[0274] The preset distance range corresponding to the first minimum distance and the preset distance range corresponding to the second minimum distance can be set to be consistent or inconsistent based on the structural characteristics of the first boundary 322 and the second boundary 323, the cleaning strategy, and safety requirements.

[0275] The methods for obtaining the first minimum distance and / or the second minimum distance include, but are not limited to, the following embodiments:

[0276] Independent acquisition of dual distances: The first minimum distance and the second minimum distance are directly measured by the sensors respectively;

[0277] Single distance derivation calculation: Based on obtaining one of the minimum distances (e.g., the first minimum distance), combined with the known outline dimensions of the fuselage 10, rotation angle, and geometric features of the concave corner 32, the other minimum distance (e.g., the second minimum distance) is derived and calculated through geometric relationships;

[0278] Fusion perception calculation: Based on the multi-point distance information or environmental contour data collected by the sensors, the first minimum distance and the second minimum distance are simultaneously calculated through model fitting, contour matching, or real-time mapping.

[0279] The above methods can be selected or combined according to the sensor configuration, computing resources, and scene requirements to achieve efficient and reliable distance perception and status monitoring.

[0280] During the rotation of the body 10, the distance to the boundary is monitored in real time, and the detected deviation is corrected in a timely manner through translational movement. This can effectively compensate for the rotation error caused by mechanical transmission, ground friction, or sensor noise, ensuring that the actual position of the body 10 is consistent with the expected rotation path. By dynamically maintaining a safe distance between the body 10 and the two side boundaries, the cleaning component 20 can always be in the optimal working position close to the corner body 321 during the rotation process, avoiding the cleaning component 20 from being suspended or too far from the corner area due to the offset of the body 10, thereby improving the actual coverage and cleaning effect of the cleaning component 20 on the corner surface. At the same time, real-time distance monitoring and translational adjustment form an active anti-collision mechanism, which can prevent the body 10 or the cleaning component 20 from interfering with the first boundary 322 and the second boundary 323 due to error accumulation in the rotation instruction manual (pages 22 / 37, CN 121647575 A), ensuring the safe operation of the equipment in narrow corner environments and reducing cleaning interruptions or equipment damage caused by collisions. In addition, the translation and rotation actions completely overlap in time, eliminating the need for separate position correction after the rotation stops. Therefore, they do not take up extra cleaning time, which can improve the tightness of the cleaning action connection and help improve the overall work efficiency of corner cleaning.

[0281] In one embodiment of the present invention, after controlling the machine body 10 to rotate along the first direction by a first angle A1 in step S2221, and controlling the cleaning component 20 to expand outward to the second target expansion position during the rotation, the method further includes:

[0282] Obtain the first minimum distance between the edge of the fuselage 10 and the first boundary 322 and / or the second minimum distance between the edge and the second boundary 323, and when the first minimum distance and / or the second minimum distance are outside a preset distance range, control the fuselage 10 to translate until the first minimum distance and / or the second minimum distance are within the preset distance range.

[0283] This step may include the following different implementations.

[0284] In one embodiment, only the first minimum distance between the edge of the fuselage 10 and the first boundary 322 is obtained, and when the first minimum distance is outside a preset distance range, control the fuselage 10 to translate until the first minimum distance is within the preset distance range.

[0285] In another embodiment, only the second minimum distance between the edge of the fuselage 10 and the second boundary 323 is obtained, and when the second minimum distance is outside a preset distance range, control the fuselage 10 to translate until the second minimum distance is within the preset distance range.

[0286] In other embodiments, the first minimum distance between the edge of the body 10 and the first boundary 322 and the second minimum distance between the edge and the second boundary 323 are simultaneously obtained. When the first minimum distance and / or the second minimum distance are outside the preset distance range, the body 10 is controlled to perform a translational movement until both the first minimum distance and the second minimum distance are within the preset distance range.

[0287] In this embodiment, after rotating the first angle A1, distance remeasurement and translation correction are performed, which can eliminate the positional deviation that may occur during the rotation process and ensure that the body 10 finally stops at an ideal position that maintains a preset safe distance from the two side boundaries. This adjustment is beneficial to the accurate execution of subsequent cleaning actions (such as continuing to rotate the second angle A2), reduces the cleaning path deviation caused by the cumulative error of rotation, thereby avoiding omission of coverage of the corner body 321 area, and thus improving the stability of the cleaning effect.

[0288] Please refer to FIG11. In one embodiment of the present invention, after step S2221 controls the body 10 to rotate along the first direction by a first angle A1, and controls the cleaning component 20 to expand outward to the second target expansion position during the rotation, and after step S2222 controls the body 10 to continue rotating along the first direction by a second angle A2, and controls the cleaning component 20 to retract from the second target expansion position to the first target expansion position or retraction position during the rotation, the following steps are further included:

[0289] Controlling the body 10 to rotate along the first direction by at least a third angle A3.

[0290] Wherein, during the rotation of the body 10 by the third angle A3, the cleaning component 20 remains in the second target expansion position.

[0291] The size of the third angle A3 can be dynamically determined according to the actual geometry of the corner body 321, for example, it can be selected as 5°, 10°, 20°, etc. By controlling the body 10 to rotate by the third angle A3, it is possible to diagonally...The third angle A3 can be equal to or different from the first angle A1. This embodiment does not limit its specific value.

[0292] When rotating the third angle A3, the body 10 can continue to rotate around the same rotation axis as the first angle A1 during rotation. It can also slightly adjust the position of the rotation axis according to the actual space conditions to achieve further cleaning of the corner side or transition area. During the rotation of the third angle A3, the cleaning part 20 is maintained in the second target expansion position (e.g., the second expansion position or the third expansion position), so that it remains in the extended state and continuously contacts the surface of the corner body 321, thereby achieving continuous cleaning of the corner body 321 under different rotation angles.

[0293] The third angle A3 can be executed immediately after the first angle A1 is rotated, or it can be executed after a short pause; the rotation process can be completed in one go, or it can be divided into multiple small angle intermittent rotations. During the rotation of the third angle A3, the distance between the body 10 and the first boundary 322 and / or the second boundary 323 can be monitored simultaneously, and the body 10 can be controlled to make translational adjustments as needed to maintain a safe distance. Of course, in other embodiments, only rotation can be performed during the rotation of the third angle A3 without translational movement in the horizontal direction. "At least one third angle A3" includes the case of rotating one or more third angles A3, and the number of rotations can be adaptively selected according to the opening width, depth or actual cleaning needs of the corner body 321.

[0294] Of course, in other embodiments, if the corner body 321 has a relatively simple structure or the preset cleaning requirements have been met through previous cleaning, the rotation process of the third angle A3 can be skipped, and the body 10 can be directly controlled to enter the rotation stage of the second angle A2.

[0295] In this embodiment, by increasing the rotation of the intermediate angle (i.e., the third angle A3), the cleaning component 20 can continuously contact the corner surface at different angles, thereby achieving multi-angle extended coverage of the corner body 321 area. This not only helps to expand the cleaning coverage area of ​​the cleaning component 20 in the corner body 321 area, but also reduces cleaning blind spots caused by excessive rotation angle intervals. Simultaneously, the rotation of the third angle A3 can be flexibly set according to the actual geometry of the corner body 321, including the angle size, number of rotations, and movement mode, allowing the cleaning process to more precisely adapt to corner structures of different depths and opening widths, thereby enhancing its cleaning adaptability to diverse home scenarios.

[0296] In one embodiment of the present invention, during the process of controlling the body 10 to rotate at least one third angle A3 along the first direction, the following steps are also included:

[0297] Obtaining the first minimum distance between the edge of the body 10 and the first boundary 322 and / or the second minimum distance between the edge and the second boundary 323.

[0298] This step can have multiple embodiments.

[0299] In one embodiment, only the first minimum distance between the edge of the fuselage 10 and the first boundary 322 is obtained.

[0300] In another embodiment, only the second minimum distance between the edge of the fuselage 10 and the second boundary 323 is obtained.

[0301] In other embodiments, both the first minimum distance between the edge of the fuselage 10 and the first boundary 322 and the second minimum distance directly between the edge of the fuselage 10 and the second boundary 323 are obtained simultaneously.

[0302] Determine whether the first minimum distance and / or the second minimum distance are within a preset distance range.

[0303] In this step, if the first minimum distance is obtained in the previous step, determine whether the first minimum distance is within a preset distance range; if the second minimum distance is obtained in the previous step, determine whether the second minimum distance is within a preset distance range; if both the first minimum distance and the second minimum distance are obtained in the previous step, determine whether both the first minimum distance and the second minimum distance are within a preset distance range.

[0304] If not, control the fuselage 10 to perform a translational movement until both the first minimum distance and / or the second minimum distance are within a preset distance range.

[0305] When the first minimum distance and / or the second minimum distance are detected to exceed the preset distance range, the body 10 is controlled to translate in a direction that can reduce the distance deviation. For example, if the distance to the first boundary 322 is too close, the body 10 is controlled to translate away from the first boundary 322; if the distance to the second boundary 323 is too far, the body 10 is controlled to translate closer to the second boundary 323.

[0306] If so, the body 10 is controlled to continue rotating along the first direction by a third angle A3; or, the body 10 is controlled to rotate along the first direction by a second angle A2.

[0307] In this step, if the first minimum distance and / or the second minimum distance are within the preset distance range, the subsequent action can be determined according to the cleaning stage: if additional cleaning coverage is still required, the machine body 10 is controlled to continue rotating along the first direction by a third angle A3 to further expand the cleaning range; if the current angle meets the cleaning requirements, the next stage is directly entered, and the machine body 10 is controlled to rotate along the first direction by a second angle A2, while the cleaning component 20 retraction process begins.

