Method and apparatus for controlling cleaning device, and cleaning device and storage medium

Abstract

To suppress the number of re-collisions between a cleaning device and an obstacle to the greatest possible extent, such that the cleaning device can quickly travel along the obstacle, and the problem of missing the sweeping of the part adjacent to a floor surface and a wall is alleviated.SOLUTION: An embodiment of the present disclosure discloses a control method and device of a cleaning device, the cleaning device and a storage medium. The control method of the cleaning device comprises the steps of: on the basis of a trigger member being triggered, acquiring first detection information of a first detection member; determining a first moving distance at least on the basis of the acquired first detection information; after controlling the cleaning device to move back for the first moving distance, executing a first obstacle approaching operation according to the first detection information; acquiring second detection information of a second detection member; and according to the second detection information, controlling the cleaning device to execute an operation of traveling along the obstacle.SELECTED DRAWING: Figure 6

Description

[Technical Field]

[0001] (Related Applications) This disclosure claims priority to Chinese Patent Application No. 202122503365.4, filed on October 18, 2021, and Chinese Patent Application No. 202111492870.1, filed on December 8, 2021, the entire disclosures of which are incorporated herein by reference as part of this application.

[0002] The present disclosure relates to the technical field of intelligent control, and in particular to a cleaning device control method, device, cleaning device and storage medium, and a cleaning device with front bumper bounce applied. [Background technology]

[0003] Current cleaning devices, such as self-propelled cleaning robots, typically automatically navigate a certain area to be cleaned and complete the cleaning operation without user intervention. During the cleaning process, the cleaning device encounters an obstacle, and as the cleaning device moves along the obstacle, it can clean the surface to be cleaned and the adjacent area of ​​the obstacle. Furthermore, due to the particular structure of the cleaning device, especially the non-circular cleaning device, the behavior of the cleaning device will inevitably be different depending on the model from that of the circular cleaning device, and during the process of avoiding obstacles or moving along walls, the collision sensing member needs to have corresponding structural components to better respond to its triggering and bouncing. Summary of the Invention

[0004] In view of this, the embodiments of the present disclosure provide a control method, a control device, a control device for a cleaning device, and a control medium for a cleaning device, which can minimize the number of collisions of the cleaning device with obstacles again, enable the cleaning device to move quickly along obstacles, and reduce the problem of leaving adjacent parts of the floor and wall uncleaned; The present disclosure further provides a cleaning device that optimizes the triggering and rebound of the collision sensing member to some extent to achieve a sensitive response of the collision sensor and accurate alignment after rebound.

[0005] An embodiment of a first aspect of the present disclosure provides a control method for a cleaning device, the cleaning device comprising: a device body; and a trigger member, a first detection member, and a second detection member provided on the device body, the trigger member being configured to be triggered when the cleaning device collides with an obstacle, the first detection member being configured to detect an obstacle on a periphery of the device body, and the second detection member being provided on one side of the device body and configured to detect an obstacle on a side of the device body, the control method comprising: The method includes acquiring first detection information from a first detection member in response to the trigger member being triggered, determining a first movement distance in response at least to the acquired first detection information, controlling the cleaning device to move backward by the first movement distance, and then performing a first obstacle approach operation based on the first detection information, acquiring second detection information from a second detection member, and controlling the cleaning device to perform an obstacle-following operation based on the second detection information.

[0006] Further, the first detection information includes at least a first angle between the equipment body and the obstacle, a vertical distance between the equipment body and the obstacle, a horizontal distance between the equipment body and the target end of the obstacle, and the target end of the obstacle being located on a side away from the second detection member in front of the cleaning device, wherein determining the first moving distance based on the acquired first detection information includes determining the first moving distance based on the first angle, the vertical distance between the equipment body and the obstacle, and the horizontal distance between the equipment body and the target end of the obstacle.

[0007] Furthermore, performing a first obstacle approach operation based on the first detection information includes: The method includes determining a first rotation angle based on the first angle, controlling the cleaning device to rotate away from the second detection member by the first rotation angle, and controlling the cleaning device to move forward based on the horizontal distance between the device body and the target end of the obstacle.

[0008] Furthermore, controlling the cleaning device to move forward based on the horizontal distance between the device body and the target end of the obstacle includes controlling the cleaning device to move forward based on the horizontal distance between the device body and the target end of the obstacle being greater than or equal to a predetermined value, determining a second angle between the device body and the obstacle at the current position based on the trigger member being triggered again, determining a second rotation angle based on the second angle, and controlling the cleaning device to rotate away from the second detection member by the second rotation angle.

[0009] Furthermore, determining the second rotation angle based on the second angle specifically includes determining the second rotation angle based on the second angle and an installation position of the second detection member relative to the device body.

[0010] Furthermore, controlling the cleaning device to move forward based on the horizontal distance between the device body and the target end of the obstacle is Based on the horizontal distance between the device body and the target end of the obstacle being less than a predetermined value, the cleaning device is moved away from the second detection member at a first linear velocity and a first angular velocity, and in response to the trigger member not being triggered after a predetermined time has elapsed, the cleaning device is controlled to perform an obstacle search operation.

[0011] Furthermore, the control method for the cleaning device further includes, based on the fact that the first detection information has not been acquired, controlling the cleaning device to move backward by a first predetermined distance, rotate by a second predetermined angle away from the second detection member, and then perform an obstacle search operation.

[0012] Furthermore, the obstacle searching operation includes controlling the cleaning device to move and rotate in the direction of the second detection member at an obstacle searching linear velocity and an obstacle searching angular velocity until the trigger member is triggered.