[0308] It should be noted that, in another embodiment, the above steps can also be performed after the machine body 10 is controlled to rotate along the first direction by at least one third angle A3.

[0309] In this embodiment, by detecting the distance between the machine body 10 and the boundary during or after the rotation of the third angle A3, and controlling the machine body 10 to perform translation adjustment through the detected distance, it can be ensured that each rotation of the third angle A3 is performed at the optimized position. This mechanism effectively reduces the accumulation of rotation error and ensures the multi-angle rotation process.The positional accuracy and motion continuity in the process are conducive to further improving the integrity of the cleaning coverage and the consistency of the cleaning effect in the corner body 321 area.

[0310] In one embodiment of the present invention, step S2222 controls the body 10 to continue rotating along the first direction by a second angle A2, and controls the cleaning component 20 to retract from the second target expansion position to the first target expansion position or the inward position during the rotation, including the following steps:

[0311] Control the body 10 to rotate along the first direction by a second angle A2.

[0312] In this step, the second angle A2 can be equal to or unequal to the first angle A1. For example, it can be set to 10° to 45°. The rotation control method of the second angle A2 can refer to the rotation control method of the first angle A1, which will not be repeated here.

[0313] During the process of the body 10 rotating at a second angle A2 along the first direction, the following steps are performed:

[0314] The first minimum distance between the edge of the body 10 and the first boundary 322 and / or the second minimum distance between the edge of the body 10 and the second boundary 323 are obtained in real time, and when the first minimum distance and / or the second minimum distance are outside the preset distance range, the body 10 is controlled to translate until the first minimum distance and / or the second minimum distance are within the preset distance range; and the cleaning component 20 is controlled to retract from the second target expansion position to the first target expansion position or the inward position.

[0315] In this step, the following different implementation methods may be included.

[0316] In one embodiment, only the first minimum distance between the edge of the body 10 and the first boundary 322 is obtained in real time, and when the first minimum distance is outside the preset distance range, the body 10 is controlled to translate until the first minimum distance is within the preset distance range.

[0317] In another embodiment, only the second minimum distance between the edge of the body 10 and the second boundary 323 is acquired in real time, and when the second minimum distance is outside the preset distance range, the body 10 is controlled to perform translational movement until the second minimum distance is within the preset distance range.

[0318] In other embodiments, the first minimum distance between the edge of the body 10 and the first boundary 322 and the second minimum distance between the edge of the body 10 and the second boundary 323 are acquired in real time at the same time, and when the first minimum distance and / or the second minimum distance is outside the preset distance range, the body 10 is controlled to perform translational movement until both the first minimum distance and the second minimum distance are within the preset distance range.

[0319] In this step, the cleaning component 20 may be controlled to retract from the second target expansion position to the first target expansion position, or the cleaning component 20 may be controlled to retract from the second target expansion position to the inward position. For example, if it retracts to the first target outward expansion position, the cleaning component 20 still maintains a partial outward expansion, which is suitable for scenarios where cleaning along the edge is still required; if it retracts to the inward position, the cleaning component 20 is completely retracted under the body 10, which is suitable for transitional phases such as exiting a corner or turning.

[0320] During the rotation of the body 10 at the second angle A2, the distance to the boundary is monitored in real time, and the detected deviation is corrected in a timely manner through translational movement. This can effectively compensate for the rotation error caused by mechanical transmission, ground friction, or sensor noise, ensuring that the actual position of the body 10 is consistent with the expected rotation path. By dynamically maintaining the safety distance between the body 10 and the two side boundaries, the cleaning component 20 can always be in the optimal working position close to the corner body 321 during the rotation process. This avoids the cleaning component 20 being suspended or too far from the corner area due to the offset of the body 10, thereby improving the actual coverage and cleaning effect of the cleaning component 20 on the corner surface. At the same time, real-time distance monitoring and translational adjustment form an active anti-collision mechanism, which can prevent the body 10 or the cleaning component 20 from interfering with the first boundary 322 and the second boundary 323 due to the accumulation of errors during rotation. This ensures the safe operation of the equipment in narrow corner environments and reduces cleaning interruptions or equipment damage caused by collisions. In addition, the translation adjustment and rotation actions completely overlap in time, and there is no need to perform position correction separately after the rotation stops. Therefore, it will not occupy additional cleaning time, thereby improving the tightness of the cleaning action connection and improving the overall work efficiency of corner cleaning.

[0321] Compared with the previous embodiment, the difference of this embodiment is that after controlling the machine body 10 to continue rotating along the first direction at a second angle A2, and controlling the cleaning component 20 to retract from the second target expansion position to the first target expansion position or inward position during the rotation, it further includes:

[0322] Obtaining the first minimum distance between the edge of the machine body 10 and the first boundary 322 and / or the second minimum distance between the edge of the machine body 10 and the second boundary 323, and when the first minimum distance and / or the second minimum distance are outside the preset distance range, controlling the machine body 10 to translate until the first minimum distance and / or the second minimum distance are within the preset distance range.

[0323] In this step, the following different implementation methods may be included.

[0324] In one embodiment, only the first minimum distance between the edge of the fuselage 10 and the first boundary 322 is obtained, and when the first minimum distance is outside a preset distance range, the fuselage 10 is controlled to perform a translational movement until the first minimum distance is within the preset distance range.

[0325] In another embodiment, only the second minimum distance between the edge of the fuselage 10 and the second boundary 323 is obtained, and when the second minimum distance is outside a preset distance range, the fuselage 10 is controlled to perform a translational movement until the second minimum distance is within the preset distance range.

[0326] In other embodiments, the first minimum distance between the edge of the fuselage 10 and the first boundary 322 and the second minimum distance between the edge of the fuselage 10 and the second boundary 323 are obtained simultaneously, and when the first minimum distance and / or the second minimum distance is within a preset distance range, the fuselage 10 is controlled to perform a translational movement until the second minimum distance is within the preset distance range.When outside the range, the control body 10 performs a translational movement until both the first minimum distance and the second minimum distance are within the preset distance range.

[0327] In this embodiment, after the second angle A2 is rotated, the distance is remeasured and the translation is corrected, which can eliminate the positional deviation that may occur during the rotation and ensure that the body 10 finally stops at the ideal position that maintains a preset safe distance from the two side boundaries. This adjustment is beneficial to the accurate execution of subsequent cleaning actions (such as continuing to move along the second boundary 323 or performing a reverse rotation), reducing the cleaning path deviation caused by the cumulative error of rotation, thereby avoiding omission of coverage of the corner body 321 area and improving the stability of the cleaning effect.

[0328] In one embodiment of the present invention, after controlling the body 10 to continue rotating along the first direction by a second angle A2 in step S2222, and controlling the cleaning component 20 to retract from the second target expansion position to the first target expansion position or the inward position during the rotation, the method further includes:

[0329] detecting whether the traveling direction of the body 10 is consistent with the extension direction of the second boundary 323, and if not, controlling the body 10 to continue rotating by a fourth angle until the traveling direction of the body 10 is consistent with the extension direction of the second boundary 323. The state diagram in which the traveling direction of the body 10 is consistent with the extension direction of the second boundary 323 is shown in Figure 13.

[0330] In this step, there are multiple ways to detect whether the direction of travel of the fuselage 10 is consistent with the extension direction of the second boundary 323, including but not limited to obtaining the current orientation angle (heading angle) of the fuselage 10 in real time through the lidar, vision sensor or electronic compass mounted on the fuselage 10; identifying the extension direction of the second boundary 323 based on environmental perception information (such as the contour point cloud or image features of the second boundary 323), for example, extracting the boundary orientation angle through line fitting or boundary tracking algorithm; calculating the angle difference between the orientation of the fuselage 10 and the extension direction of the second boundary 323. If the angle difference exceeds a preset threshold (e.g., ±5°), it is determined that the directions are inconsistent.

[0331] The size of the fourth angle can be dynamically determined according to the actual detected angle difference, with the rotation direction aimed at aligning the orientation of the fuselage 10 with the direction of the second boundary 323. During the rotation of the fourth angle, the body 10 can continue to keep the cleaning component 20 in the retracted state (the first target expansion position or the retracted position) to reduce the risk of interference during the rotation of the body 10.

[0332] It should be noted that after the direction of travel of the body 10 is consistent with the extension direction of the second boundary 323, the edge cleaning mode along the second boundary 323 can be started; the lateral distance between the body 10 and the second boundary 323 can also be further checked, and if necessary, translation adjustment can be combined to ensure that the starting position of edge cleaning is accurate.

[0333] By calibrating the direction of the body 10 after completing the rotation of the second angle A2, and making the direction of travel of the body 10 consistent with the first target expansion position or the second target expansion position, the body 10 can continue to rotate in the same direction as the second target expansion position or ...Aligning the extension directions of the two boundaries 323 ensures that the movement trajectory of the machine body 10 remains parallel to the boundary during subsequent edge cleaning, reducing the probability of the cleaning component 20 shifting due to deviations in the direction of the machine body 10. This improves the coverage accuracy and cleaning quality of subsequent edge cleaning. Simultaneously, after completing corner cleaning, fine-tuning the direction of the machine body 10 to match the next stage of edge cleaning path allows for a smooth transition from "corner cleaning" to "edge cleaning," avoiding path replanning or repeated adjustments due to mismatched directions of the machine body 10. This enhances the overall continuity and efficiency of the cleaning operation. Furthermore, this direction calibration method allows the self-moving cleaning device 100 to actively adapt to boundary conditions of different angles and orientations. Especially in non-standard corners or irregular furniture edges, this dynamic detection and adjustment method effectively addresses sudden changes in direction or boundary transitions, thereby improving the environmental adaptability of the cleaning process.

[0334] In one embodiment of the present invention, after step S222 when the distance S1 is equal to a preset safety distance, the self-moving cleaning device 100 is controlled to start executing the first cleaning mode to complete one cleaning of the corner body 321, and after step S223 when the self-moving cleaning device 100 is controlled to move along the second boundary 323 in a direction away from the first boundary 322, and before cleaning the second boundary 323 along the edge during the movement, the following steps are also included:

[0335] The cleanliness of the corner body 321 is detected to determine whether it is clean.

[0336] In this step, the cleaning status of the corner area can be detected by the sensing module mounted on the body 10, which can include various implementation methods. For example, a visual sensor is used to collect corner images, and the presence of visible stains or dust residue is determined based on image analysis; or the changes in ground reflectivity and light transmittance are detected by infrared reflection sensors, turbidity sensors, etc., to indirectly assess the degree of cleanliness; or pressure or vibration sensors can be set on the cleaning component 20 to infer the residue situation by the change in resistance during the cleaning process.

[0337] “Clean” means that the cleaning result meets a preset standard, which can be set as the stain coverage area being lower than a threshold, the reflectivity being restored to a reference range, etc.

[0338] If clean, the self-moving cleaning device 100 is controlled to move along the second boundary 323 in a direction away from the first boundary 322, and performs edge cleaning on the second boundary 323 during the movement.

[0339] Specifically, if the corner body 321 is determined to be clean after detection, the self-moving cleaning device 100 is controlled to exit the corner body 321 and perform edge cleaning along the second boundary 323. At this time, the cleaning component 20 can adopt an adapted target expansion position, such as the first expansion position.

[0340] If not clean, the self-moving cleaning device 100 is controlled to execute a second cleaning mode to perform secondary cleaning on the corner body 321.

[0341] In this step, the second cleaning mode may employ a different motion strategy or parameter settings than the first cleaning mode. In one specific embodiment, the second cleaning mode may include:

[0342] Controlling the body 10 to rotate in the opposite direction to the first cleaning mode, and controlling the cleaning component 20 to move during the rotation, thereby achieving secondary cleaning of the corner body 321. For example, if the body 10 rotates clockwise in the first cleaning mode, then in the second cleaning mode it rotates counterclockwise. Reversing the direction helps to contact the corner surface from different angles, especially removing residual stains that could not be removed in the first cleaning mode due to the unidirectional movement of the brush bristles or mop.

[0343] In addition, while rotating in the opposite direction, the cleaning component 20 can be controlled to perform actions different from those in the first cleaning mode, such as: changing the rotation speed of the cleaning component 20, adjusting the outward expansion position of the cleaning component 20, for example, switching from the second target outward expansion position to the third outward expansion position to increase the coverage depth; controlling the cleaning component 20 to perform small reciprocating oscillations during rotation to enhance the cleaning effect on corners, grooves or crevices.

[0344] The second cleaning mode may adopt a different rotation angle, rotation speed or path trajectory than the first cleaning mode; for example, the first cleaning mode rotates in segments at a larger angle, while the second cleaning mode may use continuous rotation at a smaller angle to increase the cleaning density of local areas; increasing the rotation speed or vibration frequency of the cleaning component 20; increasing the amount of water sprayed or the amount of cleaning agent used; controlling the machine body 10 to perform a denser reciprocating or oscillating path; extending the cleaning duration or the number of repetitions.

[0345] After completing the secondary cleaning, the self-moving cleaning device 100 is controlled to execute the first cleaning mode again to perform a third cleaning on the corner body 321.

[0346] Repeat the second cleaning mode and the first cleaning mode until the corner body 321 is clean.

[0347] In this step, the number of cycles of the first cleaning mode and / or the second cleaning mode can be dynamically adjusted according to the cleanliness detection results until the cleaning standard is reached. Of course, in other embodiments, a maximum number of cycles can also be set to prevent infinite repetition, so as to ensure the smooth execution of the cleaning operation.

[0348] In this embodiment, by performing cleanliness detection on the corner body 321, the first cleaning result can be objectively evaluated, and the second cleaning can be intelligently determined according to the detection result, forming a closed-loop process of "cleaning-detection-decision-re-cleaning", thereby improving the autonomy and targeting of the cleaning process. Specifically, when the first cleaning does not meet the standard, the second cleaning mode (e.g., reverse rotation, parameter adjustment, etc.) can be switched to perform a second cleaning on the same area, which can effectively deal with stubborn stains in the corner body 321 area that are difficult to handle by a single cleaning, thereby improving the thoroughness and reliability of the cleaning. In addition, this mechanism enables the self-moving cleaning device 100 to dynamically adjust the cleaning strategy and the number of cycles according to the actual pollution situation, which can effectively address stubborn stains in the corner body 321 area that are difficult to handle by a single cleaning, thereby improving the thoroughness and reliability of the cleaning.It can quickly clean lightly soiled corners and thoroughly remove heavy stains through multiple iterations, thereby improving its overall adaptability and cleaning stability to different home environments.

[0349] In one embodiment of the present invention, in the retracted position, the cleaning component 20 further includes a raised position that is lifted away from the area to be cleaned; after step S222 when the distance S1 is equal to the preset safety distance, the self-moving cleaning device 100 is controlled to start executing the first cleaning mode to complete one cleaning of the corner body 321, and before step S223 the self-moving cleaning device 100 is controlled to move along the second boundary 323 in a direction away from the first boundary 322, and before cleaning the second boundary 323 along the edge during the movement, the following steps are further included:

[0350] The corner body 321 is cleaned to determine whether it is clean;

[0351] If it is clean, the self-moving cleaning device 100 is controlled to move along the second boundary 323 in a direction away from the first boundary 322, and the second boundary 323 is cleaned along the edge during the movement;

[0352] If it is not clean, the following sub-steps are executed:

[0353] The cleaning component 20 is controlled to switch to the raised position.

[0354] The cleaning component 20 is completely lifted off the ground in the raised position to avoid secondary contamination or scratching of the cleaned area during subsequent rotation or adjustment.

[0355] The self-moving cleaning device 100 is controlled to rotate in a second direction opposite to the first direction until the self-moving cleaning device 100 returns to the posture when it started executing the first cleaning mode.

[0356] In this step, the self-moving cleaning device 100 can be restored to the posture when it started executing the first cleaning mode by various methods. For example, the orientation angle θ0 of the body 10 at the beginning of the first cleaning mode can be recorded by a gyroscope, encoder or electronic compass mounted on the body 10; the current orientation angle θ is monitored in real time during the rotation in the second direction, and the posture is determined to be restored when |θ-θ0|≤Δθ (Δθ is the allowable error, such as ±2°). Alternatively, the visual sensor or lidar mounted on the body 10 can be used to collect feature information of the surrounding environment (such as boundary contours, ground textures, or markers) at the start of the first cleaning mode; during the rotation, the matching degree of the current environmental features and the stored features is continuously compared, and the attitude is determined to be restored when the matching degree reaches a preset threshold. Alternatively, an indoor positioning system (such as UWB or visual SLAM) mounted on the body 10 can be used to control the rotation until the two are consistent by comparing the current position with the positioning coordinates and orientation at the start of the first cleaning mode.

[0357] The self-moving cleaning device 100 is controlled to execute the first cleaning mode again to perform secondary cleaning on the corner body 321.

[0358] After the attitude reset of the self-moving cleaning device 100 in the above steps is completed, the first cleaning mode is restarted.(Including a series of actions such as rotation and outward expansion), to perform the same cleaning process again on the same corner body 321.

[0359] Repeat the first cleaning mode until the corner body 321 is cleaned.

[0360] According to the detection results, the "lift and rotate to perform the first cleaning mode" cycle can be repeated multiple times until the cleanliness meets the requirements.

[0361] In this embodiment, by lifting the cleaning component 20 to a position off the ground, the self-moving cleaning device 100 can avoid secondary pollution or scratching of the cleaned area during rotation and reset. At the same time, by rotating in the opposite direction, the self-moving cleaning device 100 can be restored to the initial cleaning posture, providing a consistent positional reference for repeated cleaning, thereby achieving directional reprocessing of the uncleaned area while protecting the cleaning results. In addition, in this embodiment, the "lift and rotate to clean again" cycle is triggered by the cleanliness detection, so that the self-moving cleaning device 100 can autonomously decide whether and how to repeat the cleaning according to the actual cleaning effect, realizing intelligent adaptation from single cleaning to multiple cleaning, and improving the thoroughness of cleaning stubborn stains or complex corners.

[0362] As shown in Figures 14 and 15, in one embodiment of the present invention, the second cleaning mode includes the following steps:

[0363] The body 10 is controlled to rotate a second angle A2 in a second direction opposite to the first direction (as shown by direction N2 in Figure 14), and during the rotation, the cleaning component 20 is controlled to expand outward to a second target expansion position, so that the cleaning component 20 can clean at least a portion of the corner body 321.

[0364] The second direction is opposite to the first direction in the first cleaning mode. For example, if the first direction is clockwise, then the second direction is counterclockwise. This reverse rotation can form a cleaning coverage on the corner surface from different directions of movement, which helps to deal with stains that may be left due to unidirectional cleaning.

[0365] Controlling the cleaning component 20 to expand outward to a second target expansion position (such as a second expansion position or a third expansion position) during the rotation allows the cleaning component 20 to remain extended when entering the corner body 321 area in the reverse direction, ensuring effective access to the corner body 321 area.

[0366] The control body 10 continues to rotate along the second direction by a first angle A1, and during the rotation, the cleaning component 20 is controlled to retract from the second target expansion position to the first target expansion position or retraction position, so that the cleaning component 20 can clean at least the other part of the corner body 321.