[0013] An embodiment of a second aspect of the present disclosure provides a control device for a cleaning device, the cleaning device comprising: an appliance body; and a trigger member, a first detection member, and a second detection member provided on the appliance body, the trigger member being configured to be triggered when the cleaning device collides with an obstacle, the first detection member being configured to detect an obstacle on a periphery of the appliance body, and the second detection member being provided on one side of the appliance body and configured to detect an obstacle on a side of the appliance body, and the control device The cleaning device includes a first acquisition module configured to acquire first detection information of a first detection member based on the triggering of the trigger member; a first determination module configured to determine a first movement distance based on at least the acquired first detection information; a first processing module configured to control the cleaning device to move backward by the first movement distance and then execute a first obstacle approach operation based on the first detection information; a second acquisition module configured to acquire second detection information of a second detection member; and a second processing module configured to control the cleaning device to execute an obstacle-following operation based on the second detection information.

[0014] Further, the first detection information includes at least a first angle between the equipment body and the obstacle, a vertical distance between the equipment body and the obstacle, a horizontal distance between the equipment body and the target end of the obstacle, and the equipment body and the target end of the obstacle are located on a side away from the second detection member in front of the cleaning device, wherein the first determination module includes a first determination unit configured to determine a first movement distance based on the first angle, the vertical distance between the equipment body and the obstacle, and the horizontal distance between the equipment body and the target end of the obstacle.

[0015] Furthermore, the first processing module The cleaning device includes a second determination unit configured to determine a first rotation angle based on the first angle, a first processing unit configured to control the cleaning device to rotate by the first rotation angle away from the second detection member, and a second processing unit configured to control the cleaning device to move forward based on the horizontal distance between the device body and the target end of the obstacle.

[0016] Further, the second processing unit includes a first processing subunit configured to control the cleaning device to move forward based on the horizontal distance between the equipment body and the target end of the obstacle being greater than or equal to a predetermined value; a first acquisition submodule configured to acquire a second angle between the equipment body and the obstacle at the current position based on the trigger member being triggered again; a first determination subunit configured to determine a second rotation angle based on the second angle; and a second processing subunit configured to rotate the cleaning device away from the second detection member by the second rotation angle.

[0017] Further, the first determining subunit specifically includes determining a second rotation angle based on the second angle and an installation position of the second detection member relative to the device body.

[0018] Furthermore, the second processing unit further includes a third processing subunit configured to control the cleaning device to move at a first linear velocity and a first angular velocity away from the second detection member based on the horizontal distance between the device body and the target end of the obstacle being less than a predetermined value, and to control the cleaning device to perform an obstacle search operation based on the trigger member not being triggered after a predetermined time has elapsed.

[0019] Furthermore, the control device of the cleaning device further includes a third processing module configured to control the cleaning device to move backward by a first predetermined distance, rotate by a second predetermined angle away from the second detection member, and then perform an obstacle search operation based on the first detection information not being acquired.

[0020] Furthermore, the obstacle searching operation includes controlling the cleaning device to move and rotate in the direction of the second detection member at an obstacle searching linear velocity and an obstacle searching angular velocity until the trigger member is triggered.

[0021] An embodiment of a third aspect of the present disclosure provides a cleaning device comprising a processor and a memory, wherein the memory is configured to store operation instructions, and the processor is configured to execute the cleaning device control method of any one of the first aspects above by calling the operation instructions.

[0022] An embodiment of a fourth aspect of the present disclosure provides a computer-readable storage medium storing a computer program, which, when executed by a processor, performs the cleaning device control method of any one of the first aspects.

[0023] An embodiment of a fifth aspect of the present disclosure provides a cleaning device, the cleaning device comprising: a rack having a rectangular front portion and a semicircular rear portion; a front bumper connected to a front portion of the rack and movable relative to the rack; a collision sensor provided at the front end and / or both sides of the rectangular front part of the rack, or at the front end inner wall and / or inner wall of the front bumper; The vehicle further includes at least one rebound member connected to the rack and / or the front bumper, and when the front bumper is not triggered, a predetermined gap is formed between the contact portion of the rebound member and the inner wall of the front bumper, or between the contact portion and the front of the rack.

[0024] Furthermore, the rebound member includes a resilient arm, and when the front bumper is biased, the resilience of the resilient arm is overcome when the front bumper moves relative to the rack, providing a rebound force for the front bumper to recover.

[0025] Furthermore, a recovery arm and a fixed arm are provided at both ends of the elastic arm, respectively, the displacement of the recovery arm corresponds to the displacement stroke of the front bumper, and the rebound member is connected to the rack and / or the front bumper via the fixed wall.

[0026] Furthermore, the resilient arm forms an acute bend with the recovery arm, and the apex of the bend forms the contact portion.

[0027] Furthermore, a recovery hook is provided at the other end of the recovery arm, which is arranged substantially perpendicular to the recovery arm, and the recovery hook is fitted to a corresponding position on the rack or front bumper to limit the rebound stroke of the elastic arm.

[0028] Furthermore, a fixing hook is provided at one end of the fixing arm, and the fixing hook is fitted to the fixing arm to fixedly connect the rebound member to a corresponding position on the rack or front bumper.

[0029] Furthermore, there are two of the rebound members, which are symmetrically provided on the front part of the rack or on the inner wall of the front end of the front bumper.

[0030] Furthermore, the collision sensors include a first front collision sensor and a second front collision sensor symmetrically arranged on the front of the rack or on the front end inner wall of the front bumper, and a first side collision sensor and a second side collision sensor symmetrically arranged on both front sides of the rack or on the inner wall of the front bumper, respectively.

[0031] Furthermore, the collision sensors are both provided in the vicinity of the front of the rack or the corners of the front bumper.

[0032] Furthermore, the two rebound members are provided farther from the front of the rack or the corners of the front bumper than the collision sensor.

[0033] In order to more clearly describe the embodiments of the present disclosure or the technical solutions in the prior art, the accompanying drawings that need to be used in the description of the embodiments or the prior art are briefly described below. Obviously, the accompanying drawings described below are only some embodiments of the present disclosure, and those skilled in the art can obtain other drawings based on these drawings without creative work.

Brief Description of the Drawings

[0034] [Figure 1] Schematic Structural Diagram of a Cleaning Device Provided According to an Embodiment of the Present Disclosure [Figure 2] Schematic Structural Diagram of an Embodiment Shown in FIG. 1 from a Certain Perspective [Figure 3a] Schematic Diagram of the Right Side of the Buffer of a Cleaning Device Provided According to an Embodiment of the Present Disclosure Colliding with an Obstacle [Figure 3b] Schematic Diagram When the Cleaning Device Moves Backward by a First Moving Distance Based on the Posture of FIG. 3a [Figure 4a] Schematic Diagram of the Left Side of the Buffer of a Cleaning Device Provided According to an Embodiment of the Present Disclosure Colliding with an Obstacle [Figure 4b] Schematic Diagram When the Cleaning Device Moves Backward by a First Moving Distance Based on the Posture of FIG. 4a [Figure 4c] Schematic Diagram After the Cleaning Device Rotates by a First Rotation Angle Based on the Posture of FIG. 4b [Figure 4d] Schematic Diagram After the Cleaning Device Moves Forward Until It Collides with an Obstacle Again Based on the Posture of FIG. 4c [Figure 4e] Schematic Diagram After the Cleaning Device Rotates by a Second Rotation Angle Based on the Posture of FIG. 4d [Figure 4f] Schematic Diagram When the Cleaning Device Travels Along an Obstacle Based on the Posture of FIG. 4e [Figure 4g] Schematic Diagram When the Cleaning Device Travels Rotating Beyond the Target Obstacle Entry Position Based on the Posture of FIG. 4c [Figure 5a] Schematic Diagram of the Left Side of the Buffer of a Cleaning Device Provided According to Another Embodiment of the Present Disclosure Colliding with an Obstacle [Figure 5b] Schematic Diagram When the Cleaning Device Moves Backward by a Second Moving Distance Based on the Posture of FIG. 5a [Figure 5c] Schematic Diagram After the Cleaning Device Rotates by a Second Rotation Angle Based on the Posture of FIG. 5b [Figure 5d] Schematic Diagram After the Cleaning Device Moves Forward Until It Collides with an Obstacle Again Based on the Posture of FIG. 5c [Figure 5e]Schematic diagram when the cleaning device retreats by a third moving distance based on the posture of FIG. 5d [Figure 5f] Schematic diagram after the cleaning device rotates by a third rotation angle based on the posture of FIG. 5e [Figure 6] Schematic flowchart of the control method of the cleaning device provided according to an embodiment of the present disclosure [Figure 7] Schematic diagram showing the electronic structure of the cleaning device provided according to an embodiment of the present disclosure [Figure 8] Schematic block diagram of the control device of the cleaning device provided according to an embodiment of the present disclosure [Figure 9] Cross-sectional view showing the entire cleaning device provided according to an embodiment of the present disclosure [Figure 10] Partial cross-sectional view of part A of the entire cleaning device provided according to an embodiment of the present disclosure [Figure 11] Diagram showing the entire cleaning device provided according to an embodiment of the present disclosure [Figure 12] First perspective view of the rebounding member provided according to an embodiment of the present disclosure [Figure 13] Second perspective view of the rebounding member provided according to an embodiment of the present disclosure [Figure 14] Top view of the rebounding member provided according to an embodiment of the present disclosure

Description of reference numerals

[0035] 11 First front collision sensor 12 Second front collision sensor 13 First side collision sensor 14 Second side collision sensor 2 Rebounding member 21 Elastic arm 22 Contact part 23 Recovery arm 24 Recovery hook 25 Fixed arm 26 Fixed hook 3 Front bumper 100 Cleaning device 110 Equipment body 111 Front part 112 Rear part 120 Sensing System 121 Positioning device 122 Buffer 130 Drive System 131 Drive wheels 132 driven wheel 133 First driving wheel 134 Second drive wheel 140 Cleaning System 141 Dry Cleaning System 142 Wet Cleaning System 143 Side Brush 200 Obstacles 701 Processing equipment 702 ROM 703 RAM 704 Bus 705 I / O interface 706 Input Device 707 Output Device 708 Storage device 709 Communication Equipment 800 control device 810 First Acquisition Module 820 First Decision Module 830 First Processing Module 840 Second Acquisition Module 850 Second Processing Module DETAILED DESCRIPTION OF THE INVENTION

[0036]

[0023] Hereinafter, embodiments of the present disclosure will be described in detail, examples of which are shown in the accompanying drawings, and the same or similar reference numerals always refer to the same or similar devices or devices having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are illustrative and are used only for the purpose of explaining the present disclosure, and should not be construed as limiting the present disclosure.

[0037] Those skilled in the art will understand that the singular forms "a," "one," "the," and "the" as used herein include the plural unless otherwise specified. It should be further understood that the term "comprising," as used in the specification of this application, refers to the presence of the stated feature, integer, step, operation, device, and / or component, but does not exclude the presence or addition of one or more other features, integers, steps, operations, devices, components, and / or combinations thereof. It should be noted that when a device is "connected" or "coupled" to another device, it may be directly connected or coupled to the other device, or may be connected via an intermediate device. Furthermore, "connected" or "coupled" as used herein includes wireless connection or wireless proximity. The term "and / or," as used herein, includes all or any unit and all combinations of one or more associated listed items.