[0367] It should be noted that the second cleaning mode can be the reverse rotation process of the first cleaning mode, that is:

[0368] The rotation process of the first angle A1 in the second cleaning mode is opposite in direction to the rotation process of the first angle A1 in the first cleaning mode; the rotation process of the second angle A2 in the second cleaning mode is opposite in direction to the rotation process of the second angle A2 in the first cleaning mode.

[0369] In this embodiment, by controlling the body 10 to rotate in the opposite direction to the first cleaning mode and performing the corresponding expansion-retraction action, the second cleaning mode can form a secondary coverage of the corner body 321 surface from the reverse path. This method can make the second cleaning mode and the first cleaning mode complementary in the rotation direction, which can effectively reduce the stain residue or cleaning blind spots that may be caused by unidirectional cleaning movement, thereby improving the comprehensiveness of cleaning coverage.

[0370] In one embodiment of the present invention, before controlling the body 10 to rotate the second angle A2 in the second direction and controlling the cleaning component 20 to expand to the second target expansion position during the rotation, the following steps are also included:

[0371] Determining whether the cleaning component 20 is in the retracted position.

[0372] This step can be determined by real-time detection of the current position state of the cleaning component 20 by a position sensor (such as an optocoupler, Hall sensor or encoder) set on the body 10 or the cleaning component 20, so as to determine whether the cleaning component 20 is in the retracted position.

[0373] If so, the body 10 is controlled to rotate the second angle A2 in the second direction.

[0374] When it is detected that the cleaning component 20 is in the retracted position, it indicates that the machine body 10 has met the safe turning conditions, and the machine body 10 can be directly controlled to start rotating at the second angle A2 in the second direction (i.e., the opposite direction to the first cleaning mode). The rotation process can be achieved by differential drive between the drive wheels, and closed-loop control is performed with the help of the angle sensor.

[0375] If not, the cleaning component 20 is controlled to retract to the retracted position before the machine body 10 is controlled to rotate at the second angle A2 in the second direction.

[0376] If the cleaning component 20 is in the outward expansion state (e.g., in the first outward expansion position, the second outward expansion position, or the third outward expansion position), the cleaning component 20 is first controlled to perform a retraction action until it is completely retracted to the retracted position. During the retraction process, the feedback signal of the position sensor can be monitored, or the motor current and displacement parameters driving the extension and retraction of the cleaning component 20 can be detected to ensure that the cleaning component 20 is retracted into place. After the cleaning component 20 is completely retracted to the retracted position, the machine body 10 is controlled to rotate at the second angle A2 in the second direction.

[0377] By determining whether the cleaning component 20 is in the retracted position before rotating to the second angle A2, and performing a retraction action in the non-retracted state, it can be ensured that the cleaning component 20 is in the retracted position during the rotation of the body 10. This effectively avoids damage to the cleaning component 20 or scratches on furniture, walls, and other surfaces caused by the collision between the outward-expanding part of the cleaning component 20 and the boundary, significantly reducing the collision risk of the self-moving cleaning device 100 in complex corner environments. At the same time, this mechanism also allows the cleaning component 20 to be as close as possible to the corner body 321 during rotation, thereby expanding the cleaning coverage area within a limited space and improving the cleaning effect and coverage integrity of the corner area. In addition, unifying the state of the cleaning component 20 before starting the rotation to the second angle A2 can alsoThis provides consistent initial conditions for subsequent dynamic adjustment of the outward expansion strategy based on corner characteristics, thereby improving the accuracy of parameter control, enhancing the repeatability of cleaning actions, and ensuring stable and reliable cleaning effects on corners of different structures.

[0378] In other embodiments, before controlling the body 10 to rotate along the second direction by a second angle A2, and controlling the cleaning component 20 to expand outward to the second target outward expansion position during the rotation, the cleaning component 20 can also be kept in the first outward expansion position, that is, the cleaning component 20 is roughly flush with the edge of the body 10. This means that the cleaning component 20 does not need to be completely retracted to the inward position, but only needs to be retracted to the first outward expansion position before the body 10 can start to perform the rotation action along the second direction by a second angle A2. By keeping the cleaning component 20 in the first outward expansion position that is approximately flush with the edge of the body 10, the risk of interference between the cleaning component 20 and external obstacles can also be reduced during the rotation of the body 10, thereby ensuring the safety of the operation of the self-moving cleaning device 100. Meanwhile, this design also allows the cleaning component 20 to be as close as possible to the body of the machine 10 before the machine body 10 begins to rotate, reducing the ineffective movement distance, and also helps to clean corners, edges and other areas more efficiently in subsequent actions, taking into account both the smoothness of turning and the cleaning coverage effect.

[0379] In one embodiment of the present invention, during the execution of the second cleaning mode, when the machine body 10 rotates along the second direction at the second angle A2 and / or continues to rotate at the first angle A1, the machine body 10 only rotates around the second rotation axis and does not produce translational movement.

[0380] Specifically, in one embodiment, when the machine body 10 rotates along the second direction at the second angle A2, the machine body 10 only rotates around the second rotation axis and does not produce translational movement. In another embodiment, when the machine body 10 rotates along the second direction at the first angle A1, the machine body 10 only rotates around the second rotation axis and does not produce translational movement. In other embodiments, when the body 10 rotates by a second angle A2 and a first angle A1 along the second direction, the body 10 only rotates around the second rotation axis without translation.

[0381] In this embodiment, the second rotation axis may coincide with or not coincide with the first rotation axis. The second rotation axis is usually approximately perpendicular to the ground and may be located at the geometric center of the body 10 or on the side near the installation position of the cleaning component 20. The body 10 can rotate around the second rotation axis in the horizontal plane.

[0382] In the motion mode of rotation without translation, the body 10 can complete multi-angle direction adjustment at a fixed point. This feature is particularly suitable for scenarios with limited space, such as narrow corners, and can effectively avoid interference between the equipment and the boundary caused by translation. After rotating by a second angle A2 along the second direction, the body 10 can keep the position of the rotation axis unchanged and continue to rotate around the same axis.The axis rotates by a first angle A1, thereby realizing continuous adjustment of the cleaning component 20 in terms of angle, and thus covering the surface in different directions of the corner. At the same time, this method can also avoid positioning errors and collision risks that may be caused by translational movement, thereby enhancing the control accuracy and overall reliability of the cleaning process.

[0383] In one embodiment of the present invention, controlling the body 10 to rotate by a second angle A2 along the second direction, and controlling the cleaning component 20 to expand outward to the second target expansion position during the rotation, includes the following steps:

[0384] Controlling the body 10 to rotate by a second angle A2 along the second direction.

[0385] During the process of the body 10 rotating by a second angle A2 along the second direction, the following steps are performed:

[0386] Real-time acquisition of the first minimum distance between the edge of the body 10 and the first boundary 322 and / or the second minimum distance between the edge and the second boundary 323, and when the first minimum distance and / or the second minimum distance are outside the preset distance range, controlling the body 10 to translate until the first minimum distance and / or the second minimum distance are within the preset distance range; and controlling the cleaning component 20 to expand outward to the second target expansion position.

[0387] This step may include the following different implementation methods.

[0388] In one embodiment, only the first minimum distance between the edge of the fuselage 10 and the first boundary 322 is acquired in real time, and when the first minimum distance is outside the preset distance range, the fuselage 10 is controlled to perform a translational movement until the first minimum distance is within the preset distance range.

[0389] In another embodiment, only the second minimum distance between the edge of the fuselage 10 and the second boundary 323 is acquired in real time, and when the second minimum distance is outside the preset distance range, the fuselage 10 is controlled to perform a translational movement until the second minimum distance is within the preset distance range.

[0390] In other embodiments, the first minimum distance between the edge of the fuselage 10 and the first boundary 322 and the second minimum distance between the edge of the fuselage 10 and the second boundary 323 are acquired in real time simultaneously, and when the first minimum distance and / or the second minimum distance is outside the preset distance range, the fuselage 10 is controlled to perform a translational movement until both the first minimum distance and the second minimum distance are within the preset distance range.

[0391] The method for obtaining the first minimum distance and / or the second minimum distance in this embodiment can refer to the relevant description in the foregoing embodiments, and will not be repeated here.

[0392] During the rotation of the fuselage 10 along the second direction, the distance to the boundary is monitored in real time, and the detected deviation is corrected in a timely manner through translational motion. This can effectively compensate for the rotation error caused by mechanical transmission, ground friction, or sensor noise, and ensure that the actual position of the fuselage 10 is consistent with the expected rotation path. By dynamically maintaining the safe distance between the fuselage 10 and the two side boundaries,The distance adjustment mechanism ensures that the cleaning component 20 remains in the optimal working position close to the corner body 321 during rotation, preventing the cleaning component 20 from being suspended in the air or being too far from the corner area due to the offset of the machine body 10. This improves the actual coverage and cleaning effect of the cleaning component 20 on the corner surface. Simultaneously, real-time distance monitoring and translation adjustment form an active anti-collision mechanism, preventing the machine body 10 or the cleaning component 20 from interfering with the first boundary 322 and the second boundary 323 due to accumulated errors during rotation. This ensures the safe operation of the equipment in narrow corner environments and reduces cleaning interruptions or equipment damage caused by collisions. Furthermore, the translation adjustment and rotation actions completely overlap in time, eliminating the need for separate position correction after rotation stops. Therefore, it does not consume extra cleaning time, thus improving the tightness of the cleaning action sequence and enhancing the overall efficiency of corner cleaning.