[0038] To make the objectives, technical solutions and advantages of the present application clearer, the following describes the embodiments of the present application in more detail with reference to the accompanying drawings.

[0039] The embodiments of the present disclosure provide possible application scenarios, including cleaning devices, where the cleaning device includes a self-propelled cleaning robot, such as a floor sweeping robot, a mopping robot, a vacuum cleaner, a weeder, etc. In some embodiments, as shown in FIGS. 1 and 2, a household floor sweeping robot is used as an example. During its operation, the floor sweeping robot can clean according to a preset path or an automatically planned path, but will inevitably collide with obstacles 200, such as walls and cabinets. At the same time, if the floor sweeping robot moves a short distance along the wall, it can clean the adjacent area between the floor and the wall, thereby improving cleaning performance. Therefore, if the cleaning device moves a short distance more quickly after colliding with an obstacle 200, the cleaning efficiency of the cleaning device can be greatly improved, the problem of leaving the adjacent area between the floor and the wall uncleaned can be effectively reduced, and user satisfaction can be improved.

[0040] In an embodiment provided by the present disclosure, as shown in FIGS. 1 and 2, the cleaning device includes a machine body 110, a sensing system 120, a control system, a driving system 130, a cleaning system 140, an energy system, and a man-machine interaction system.

[0041] The device body 110 includes a front portion 111 and a rear portion 112, and has a substantially D-shaped shape with a rectangular front portion and a circular rear portion, i.e., the front portion is substantially rectangular and the rear portion is substantially circular, that is, the cleaning device may be a D-shaped floor mopping robot. Of course, the device body 110 may also be in other shapes such as a triangle, a rectangle, etc.

[0042] As shown in FIG. 2 , the sensing system 120 includes a trigger member, a first detection member and a second detection member provided on the equipment body, where the trigger member is configured to be triggered by the cleaning device colliding with an obstacle 200, for example, the trigger member may be a collision sensor provided on a buffer 122 of the front portion 111 of the equipment body 110, a proximity sensor, or other structure that meets the requirements.

[0043] The first detection member is configured to detect an obstacle 200 around the device body, and for example, the first detection member includes a position determination device 121 provided on the top of the device body, where the position determination device 121 includes, but is not limited to, a camera and a laser distance sensor (LDS). The laser distance sensor is located at the top end of the device body, rotates 360° and emits laser light, and the reflected laser light can be used to determine the direction of the obstacle 200 and the distance between the obstacle 200 and the device body.

[0044] The second detection member is provided on one side of the device body 110 and is configured to detect an obstacle 200 on the side of the device body 110. For example, the second detection member may be a wall sensor or a small laser distance measuring device provided on the left or right side of the device body 110, and the second detection member can accurately detect the distance between a point on the side of the device body 110 and the device body 110. Specifically, if the second detection member can detect information about a wall, the control system can control the cleaning device to move along the wall at a small distance from the wall.

[0045] Furthermore, the sensing system 120 includes a cliff sensor provided at the bottom of the device body 110, and sensing devices such as a magnetometer, an accelerometer, a gyroscope, and an odometer (ODO, odograph) provided inside the device body 110, and is configured to provide various position information and motion status information of the device to the control system.

[0046] As shown in Figures 1 and 2, the front part 111 of the equipment body 110 can carry a buffer 122, and during the cleaning process, when the drive wheel 131 propels the robot to run on the floor surface, the buffer 122 detects one or more events in the running path of the cleaning device through a trigger member, such as an infrared sensor, provided thereon, and the cleaning device controls the drive wheel 131 module to make the cleaning device respond to the event, for example, move away from the obstacle 200, go over the obstacle 200, etc., detected by the buffer 122.

[0047] The control system is mounted on a circuit board within the device body 110 and includes a computing processor, such as a central processing unit (CPU) and an application processor, communicating with non-transitory memory such as a hard disk, flash memory, or random access memory. The application processor uses a positioning algorithm, such as SLAM (Simultaneous Localization and Mapping), to draw a real-time map of the robot's environment based on obstacle 200 information fed back by the laser ranging device. This is combined with distance and speed information fed back from sensors mounted on the buffer 122, such as cliff sensors, magnetometers, accelerometers, gyroscopes, and odometers, to comprehensively determine the sweeper's current operating status, position, and posture (e.g., whether it has exceeded the threshold 170, is located on a cliff, is stuck above or below, has its dust box full, or is being lifted), and provides specific next-step operation strategies according to different situations, enabling the robot's operation to better meet the owner's requirements and providing a better user experience.

[0048] As shown in FIGS. 1 and 2 , the drive system 130 steers the robot to move across a floor surface based on drive commands including distance and angle information (e.g., x, y, and o components). The drive system 130 includes drive wheels 131 and a drive module. The drive module can simultaneously control the left and right drive wheels. For more precise control of the device's movement, the drive modules preferably include a left drive wheel module and a right drive wheel module, respectively. The left and right drive wheel modules face each other along a lateral axis defined by the body 110. To enable the robot to move more stably across a floor surface or have greater mobility, the robot includes one or more driven wheels 132, including, but not limited to, universal wheels. The drive module includes a drive motor and a control circuit for controlling the drive motor. The drive module may further be connected to a circuit for measuring drive current and an odometer. The drive module may be detachably connected to the body 110 for easy installation, removal, and maintenance. The drive wheels 131 may include an offset drop suspension system, being movably fixed, e.g., rotatably attached to the robot body 110, and receiving a downward offset and a spring offset that offsets them away from the robot body 110. The spring offset allows the drive wheels 131 to maintain contact and traction with the floor surface with a constant landing force, while the cleaning device of the automatic cleaning apparatus also contacts the floor surface with a constant pressure.

[0049] Additionally, the cleaning device can be moved across a floor surface by various combinations of movement about three mutually perpendicular axes defined by the device body: the fore-aft axis X, the lateral axis Y, and the central vertical axis Z. The forward drive direction along the fore-aft axis X is labeled "forward," and the rearward drive direction along the fore-aft axis X is labeled "rear." The direction of the lateral axis Y is substantially the direction in which the center of the axis defined by the center points of the drive wheel 131 modules extends between the right and left wheels of the robot.

[0050] Here, the cleaning device can rotate around the Y axis. When the front part 111 of the automatic cleaning device tilts upward and the rear part 112 tilts downward, this is called "pitch up," and when the front part 111 of the automatic cleaning device tilts downward and the rear part 112 tilts upward, this is called "pitch down." The robot can also rotate around the Z axis. When the automatic cleaning device tilts to the right of the X axis at the front of the automatic cleaning device, this is called "right turn," and when the automatic cleaning device tilts to the left of the X axis, this is called "left turn." Here, the X axis and Y axis are indicated by arrows in Figure 1.

[0051] As shown in FIGS. 1 and 2, cleaning system 140 includes a dry cleaning system. As a dry cleaning system 141, its main cleaning function comes from a cleaning system consisting of a roller brush, a dust box, a blower, an air outlet, and the connecting members between them. The roller brush, which is in contact with the floor surface to some extent, sweeps debris on the floor surface to the front of the dust suction port between the roller brush and the dust box, and then sucks it into the dust box via suction gas generated by the blower that passes through the dust box. Dry cleaning system 141 may further include a side brush 143 with a rotation shaft, which is angled relative to the floor surface and configured to move debris to the roller brush area of ​​cleaning system 140. Furthermore, the side brush 143 is located on the side of the device body 110 that is closer to the second detection member. When the side of the cleaning device 10 where the second detection member is provided runs along a wall at a small distance from the wall, the side brush 143 moves debris in the corners and gaps between the floor and the wall to the roller brush area of ​​the cleaning system 140, thereby further cleaning the adjacent areas between the floor and the wall and achieving good cleaning efficiency.

[0052] It should be understood that the cleaning system may be a wet cleaning system, and the wet cleaning system 142 may include a cleaning head, a drive unit, a water supply mechanism, a liquid storage tank, etc. Here, the cleaning head may be disposed below the liquid storage tank, and the cleaning liquid in the liquid storage tank may be transferred to the cleaning head via the water supply mechanism, allowing the cleaning head to wet clean the surface to be cleaned. In another embodiment, the cleaning liquid in the liquid storage tank may be directly sprayed onto the surface to be cleaned, and the cleaning head may evenly apply the cleaning liquid to clean the surface. Of course, the cleaning head may be a roller brush with its own water storage capacity, which stores water in a base station and then leaves the base station to perform wet cleaning. Here, the cleaning head is configured to clean the surface to be cleaned, and the drive unit is configured to drive the cleaning head in a basically reciprocating motion along the target surface, where the target surface is a portion of the surface to be cleaned. The cleaning head reciprocates along the surface to be cleaned, and a cleaning cloth or cleaning plate is disposed on the contact surface of the cleaning head, which generates high-frequency friction with the surface to be cleaned through the reciprocating motion, thereby removing dirt from the surface to be cleaned.

[0053] The energy system includes rechargeable batteries such as nickel-metal hydride batteries and lithium batteries. The rechargeable batteries are connected to a charging control circuit, a battery pack charging temperature detection circuit, and a low battery voltage monitoring circuit, which are in turn connected to a microcomputer control circuit. The host computer is connected to the charging pile via charging electrodes located on the side or bottom of the main body. If dust adheres to the exposed charging electrodes, the accumulated charge during charging can melt and deform the plastic body around the electrodes, causing the electrodes themselves to deform, preventing normal charging.

[0054] The man-machine interaction system may include keys on a host panel that are available for the user to select functions, and may further include a display screen and / or indicator lights and / or a speaker, which can display the current status or function options of the device to the user, and may further include a sub-machine client program. In the case of a route navigation type automatic cleaning device, the sub-machine client can display to the user a map of the environment in which the device is installed and the location of the device, thereby providing the user with a richer and more user-friendly range of functions.

[0055] According to the control method for a cleaning device provided by the embodiment of the present disclosure, after the cleaning device collides with an obstacle 200 such as a wall or a cabinet during traveling, the number of collisions can be reduced as much as possible, and the cleaning device can quickly move along the wall or cabinet within a short distance, thereby further improving cleaning efficiency, effectively reducing the problem of leaving the adjacent area between the floor and the wall uncleaned, and improving the user experience.

[0056] As an embodiment of the present disclosure, as shown in FIG. 6, an embodiment of the present disclosure provides a control method for a cleaning device, including the following method steps:

[0057] Step S602: When the trigger member is triggered, first detection information of the first detection member is obtained.

[0058] Here, when the trigger member is triggered and the cleaning device 100 collides with an obstacle 200 while moving forward, for example, when the buffer 122 of the cleaning device 100 collides with a wall, the operation of the collision sensor is triggered, i.e., the trigger member is triggered. Furthermore, based on the information from the trigger member, it is possible to determine the approximate position of the wall relative to the cleaning device 100 and the collision position of the device body 110 of the cleaning device 100. As shown in FIG. 4a, when the right side of the front portion 111 of the cleaning device 100 collides with a wall, the trigger member can determine that the wall is located to the right front of the cleaning device 100. As shown in FIG. 3a, when the left side of the front portion 111 of the cleaning device 100 collides with a wall, the trigger member can determine that the wall is located to the left front of the cleaning device 100. When the middle position of the front portion 111 of the cleaning device 100 collides with the wall, the trigger member can determine that the wall is located in front of the cleaning device 100.