[0393] In one embodiment of the present invention, after controlling the body 10 to rotate a second angle A2 along a second direction and controlling the cleaning component 20 to expand outward to a second target expansion position during the rotation, the method further includes:

[0394] obtaining a first minimum distance between the edge of the body 10 and the first boundary 322 and / or a second minimum distance between the edge of the body 10 and the second boundary 323, and when the first minimum distance and / or the second minimum distance are outside a preset distance range, controlling the body 10 to translate until the first minimum distance and / or the second minimum distance are within the preset distance range.

[0395] This step may include the following different implementation methods.

[0396] In one embodiment, only the first minimum distance between the edge of the body 10 and the first boundary 322 is obtained, and when the first minimum distance is outside the preset distance range, controlling the body 10 to translate until the first minimum distance is within the preset distance range.

[0397] In another embodiment, only the second minimum distance between the edge of the fuselage 10 and the second boundary 323 is obtained, and when the second minimum distance is outside the preset distance range, the fuselage 10 is controlled to perform a translational movement until the second minimum distance is within the preset distance range.

[0398] In other embodiments, the first minimum distance between the edge of the fuselage 10 and the first boundary 322 and the second minimum distance between the edge of the fuselage 10 and the second boundary 323 are obtained simultaneously, and when the first minimum distance and / or the second minimum distance is outside the preset distance range, the fuselage 10 is controlled to perform a translational movement until both the first minimum distance and the second minimum distance are within the preset distance range.

[0399] In this embodiment, after the fuselage 10 rotates along the second direction by a second angle A2, distance remeasurement and translation correction are performed, which can eliminate the positional deviation that may occur during the rotation process and ensure that the fuselage 10 finally stops at an ideal position that maintains a preset safe distance from the two side boundaries. This adjustment is beneficial for subsequent cleaning actions (such as continuing to rotate along the second direction by a first angle).The precise execution of angle A1 reduces the cleaning path deviation caused by cumulative rotation errors, thereby avoiding omissions in the coverage of the corner body 321 area, thus improving the stability of the cleaning effect.

[0400] Please refer to FIG16. In one embodiment of the present invention, after controlling the body 10 to rotate a second angle A2 along the second direction and controlling the cleaning component 20 to expand outward to the second target expansion position during the rotation, and after controlling the body 10 to continue rotating a first angle A1 along the second direction and controlling the cleaning component 20 to retract from the second target expansion position to the first target expansion position or retraction position during the rotation, the method further includes:

[0401] Controlling the body 10 to rotate at least a fifth angle A4 along the second direction.

[0402] Wherein, during the rotation of the body 10 at the fifth angle A4, the cleaning component 20 remains at the second target expansion position.

[0403] The fifth angle A5 may be equal to or unequal to the third angle A3 in the aforementioned embodiment. This embodiment is not limited to this. By controlling the body 10 to rotate at the fifth angle A5, the cleaning component 20 can supplement the corner with intermediate angle coverage while maintaining an outward expansion state during the execution of the second cleaning mode.

[0404] When rotating at the fifth angle A5, the body 10 can continue to rotate around the same rotation axis as during the rotation at the second angle A2, or the position of the rotation axis can be slightly adjusted according to the actual space conditions to achieve further cleaning of the corner side or transition area. During the rotation at the fifth angle A5, the cleaning component 20 is maintained at the second target outward expansion position (e.g., the second outward expansion position or the third outward expansion position), keeping it in an extended state and continuously contacting the surface of the corner body 321, thereby achieving continuous cleaning of the corner body 321 at different rotation angles.

[0405] The fifth angle A5 can be executed immediately after the body 10 rotates at the second angle A2 in the second direction, or it can be executed after a brief pause; the rotation process can be completed in one go, or it can be divided into multiple small-angle intermittent rotations. During the rotation of the fifth angle A5, the distance between the body 10 and the first boundary 322 and / or the second boundary 323 can be monitored simultaneously, and the body 10 can be controlled to make translational adjustments as needed to maintain a safe distance. Of course, in other embodiments, only rotation can be performed during the rotation of the fifth angle A5 without translational movement in the horizontal direction. "At least one fifth angle A5" includes the case of rotating one or more fifth angles A5, and the number of rotations can be adaptively selected according to the opening width, depth or actual cleaning needs of the corner body 321.

[0406] Of course, in other embodiments, if the corner body 321 has a relatively simple structure or the preset cleaning requirements have been met through previous cleaning, the rotation process of the fifth angle A5 can be skipped, and the body 10 can be directly controlled to enter the rotation stage of the first angle A1 along the second direction.

[0407] This embodiment introduces a rotation at an intermediate angle (i.e., the fifth angle A5), which allows the cleaning component 20 to continuously contact the corner surface at different angles during rotation along the second direction. This mechanism can expand the multi-angle coverage range of the cleaning component 20 in the corner area, effectively increase the cleaning area, and reduce cleaning blind spots caused by excessive rotation intervals. At the same time, the rotation parameters of the fifth angle A5 (such as angle size, number of rotations, and movement mode) can be flexibly adjusted according to the actual geometry of the corner, so that the cleaning process can more accurately adapt to corner structures of different depths and opening widths, enhancing the adaptability to diverse home scenarios.

[0408] In one embodiment of the present invention, during the process of controlling the body 10 to rotate at least one fifth angle A5 along the second direction, the following steps are also included:

[0409] Obtaining the first minimum distance between the edge of the body 10 and the first boundary 322 and / or the second minimum distance between the edge of the body 10 and the second boundary 323.

[0410] This step may have multiple embodiments.

[0411] In one embodiment, only the first minimum distance between the edge of the body 10 and the first boundary 322 is obtained.

[0412] In another embodiment, only the second minimum distance between the edge of the fuselage 10 and the second boundary 323 is obtained.

[0413] In other embodiments, the first minimum distance between the edge of the fuselage 10 and the first boundary 322 and the second minimum distance directly between the edge of the fuselage 10 and the second boundary 323 are obtained simultaneously.

[0414] It is determined whether the first minimum distance and / or the second minimum distance are within a preset distance range.

[0415] In this step, if the first minimum distance is obtained in the aforementioned steps, it is determined whether the first minimum distance is within a preset distance range; if the second minimum distance is obtained in the aforementioned steps, it is determined whether the second minimum distance is within a preset distance range; if the first minimum distance and the second minimum distance are obtained simultaneously in the aforementioned steps, it is determined whether both the first minimum distance and the second minimum distance are within a preset distance range.

[0416] If not, the fuselage 10 is controlled to perform a translational movement until the first minimum distance and / or the second minimum distance are within a preset distance range.

[0417] When the first minimum distance and / or the second minimum distance are detected to exceed the preset distance range, the control body 10 is adjusted by translation in a direction that can reduce the distance deviation. For example, if the distance to the first boundary 322 is too close, the control body 10 is translated away from the first boundary 322; if the distance to the second boundary 323 is too far, the control body 10 is translated towards the second boundary 323.

[0418] If so, the control body 10 is rotated by a fifth angle A5 in the first direction; or, the control body 10 is rotated by a first angle A1 in the second direction.

[0419] In this step, if the first minimum distance and / or the second minimum distance are within the preset distance range, the subsequent actions can be determined according to the cleaning stage: if additional cleaning coverage is still needed, the body 10 is controlled to continue rotating along the first direction by a fifth angle A5 to further expand the cleaning range; if the current angle meets the cleaning requirements, the next stage is directly entered, and the body 10 is controlled to rotate along the second direction by a first angle A1, while the cleaning component 20 retraction process begins.

[0420] It should be noted that, in another embodiment, the above steps can also be performed after the body 10 is controlled to rotate along the second direction by at least one fifth angle A5.

[0421] In this embodiment, by detecting the distance between the body 10 and the boundary during or after the rotation of the fifth angle A5, and controlling the body 10 to perform translation adjustment through the detected distance, it can be ensured that each rotation of the fifth angle A5 is performed at the optimized position. This mechanism effectively reduces the accumulation of rotation errors, ensures the positional accuracy and action continuity during multi-angle rotation, and thus helps to further improve the integrity of the cleaning coverage and the consistency of the cleaning effect in the corner body 321 area.

[0422] In one embodiment of the present invention, during the process of the fuselage 10 rotating at a first angle A1 along a first direction and / or rotating at a second angle A2 along a second direction, the rotation speed of the fuselage 10 gradually decreases.

[0423] Specifically, in one embodiment, the rotation speed of the fuselage 10 gradually decreases only during the process of rotating at a first angle A1 along the first direction. In another embodiment, the rotation speed of the fuselage 10 gradually decreases only during the process of rotating at a second angle A2 along the second direction. In other embodiments, the rotation speed of the fuselage 10 gradually decreases both during the process of rotating at a first angle A1 along the first direction and during the process of rotating at a second angle A2 along the second direction.

[0424] In some other embodiments, the rotation speed of the fuselage 10 gradually increases during the process of rotating at a second angle A2 along the first direction and / or rotating at a first angle A1 along the second direction. Specifically, in one embodiment, the rotation speed of the fuselage 10 gradually increases only during the process of rotating at a second angle A2 along the first direction. In another embodiment, the rotational speed of the fuselage 10 gradually increases only during the process of rotating the fuselage 10 at a first angle A1 along the second direction. In other embodiments, the rotational speed of the fuselage 10 gradually decreases during the process of rotating the fuselage 10 at a second angle A2 along the first direction and during the process of rotating the fuselage 10 at a first angle A1 along the first direction and at a second angle A2 along the second direction; at the same time, the rotational speed of the fuselage 10 gradually increases during the process of rotating the fuselage 10 at a second angle A2 along the first direction and at a first angle A1 along the second direction.