[0059] Because the first detection member is configured to sense information about obstacles 200 around the cleaning device 100 and the second detection member is configured to sense information about obstacles 200 on the cleaning device 100 side, the detection range of the second detection member is limited, and the obstacle 200 may be outside the detection range of the second detection member, meaning that the control system may not be able to obtain the second detection information, meaning that the cleaning device 100 may not be able to perform the obstacle-following operation. Typically, taking the cleaning device 100 as a D-shaped device for example, the buffer 122 includes a front lateral segment and two side segments, and generally, the front lateral segment is provided with two collision sensors, i.e., two trigger members, and the two side segments are each provided with a collision sensor, i.e., each trigger member. Therefore, when the cleaning device 100 collides with an obstacle 200, the position of the obstacle 200 relative to the device body 110 can be roughly confirmed based on the signal from one collision sensor or a combination of signals from multiple collision sensors. That is, after the trigger member is triggered, the relative positions of the cleaning device 100 and the obstacle 200 can be grasped by obtaining the detection information of the first detection member, which is convenient for guiding subsequent operations of the cleaning device 100.

[0060] Specifically, the trigger member may be a collision sensor, such as an optical cutoff switch type sensor or a Hall type sensor. After the trigger member of the cleaning device 100 is triggered, collision position information about the collision position of the cleaning device 100 can be transmitted to the control system through the collision sensor, so that the collision position of the cleaning device 100 can be determined, and the orientation of the obstacle 200 relative to the cleaning device 100 can be confirmed.

[0061] The first detection member may be a laser ranging sensor of the cleaning device 100, which is located at the top end of the device body 110 and emits laser light while rotating 360°, and determines the distance and direction of the obstacle 200 relative to the cleaning device 100 based on the reflected laser light, and further determines the first detection information based on the above information.

[0062] Step S604: Determine a first movement distance based on at least the acquired first detection information. Step S606: After controlling the cleaning device to move backward by a first moving distance, a first obstacle approach operation is performed based on the first detection information.

[0063] Here, by determining the first movement distance based on at least the acquired first detection information, the first movement distance matches the relative positions of the obstacle 200 and the cleaning device 100, and the cleaning device 100 is moved backward by the first movement distance, thereby separating the cleaning device 100 from the obstacle 200 and releasing the trigger state of the trigger member, ensuring smooth movement of the cleaning device 100. By performing the first obstacle approach operation based on the first detection information, different first obstacle approach operations can be performed according to different first detection information, which further reduces the number of times the cleaning device 100 re-collides with the obstacle 200 as much as possible and reduces the problem of leaving part of the area adjacent to the floor and wall uncleaned, contributing to improved cleaning efficiency and effectiveness.

[0064] It should be understood that the first movement distance can be determined by combining the structural parameters of the cleaning device 100 with the acquired first detection information. Here, the structural parameters of the cleaning device 100 may include the positional relationship of the geometric center of the second detection member with respect to the device body 110 of the cleaning device 100, the distance between the geometric center of the device body 110 of the cleaning device 100 and the collision position, etc.

[0065] Here, controlling the cleaning device 100 to move backward means controlling the cleaning device 100 to move backward while maintaining the attitude of the cleaning device 100 in which it collides with the obstacle 200. That is, during the process of the cleaning device 100 moving backward, the cleaning device 100 moves backward along a straight line without rotating. Specifically, as shown in FIGS. 3b and 4b, FIG. 3b is a schematic diagram of the cleaning device 100 moving backward a first distance based on the attitude of FIG. 3a, and FIG. 4b is a schematic diagram of the cleaning device 100 moving backward a first distance based on the attitude of FIG. 4a. Here, the first distance is indicated by D1 in FIGS. 3b and 4b, where O1 is the geometric center of the cleaning device 100 when it collides with the obstacle 200, and O2 is the geometric center of the cleaning device 100 after it has moved backward the first distance D1.

[0066] Step S608: Second detection information of the second detection member is acquired. Step S610: Control the cleaning device to perform an obstacle-following operation based on the second detection information.

[0067] Here, after the cleaning device 100 performs the first obstacle approaching operation, the side of the cleaning device 100 where the second detection member is provided approaches the obstacle 200, and the second detection member can sense the obstacle 200. Therefore, by obtaining the second detection information from the second detection member, the positional relationship between the cleaning device 100 and the obstacle 200, for example, the positional relationship between the cleaning device 100 and the wall, can be relatively accurately determined. Further, based on the second detection information, the cleaning device 100 can be controlled to perform an obstacle following operation, for example, to move the cleaning device 100 along the wall at a small distance. In this case, the side brushes 143 can move debris on the adjacent area between the floor and the wall to the roller brush area of ​​the cleaning system, further cleaning the adjacent area between the floor and the wall.

[0068] Here, the first obstacle approach operation refers to an operation of moving one side of the cleaning device closer to an obstacle, and the obstacle-following operation refers to an operation of moving the cleaning device along the obstacle while maintaining a certain distance from the obstacle.

[0069] Here, the second detection member may be a small laser distance sensor mounted on the device body 110. For example, the second detection member may be mounted on the right side of the device body 110 and be capable of accurately detecting the distance between the device body 110 and a point on an obstacle 200 on the right side of the device body 110. The first detection member detects the distance between the device body 110 and the obstacle 200 around the device body 110, but with somewhat lower accuracy. That is, the first detection member is configured to primarily determine the position of the wall, its length, and the relative position between the wall and the device body 110, and is rotatably mounted on the device body 110. The second detection member is configured to receive and transmit reflected signals in a certain direction from the side of the device body 110. When the device body 110 is parallel to the wall surface, a high-precision distance sensor such as the second detection member enables the device body 110 to travel along the wall at a millimeter level. That is, when the second detection member can detect wall information, the control system controls the cleaning device 100 to move along the wall at a small distance from the wall.