[0426] In this embodiment, the cleaning effect and work efficiency of the corner area are optimized by matching the rotation speed of the machine body 10 with the outward expansion and retraction movement state of the cleaning component 20. Specifically, when the machine body 10 rotates at a first angle A1 along the first direction and at a second angle A2 along the second direction, the cleaning component 20 extends outward from the inward retraction or first outward expansion position to the second or third outward expansion position. During this outward expansion process, the rotation speed of the machine body 10 is gradually reduced. The beneficial effects are: firstly, the low-speed rotation improves the movement stability of the cleaning component 20 at the extension end, which helps to maintain its reliable contact with the wall surface and ensures that the cleaning pressure is fully transmitted to the cleaning surface; secondly, the reduced speed prolongs the dwell time of the cleaning component 20 in the corner area, making the cleaning effect more lasting, thereby significantly enhancing the ability to remove stubborn stains and accumulated dust. After the cleaning component 20 completes the outward expansion cleaning, the machine body 10 rotates at a second angle A2 along the first direction and at a first angle A1 along the second direction, causing the cleaning component 20 to gradually retract. During this retraction phase, the rotation speed of the machine body 10 is gradually increased. Its beneficial effects are as follows: increasing the rotation speed can accelerate the removal of the cleaning component 20 from the corner, shorten the unnecessary dwell time, and significantly improve the work coverage efficiency per unit time while maintaining the cleaning function, thereby balancing the cleaning depth and work rhythm as a whole.

[0427] In one embodiment of the present invention, the cleaning component 20 is a roller mop or a track mop. For example, in this embodiment, the cleaning component 20 is a roller mop. The self-moving cleaning device 100 also includes a drive mechanism for driving the cleaning component 20 to move laterally relative to the machine body 10. The drive mechanism can be a combination structure of motor and gear rack, or a combination structure of drive motor and lead screw and nut, etc., as long as it can drive the cleaning component 20 to move laterally and extend and retract relative to the machine body 10, so as to realize the movement of the cleaning component 20 between the inward position and multiple outward positions.

[0428] The structure for the drive mechanism to drive the cleaning component 20 to extend and retract relative to the body 10 can be varied. For example, the self-moving cleaning device 100 further includes a first connecting member, a second connecting member, and a support base. The first connecting member is fixedly installed on the body 10. The second connecting member is slidably installed on the first connecting member and has multiple preset positions distributed along the sliding direction. The support base is used to support the cleaning component 20. The support base is connected to the second connecting member and can move in conjunction with the second connecting member. That is, when the second connecting member slides along the first connecting member, the support base can move synchronously with the second connecting member to drive the cleaning component 20 to move between an inwardly retracted position and an outwardly expanded position relative to the body 10. The multiple outwardly expanded positions correspond one-to-one with the multiple preset positions of the second connecting member. It should be noted that the specific connection methods between the cleaning component and the body, and between the cleaning component and the drive mechanism, can be referred to in the relevant structural descriptions in existing cleaning devices, and will not be elaborated here.

[0429] The driving mechanism is used to drive the second connecting member to slide horizontally relative to the first connecting member, so as to move the cleaning member 20 to the inward position or any outward position through the second connecting member. The driving mechanism can be any mechanism that can drive the second connecting member to slide horizontally relative to the first connecting member, such as a combination of a motor and a lead screw and nut, or a combination of a motor and a gear rack. This embodiment does not limit this.

[0430] The driving mechanism includes a drive motor equipped with an encoder. The encoder can detect the rotation angle or displacement of the output end of the drive motor. The controller (or control unit) of the self-moving cleaning device 100 can indirectly determine the running position of the second connecting member according to the detection signal of the encoder. Then, by controlling the operation of the drive motor, the second connecting member can be positioned in different preset positions, and finally the cleaning member 20 can be selectively adjusted between the inward position and multiple different outward positions.

[0431] In this embodiment, an edge cleaning strategy matching the boundary scene type is determined according to the boundary scene type, and the area to be cleaned is cleaned according to the edge cleaning strategy, including:

[0432] Controlling the movement of the cleaning component 20 between the first outward expansion position, the second outward expansion position, and the third outward expansion position through the electrical signal fed back by the encoder.

[0433] In another embodiment, the self-moving cleaning device 100 further includes a first positioning detection component and a second positioning detection component. An edge cleaning strategy matching the boundary scene type is determined according to the boundary scene type, and the area to be cleaned is cleaned according to the edge cleaning strategy, including:

[0434] If the first positioning detection component generates a first positioning electrical signal, it is determined that the cleaning component 20 has moved to the first outward expansion position;

[0435] If the second positioning detection component generates a second positioning electrical signal, it is determined that the cleaning component 20 has moved to the third outward expansion position.

[0436] This embodiment does not strictly limit the specific structure and setting position of the first positioning detection component and the second positioning detection component. Any structure that can generate a positioning electrical signal when the cleaning component 20 reaches the preset position is within the protection scope of this solution. The structure of the first positioning detection component can be the same as or different from that of the second positioning detection component. For example, in this embodiment, the first positioning detection component and the second positioning detection component have the same structure.

[0437] The specific structures of the first positioning detection component and the second positioning detection component can vary. For instance, in an example on pages 35 / 37 of this specification (CN 121647575 A), the first positioning detection component and the second positioning detection component can be a limit switch disposed on the first connector and a corresponding stop block disposed on the second connector. When the second connector slides to a preset position, the stop block contacts the limit switch and triggers it to generate a positioning electrical signal.

[0438] In another embodiment, the first positioning detection component and the second positioning detection component can be disposed on the first connector...The first and second positioning detection components are optical couplers on the first connector and corresponding stops mounted on the second connector. When the stop moves with the second connector into the optical path of the optical coupler, the optical coupler detects the change in the optical path state and generates a positioning signal.

[0439] In another embodiment, the first positioning detection component and the second positioning detection component can also be Hall sensors disposed on the first connector and magnets correspondingly mounted on the second connector. When the magnet moves with the second connector into the sensing range of the Hall sensor, the Hall sensor generates a level change and forms a positioning signal.

[0440] Optionally, in this embodiment, the first positioning detection component and the second positioning detection component are both combinations of optical couplers and stops. There are two optical couplers, both disposed on the first connector, and the stop is disposed on the second connector. When the stop interacts with one of the optical couplers, a first positioning signal can be generated, and when the stop interacts with the other optical coupler, a second positioning signal can be generated.

[0441] In other embodiments, the above two positioning control methods for the first outward expansion position and the third outward expansion position can also be supported simultaneously. That is, the controller can either implement stop control based on the electrical signal fed back by the encoder, or perform a stop operation when the position detection component generates a position electrical signal. The two methods can be selected according to actual needs or used as backups for each other.

[0442] It should be noted that for the position control of the cleaning component 20 at the inward position, the downward position, the upward position, the second outward position, etc., a closed-loop control method based on the encoder can be adopted, or a position detection component can be added for discrete position feedback, or a combination of the two can be used to implement composite control.

[0443] In the above embodiment, through the closed-loop control of the encoder, the electrical signal feedback of the position detection component, or the combined control of the two, the precise positioning and selective adjustment of the cleaning component 20 between the inward position and multiple preset outward positions are realized. This flexible and reliable position control capability provides feasible execution conditions for the self-moving cleaning device 100 to execute customized cleaning strategies according to different boundary scenarios, and thus can match different target outward positions for different cleaning strategies to achieve specific cleaning effects under various cleaning strategies.

[0444] In one embodiment of the present invention, if the first positioning detection component generates a first positioning electrical signal, after determining that the cleaning component 20 has moved to the first outward expansion position, the method further includes:

[0445] Controlling the encoder to zero, so that the current position of the cleaning component 20 relative to the machine body 10 at the first outward expansion position is recorded as zero.

[0446] Specifically, the controller of the self-moving cleaning device 100 controls the drive motor to move until the cleaning component 20 reaches the first outward expansion position. At this time, when the first positioning detection component is triggered and generates a first positioning electrical signal, the drive motor stops running. The controller then issues an instruction to force the counter of the encoder on the drive motor to zero.

[0447] Due to the inherent defects of incremental sensors such as encoders, errors accumulate over time or travel. This solution fundamentally resets the error accumulation process by using physical reference points for periodic "zeroing" calibration, enabling the system to maintain a small positioning accuracy at all times. This improves the repeatability of the cleaning component 20 during the expansion or retraction process relative to the body 10, thereby improving the consistency and stability of the cleaning effect.

[0448] In one embodiment of the present invention, if the second positioning detection component generates a second positioning electrical signal, it determines that the cleaning component 20 has moved to the third expansion position, and further includes:

[0449] Controlling the encoder to zero so that the current position of the cleaning component 20 relative to the body 10 at the third expansion position is recorded as zero. Specification 36 / 37 pages 43 CN 121647575 A

[0450] Specifically, the controller of the self-moving cleaning device 100 controls the drive motor to move until the cleaning component 20 reaches the third expansion position. At this time, when the second positioning detection component is triggered and generates a second positioning electrical signal, the drive motor stops running. The controller then issues a command to force the encoder counter on the drive motor to zero.

[0451] This solution can also fundamentally reset the error accumulation process by using physical reference points for periodic "zeroing" calibration, so that the system can always maintain a small positioning accuracy, thereby improving the repeatability of the cleaning part 20 relative to the body 10 during expansion or retraction, which is conducive to improving the consistency and stability of the cleaning effect.