[0070] That is, in the control method for the cleaning device 100 provided by the embodiment of the present disclosure, when the cleaning device 100 collides with an obstacle 200 during forward movement and triggers the operation of the trigger member, the positional relationship of the obstacle 200 with respect to the cleaning device 100 can be determined, and a first movement distance can be determined by obtaining first detection information from the first detection member, and the cleaning device 100 can be controlled to move backward by the first distance, so that the cleaning device 100 is separated from the obstacle 200 and the cleaning device 100 can move smoothly. Next, a different first obstacle approach operation can be performed based on different first detection information, thereby minimizing the number of times the cleaning device 100 collides with the obstacle 200 again. At the same time, the second detection member detects the obstacle 200 and causes the cleaning device 100 to perform an obstacle-following operation based on the second detection information, so that the cleaning device 100 can quickly follow the obstacle, reducing the problem of leaving the adjacent area between the floor and the wall uncleaned, significantly improving cleaning efficiency and ensuring good cleaning results.

[0071] Furthermore, the first detection information includes at least a first angle between the device body and the obstacle, a vertical distance between the device body and the obstacle, and a horizontal distance between the device body and the target end of the obstacle, where the target end of the obstacle is located on the front side of the cleaning device away from the second detection member, i.e., the target end of the obstacle is an end that is reached before the cleaning device performs the obstacle-following operation. Note that the first detection information may be other parameters that meet the requirements, which are configured to characterize the positional relationship between the device body and the obstacle that triggers the operation of the trigger member, and the positional relationship between the target end of the obstacle and the device body.

[0072] Here, as shown in Figures 3a and 4a, the first angle β1 between the device body 110 and the obstacle 200 may be the angle between the front-to-rear center line m1 of the device body 110 and the projection of the horizontal plane on the surface of the obstacle 200, where the first angle is denoted by β1, as shown by the straight line m1 in Figures 3a and 4a.

[0073] The vertical distance d between the device body 110 and the obstacle 200 may be the vertical distance between the geometric center O of the projection of the device body 110 in a horizontal plane and the surface of the obstacle 200, where the geometric center O of the projection of the device body 110 in a horizontal plane may be the intersection of the front-to-back center line m1 and the left-to-right center line m2 of the device body 110.

[0074] The horizontal distance L between the equipment body 110 and the target end Q of the obstacle 200 may be the horizontal distance between the horizontal projection of the geometric center O of the equipment body 110 on the obstacle 200 and the target end Q of the obstacle 200, where the target end Q of the obstacle 200 is the end reached before the cleaning device 100 performs the obstacle-following operation. The target end of the obstacle 200 is indicated by the letter Q. Here, the target end Q of the obstacle 200 is located on the front side of the cleaning device 100, away from the second detection element. The horizontal distance L between the device body 110 and the target end Q of the obstacle 200 determines whether the cleaning device 100 can smoothly complete the first obstacle approaching operation. For example, as shown in FIG. 4g, if the horizontal distance L between the device body 110 and the target end Q of the obstacle 200 is short, the first obstacle approaching operation will not be completed because the wall length is insufficient, and the second detection element on the side of the device body 110 will not be able to detect the wall, resulting in the problem of not being able to smoothly perform the obstacle following operation. Alternatively, the device body 110 will not be able to trigger the trigger element again during the obstacle approaching operation, preventing the subsequent obstacle following operation from being completed. Therefore, the horizontal distance L between the device body 110 and the target end Q of the obstacle 200 plays an important role in the execution of the subsequent obstacle approaching operation. Specifically, the horizontal distance L between the device body 110 and the target end Q of the obstacle 200 is indicated by L in FIGS. 3a and 4a.

[0075] In the above embodiment, step S604 includes the following method steps:

[0076] Step S604-2: Determine a first moving distance based on the first angle, the vertical distance between the device body and the obstacle, and the horizontal distance between the device body and the target end of the obstacle.

[0077] The first angle β1, the vertical distance d between the device body 110 and the obstacle 200, and the horizontal distance L between the device body 110 and the target end Q of the obstacle 200 can reflect the specific positional relationship between the cleaning device 100 and the obstacle 200, and between the cleaning device 100 and the target end Q of the obstacle 200. Therefore, by determining the first movement distance D1 based on the first angle β1, the vertical distance d between the device body 110 and the obstacle 200, and the horizontal distance L between the device body 110 and the target end Q of the obstacle 200, after the cleaning device 100 has moved backward by the first movement distance D1, the possibility of the trigger member operation being re-triggered in the process of performing the first obstacle approach operation based on the first detection information can be reduced, that is, the number of collisions between the cleaning device 100 and the obstacle 200 can be reduced as much as possible, while at the same time reducing the area left unswept and improving cleaning efficiency.

[0078] Specifically, during the backward movement of the cleaning device 100, it is possible to ensure that the cleaning device 100 moves backward a correct distance in the current posture using data from the odometer of the drive wheel 131. That is, during the backward movement of the cleaning device 100, when the change information of the odometer matches the first movement distance D1, the backward movement of the cleaning device 100 is stopped, and at this time, it is possible to ensure that the backward movement distance of the cleaning device 100 is the first movement distance D1.