[0452] The above embodiments are only illustrative of the principles and effects of the present invention, and are not intended to limit the present invention. Any person skilled in the art can modify or change the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or changes made by those skilled in the art without departing from the spirit and technical concept disclosed in the present invention should still be covered by the claims of the present invention. Instruction manual, page 37 / 37, page 44, CN 121647575 A, Figure 1, Figure 2; Instruction manual, Figure 1 / 11, page 45, CN 121647575 A, Figure 3; Instruction manual, Figure 2 / 11, page 46, CN 121647575 A, Figure 4, Figure 5; Instruction manual, Figure 3 / 11, page 47, CN 121647575 A, Figure 6, Figure 7; Instruction manual, Figure 4 / 11, page 48, CN 121647575 A, Figure 8, Figure 9; Instruction manual, Figure 5 / 11, page 49, CN 121647575 A, Figure 10, Figure 11, Figure 12; Instruction manual, Figure 6 / 11, page 50, CN 121647575 A, Figure 13, Figure 14; Instruction manual, Figure 7 / 11, page 51, CN 121647575 A, Figure 15.Figure 16, Sheet 8 / 11 of the drawings of the specification, 52 CN 121647575 A Figure 17, Sheet 9 / 11 of the drawings of the specification, 53 CN 121647575 A Figure 18, Sheet 10 / 11 of the drawings of the specification, 54 CN 121647575 A Figure 19, Sheet 11 / 11 of the drawings of the specification, 55 CN 121647575 A Abstract Abdominal ultrasound examination method, system and device A CLEANING METHOD FOR A SELF-MOVING CLEANING DEVICE Abstract The present invention provides a cleaning method for a self-moving cleaning device, comprising: during edge-following cleaning, acquiring surrounding environment information of the self-moving cleaning device in real time, and determining a boundary scene type of a region to be cleaned according to the surrounding environment information; determining an edge-following cleaning strategy matching the boundary scene type according to the boundary scene type, and performing cleaning sequentially; in each edge-following cleaning strategy, a corresponding target outward expansion position is configured for the cleaning member, and the target outward expansion positions at least include a first outwardexpansion position and a second outward expansion position; in the first outward expansion position, an edge of the cleaning member is flush with an edge of the machine body or extends to the outside of the edge of the machine body, and in the second outward expansion position, a distance that the cleaning member extends to the outside of the edge of the machine body is greater than that in the first outward expansion position. The present invention can improve the technical problem that the cleaning strategy of the cleaning member for corner regions is relatively single.

Claims

1. A cleaning method for a self-moving cleaning device, characterized in that, The cleaning method includes: During the edge cleaning process, the surrounding environment information of the self-moving cleaning device is acquired in real time, and the boundary scene type of the area to be cleaned is determined based on the surrounding environment information. Based on the boundary scene type, determine the edge cleaning strategy that matches the boundary scene type, and clean the area to be cleaned according to the edge cleaning strategy. In each of the edge cleaning strategies, the cleaning component of the self-moving cleaning device is configured with a corresponding target outward expansion position. The target outward expansion position includes at least a first outward expansion position and a second outward expansion position. In the first outward expansion position, the edge of the cleaning component is flush with or extends to the outside of the edge of the self-moving cleaning device. In the second outward expansion position, the edge of the cleaning component extends at least partially to the outside of the edge of the device, and the distance by which the cleaning component extends to the outside of the edge of the device is greater than the distance by which the edge of the cleaning component extends to the outside of the edge of the device when the cleaning component is in the first outward expansion position.

2. The cleaning method according to claim 1, characterized in that, The step of determining an edge cleaning strategy matching the boundary scene type based on the boundary scene type, and cleaning the area to be cleaned according to the edge cleaning strategy, includes: If the boundary scene type is a first boundary scene, then the corresponding edge cleaning strategy is determined to be a first edge cleaning strategy, and the area to be cleaned is cleaned according to the first edge cleaning strategy. In the first edge cleaning strategy, the target outward position is the first outward position. If the boundary scene type is a second boundary scene, then the corresponding edge cleaning strategy is determined to be the second edge cleaning strategy, and the area to be cleaned is cleaned according to the second edge cleaning strategy. In the second edge cleaning strategy, the target outward expansion position is the second outward expansion position. The first boundary scene includes at least a skirting board boundary scene and / or a wall edge scene, and the second boundary scene includes at least a furniture leg scene.

3. The cleaning method according to claim 1, characterized in that, The target expansion position also includes a third expansion position, in which the edge of the cleaning component extends beyond the edge of the body by a greater distance than the edge of the cleaning component extends beyond the edge of the body in the second expansion position.

4. The cleaning method according to claim 3, characterized in that, The step of determining an edge cleaning strategy matching the boundary scene type based on the boundary scene type, and cleaning the area to be cleaned according to the edge cleaning strategy, includes: If the boundary scene type is a third boundary scene, then the corresponding edge cleaning strategy is determined to be a third edge cleaning strategy. The area to be cleaned is cleaned according to the third edge cleaning strategy; The third boundary scene is a concave edge scene, which includes a concave space. The height of the concave space is less than the height of the body and greater than the height of the cleaning component. The concave space allows at least a portion of the cleaning component to extend into it.

5. The cleaning method according to claim 4, characterized in that, The step of cleaning the area to be cleaned according to the third edge cleaning strategy includes: Obtain the concave depth of the concave edge space; Determine whether the concave depth is greater than a preset depth; If so, then the third outward expansion position shall be taken as the target outward expansion position; If not, then the second outward expansion position shall be taken as the target outward expansion position; The recessed depth refers to the maximum horizontal distance that the cleaning component can extend into along the direction of travel perpendicular to the machine body.

6. The cleaning method according to claim 3, characterized in that, The step of determining an edge cleaning strategy matching the boundary scene type based on the boundary scene type, and cleaning the area to be cleaned according to the edge cleaning strategy, includes: If the boundary scene type is the fourth boundary scene, then the corresponding edge cleaning strategy is determined to be the fourth edge cleaning strategy. The area to be cleaned is cleaned according to the fourth edge cleaning strategy; The fourth boundary scene is a concave corner scene, which refers to a concave corner formed by the intersection and enclosure of at least two boundaries in the area to be cleaned, and the included angle between at least two boundaries is less than or equal to a preset angle.

7. The cleaning method according to claim 6, characterized in that, The concave corner includes a first boundary and a second boundary, which together form a corner body. The cleaning component also has a recessed position, in which it is completely housed below the bottom of the body. Cleaning the area to be cleaned according to the fourth edge cleaning strategy includes: The self-moving cleaning device is controlled to move along the first boundary toward the second boundary, and the distance S1 between the self-moving cleaning device and the second boundary is acquired in real time during the movement. When the distance S1 is equal to the preset safe distance, the self-moving cleaning device is controlled to start executing the first cleaning mode to complete one cleaning of the corner body; The self-moving cleaning device is controlled to move along the second boundary in a direction away from the first boundary, and cleans the second boundary along the edge during the movement. During the execution of the first cleaning mode, the cleaning component switches between the first target expansion position and the second target expansion position; or switches between the inward position and the second target expansion position; the first target expansion position is the first expansion position, and the second target expansion position is the second expansion position or the third expansion position.

8. The cleaning method according to claim 7, characterized in that, The first cleaning mode includes: The machine body is controlled to rotate along a first direction by a first angle, and during the rotation, the cleaning component is controlled to expand outward to the second target expansion position, so that the cleaning component can clean at least a part of the corner body; The machine body is controlled to continue rotating at a second angle along the first direction, and during the rotation, the cleaning component is controlled to retract from the second target expansion position to the first target expansion position or the retracted position, so that the cleaning component can clean at least the other part of the corner body.

9. The cleaning method according to claim 8, characterized in that, Before controlling the machine body to rotate a first angle along a first direction, and controlling the cleaning component to expand outward to the second target expansion position during the rotation, the method further includes: Determine whether the cleaning component is in the retracted position; If so, then control the fuselage to rotate by a first angle along the first direction; If not, then control the cleaning component to retract to the inward position and then control the machine body to rotate by a first angle along the first direction.

10. The cleaning method according to claim 8, characterized in that, During the execution of the first cleaning mode, when the body rotates along the first direction by the first angle and / or continues to rotate by the second angle, the body only rotates around the first axis of rotation and does not produce translational motion.

11. The cleaning method according to claim 8, characterized in that, The control of the machine body to rotate along a first direction by a first angle, and the control of the cleaning component to expand outward to the second target expansion position during the rotation, includes: Control the fuselage to rotate by a first angle along the first direction; During the process of the fuselage rotating at a first angle along the first direction, the following steps are performed: The system acquires in real time the first minimum distance between the edge of the fuselage and the first boundary and / or the second minimum distance between the edge and the second boundary, and controls the fuselage to translate when the first minimum distance and / or the second minimum distance are outside the preset distance range, until the first minimum distance and / or the second minimum distance are within the preset distance range; In addition, the cleaning component is controlled to expand outward to the second target expansion position.

12. The cleaning method according to claim 8, characterized in that, After controlling the machine body to rotate by a first angle along a first direction, and controlling the cleaning component to expand outward to the second target expansion position during the rotation, the method further includes: Obtain the first minimum distance between the edge of the fuselage and the first boundary and / or the second minimum distance between the edge and the second boundary, and when the first minimum distance and / or the second minimum distance are outside a preset distance range, control the fuselage to translate until the first minimum distance and / or the second minimum distance are within the preset distance range.

13. The cleaning method according to claim 8, characterized in that, After controlling the machine body to rotate a first angle along a first direction and controlling the cleaning component to expand outward to the second target expansion position during the rotation, and before controlling the machine body to continue rotating a second angle along the first direction and controlling the cleaning component to retract from the second target expansion position to the first target expansion position or the retracted position during the rotation, the method further includes: Control the fuselage to rotate at least a third angle along the first direction; During the process of the machine body rotating to the third angle, the cleaning component remains in the position of the second target expansion.

14. The cleaning method according to claim 13, characterized in that, During or after controlling the fuselage to rotate at least a third angle along the first direction, the method further includes: Obtain the first minimum distance between the edge of the fuselage and the first boundary and / or the second minimum distance between the edge of the fuselage and the second boundary; Determine whether the first minimum distance and / or the second minimum distance are within a preset distance range; If not, control the fuselage to perform a translational movement until the first minimum distance and / or the second minimum distance are within the preset distance range; If so, then control the fuselage to continue rotating along the first direction by the third angle; or, control the fuselage to rotate along the first direction by the second angle.

15. The cleaning method according to claim 8, characterized in that, The control of the machine body to continue rotating along the first direction by a second angle, and during the rotation, the control of the cleaning component to retract from the second target expansion position to the first target expansion position or the retracted position, includes: Control the fuselage to rotate a second angle along the first direction; During the process of the fuselage rotating a second angle along the first direction, the following steps are performed: The system acquires in real time the first minimum distance between the edge of the fuselage and the first boundary and / or the second minimum distance between the edge and the second boundary, and controls the fuselage to translate when the first minimum distance and / or the second minimum distance are outside the preset distance range, until the first minimum distance and / or the second minimum distance are within the preset distance range; In addition, the cleaning component is controlled to retract from the second target expansion position to the first target expansion position or the retracted position.

16. The cleaning method according to claim 8, characterized in that, After controlling the machine body to continue rotating a second angle along the first direction, and controlling the cleaning component to retract from the second target expansion position to the first target expansion position or the retracted position during the rotation, the method further includes: Obtain the first minimum distance between the edge of the fuselage and the first boundary and / or the second minimum distance between the edge and the second boundary, and when the first minimum distance and / or the second minimum distance are outside a preset distance range, control the fuselage to translate until the first minimum distance and / or the second minimum distance are within the preset distance range.

17. The cleaning method according to claim 8, characterized in that, After controlling the machine body to continue rotating a second angle along the first direction, and controlling the cleaning component to retract from the second target expansion position to the first target expansion position or the retracted position during the rotation, the method further includes: The system detects whether the direction of travel of the fuselage is consistent with the extension direction of the second boundary, and if they are inconsistent, controls the fuselage to continue rotating by a fourth angle until the direction of travel of the fuselage is consistent with the extension direction of the second boundary.

18. The cleaning method according to claim 7, characterized in that, When the distance S1 equals a preset safety distance, the self-moving cleaning device is controlled to start executing the first cleaning mode to complete one cleaning of the corner body. After this, and before the self-moving cleaning device is controlled to move along the second boundary away from the first boundary and performs edge cleaning of the second boundary during the movement, the process further includes: The corner body is subjected to a cleanliness test to determine whether it is clean. If the cleaning is successful, the self-moving cleaning device is controlled to move along the second boundary in a direction away from the first boundary, and cleans the second boundary along the edge during the movement. If it is not cleaned properly, the self-moving cleaning device is controlled to execute a second cleaning mode to perform a second cleaning of the corner body; After the second cleaning is completed, the self-moving cleaning device is controlled to execute the first cleaning mode again to perform a third cleaning on the corner body; Repeat the second cleaning mode and the first cleaning mode until the corner body is clean.

19. The cleaning method according to claim 7, characterized in that, In the retracted position, the cleaning component further includes a raised position that lifts it away from the area to be cleaned; after controlling the self-moving cleaning device to start executing the first cleaning mode when the distance S1 is equal to a preset safety distance to complete one cleaning of the corner body, and after controlling the self-moving cleaning device to move along the second boundary in a direction away from the first boundary, and before performing edge cleaning on the second boundary during the movement, the component further includes: The corner body is subjected to a cleanliness test to determine whether it is clean. If the cleaning is successful, the self-moving cleaning device is controlled to move along the second boundary in a direction away from the first boundary, and cleans the second boundary along the edge during the movement. If it is not cleaned properly, then: Control the cleaning component to switch to the raised position; Control the self-moving cleaning device to rotate in a second direction opposite to the first direction until the self-moving cleaning device returns to the posture when it started executing the first cleaning mode; Control the self-moving cleaning device to execute the first cleaning mode again to perform a secondary cleaning of the corner body; Repeat the first cleaning mode until the corner body is cleaned.

20. The cleaning method according to claim 18, characterized in that, The second cleaning mode includes: The machine body is controlled to rotate a second angle along a second direction opposite to the first direction, and during the rotation, the cleaning component is controlled to expand outward to the second target expansion position, so that the cleaning component can clean at least a part of the corner body; The body is controlled to continue rotating at a first angle along the second direction, and during the rotation, the cleaning component is controlled to retract from the second target expansion position to the first target expansion position or the retracted position, so that the cleaning component can clean at least the other part of the corner body.

21. The cleaning method according to claim 20, characterized in that, Before controlling the machine body to rotate a second angle along a second direction, and controlling the cleaning component to expand outward to the second target expansion position during the rotation, the method further includes: Determine whether the cleaning component is in the retracted position; If so, then control the fuselage to rotate a second angle along the second direction; If not, then control the cleaning component to retract to the inward position and then control the machine body to rotate a second angle along the second direction.

22. The cleaning method according to claim 20, characterized in that, During the execution of the second cleaning mode, when the body rotates along the second direction at the second angle and / or continues to rotate at the first angle, the body only rotates around the second axis of rotation and does not produce translational motion.

23. The cleaning method according to claim 20, characterized in that, The control of the machine body to rotate a second angle along a second direction, and the control of the cleaning component to expand outward to the second target expansion position during the rotation, includes: Control the fuselage to rotate a second angle along the second direction; During the process of the fuselage rotating at the second angle along the second direction, the following steps are performed: The system acquires in real time the first minimum distance between the edge of the fuselage and the first boundary and / or the second minimum distance between the edge and the second boundary, and controls the fuselage to translate when the first minimum distance and / or the second minimum distance are outside the preset distance range, until the first minimum distance and / or the second minimum distance are within the preset distance range; In addition, the cleaning component is controlled to expand outward to the second target expansion position.

24. The cleaning method according to claim 20, characterized in that, After controlling the machine body to rotate a second angle along a second direction, and controlling the cleaning component to expand outward to the second target expansion position during the rotation, the method further includes: Obtain the first minimum distance between the edge of the fuselage and the first boundary and / or the second minimum distance between the edge and the second boundary, and when the first minimum distance and / or the second minimum distance are outside a preset distance range, control the fuselage to translate until the first minimum distance and / or the second minimum distance are within the preset distance range.

25. The cleaning method according to claim 20, characterized in that, After controlling the machine body to rotate a second angle along the second direction and controlling the cleaning component to expand outward to the second target expansion position during the rotation, and before controlling the machine body to continue rotating a first angle along the second direction and controlling the cleaning component to retract from the second target expansion position to the first target expansion position or the retracted position during the rotation, the method further includes: Control the fuselage to rotate at least a fifth angle along the second direction; During the process of the machine body rotating to the fifth angle, the cleaning component remains in the position of the second target expansion.

26. The cleaning method according to claim 25, characterized in that, During or after controlling the fuselage to rotate at least a fifth angle along the second direction, the method further includes: Obtain the first minimum distance between the edge of the fuselage and the first boundary and / or the second minimum distance between the edge of the fuselage and the second boundary; Determine whether the first minimum distance and / or the second minimum distance are within a preset distance range; If not, control the fuselage to perform a translational movement until the first minimum distance and / or the second minimum distance are within the preset distance range; If so, the fuselage is controlled to continue rotating along the first direction by the fifth angle; or, the fuselage is controlled to rotate along the second direction by the first angle.

27. The cleaning method according to claim 3 or 18, characterized in that, During the process of the fuselage rotating at a first angle along a first direction and / or rotating at a second angle along a second direction, the rotational speed of the fuselage gradually decreases, and during the process of the fuselage rotating at a second angle along the first direction and / or rotating at a first angle along the second direction, the rotational speed of the fuselage gradually increases.

28. The cleaning method according to claim 3, characterized in that, The cleaning component is a roller mop or a tracked mop; the self-moving cleaning device further includes a drive mechanism for driving the cleaning component to move laterally relative to the machine body, the drive mechanism including a drive motor equipped with an encoder; the step of determining an edge cleaning strategy matching the boundary scene type according to the boundary scene type, and cleaning the area to be cleaned according to the edge cleaning strategy, includes: The movement of the cleaning component between the first outward expansion position, the second outward expansion position, and the third outward expansion position is controlled by the electrical signal fed back by the encoder; and / or, The cleaning equipment further includes a first positioning detection component and a second positioning detection component. The step of determining an edge-side cleaning strategy matching the boundary scene type, and cleaning the area to be cleaned according to the edge-side cleaning strategy, includes: If the first positioning detection component generates a first positioning electrical signal, it is determined that the cleaning component has moved to the first outward expansion position; If the second positioning detection component generates a second positioning electrical signal, it is determined that the cleaning component has moved to the third outward expansion position.

29. The cleaning method according to claim 28, characterized in that, If the first positioning detection component generates a first positioning electrical signal, then after determining that the cleaning component has moved to the first outward expansion position, the method further includes: The encoder is controlled to be zeroed so that the cleaning component records zero at the current position of the first outward expansion position relative to the body.

30. The cleaning method according to claim 28, characterized in that, If the second positioning detection component generates a second positioning electrical signal, then determining that the cleaning component has moved to the third outward expansion position further includes: The encoder is controlled to be zeroed so that the cleaning component records zero at the current position of the third outward expansion position relative to the body.

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