[0079] In some possible embodiments provided by the present disclosure, step S610: controlling the cleaning device to perform an obstacle-following operation based on the second detection information includes the following method steps:

[0080] Step S610-2: Determine a first rotation angle based on the first angle. Step S610-4: The cleaning device is controlled to rotate by the first rotation angle in a direction away from the second detection member. Step S610-6: The cleaning device is controlled to move forward based on the horizontal distance between the device body and the target end of the obstacle.

[0081] In this embodiment, the first angle β1 can characterize the tilt position of the cleaning device 100 relative to the obstacle 200. Therefore, by determining a first rotation angle α1 based on the first angle β1, the first rotation angle is associated with the current tilt state of the cleaning device 100 relative to the obstacle 200. Then, as shown in FIG. 4c, the cleaning device 100 is controlled to rotate by the first rotation angle α1 away from the second detection member. This ensures that the forward direction of the cleaning device 100 after rotation is within a favorable angle range relative to the obstacle 200, allowing the cleaning device 100 to quickly move near the obstacle 200. Based on this, the second detection member approaches the obstacle 200, and the second detection member quickly obtains the second detection information, allowing the cleaning device 100 to perform an obstacle-following maneuver. Here, FIG. 4c is a schematic diagram of the cleaning device 100 after rotating by the first rotation angle based on the attitude of FIG. 4b, where the first rotation angle is denoted by α1 in FIG. 4c.

[0082] Specifically, a preferred obstacle approach angle θ of the cleaning device 100 can be calculated based on the first angle β1, the vertical distance d between the device body 110 and the obstacle 200, and the horizontal distance L between the device body 110 and the target end Q of the obstacle 200. Here, the obstacle approach angle θ refers to the angle between the front-to-rear centerline of the device body 110 of the cleaning device 100 and the horizontal plane projecting the surface of the obstacle 200 when the cleaning device 100 performs the first obstacle approach operation, and is indicated by θ in FIG. 4c. Typically, the preferred obstacle approach angle θ is less than 45°. Then, a first rotation angle α1 can be determined based on the calculated preferred obstacle approach angle θ and the first angle β1. That is, the first rotation angle α1 can be understood to be the difference between the first angle β1 and the preferred obstacle approach angle θ. Here, by monitoring gyroscope data and controlling the differential rotation of the left and right wheels, the cleaning device 100 can be rotated on-site by the first rotation angle α1 toward the side away from the second detection member.

[0083] In some possible embodiments provided by the present disclosure, step S610-6 includes the following method steps:

[0084] Step S610-6-11: Based on the fact that the horizontal distance between the device body and the target end of the obstacle is equal to or greater than a predetermined value, the cleaning device is controlled to move forward. Step S610-6-12: Based on the trigger member being triggered again, a second angle between the device body and the obstacle at the current position is obtained. Step S610-6-13: Determine a second rotation angle based on the second angle. Step S610-6-14: The cleaning device is controlled to rotate by a second rotation angle in a direction away from the second detection member.

[0085] Here, the predetermined value refers to a horizontal distance value for adjusting the cleaning device 100 to a state where the second detection member can detect information about the obstacle 200 and the cleaning device 100 can stably travel along the obstacle after the cleaning device 100 has smoothly completed the first obstacle approaching operation toward the obstacle 200. For example, a target obstacle entry position of the cleaning device 100 may be set in the extension direction of the obstacle 200, and the target obstacle entry position may be indicated by the letter P. The target obstacle entry position P may be located on the front side of the cleaning device 100, away from the second detection member. The target obstacle entry position P may be the position relative to the obstacle 200 when the cleaning device 100 switches from the first obstacle approaching operation to the obstacle along operation. That is, after the cleaning device 100 passes the target obstacle entry position P, the cleaning device may be controlled to perform the obstacle along operation based on information about the obstacle detected by the second detection member. Here, the predetermined value is the horizontal distance between the projection of the geometric center of the device body 110 of the cleaning device 100 onto the obstacle and the target obstacle approach position P, and is indicated by H in FIGS. 4d and 4g.

[0086] Specifically, the predetermined value may be preset in the system, or may be calculated by the system based on the posture and position of the cleaning device 100 when it collides with the obstacle 200 and structural parameters of the cleaning device 100 itself. For example, the system calculates a reasonable predetermined value based on parameters such as the first angle between the device body 110 and the obstacle 200 in the first detection information, the vertical distance between the device body 110 and the obstacle 200, the horizontal distance between the device body 110 and the target end Q of the obstacle 200, the distance between the geometric center of the device body 110 and the collision position, and the relative position of the geometric center of the device body 110 and the second detection member, so as to ensure that after the cleaning device 100 has smoothly completed the first obstacle approach operation with respect to the obstacle 200, the cleaning device will perform the obstacle-follow operation when the second detection member can detect information about the obstacle 200.

[0087] In this embodiment, as shown in Figures 4d and 4e, when the horizontal distance L between the device body 110 and the target end Q of the obstacle 200 is equal to or greater than the predetermined value H, it means that the obstacle 200 is long enough for the cleaning device 100 to smoothly complete the first obstacle approaching operation, i.e., after the cleaning device 100 performs the first obstacle approaching operation, the second detection member can detect information about the obstacle, and the cleaning device 100 can perform an obstacle following operation based on the obstacle 200. Therefore, as shown in Figures 4c and 4d, the cleaning device 100 is controlled to move forward, that is, the cleaning device 100 moves forward in the direction approaching the obstacle 200 at the desired obstacle approach angle θ, and when the trigger member is triggered again, the cleaning device 100 will collide with the obstacle 200 again. At this time, a second angle β2 between the device body 110 and the obstacle 200 at the current position is obtained, where the second angle β2 is the angle between the front-to-rear center line of the device body 110 under the current posture and the surface of the obstacle 200. Then, a second rotation angle α2 is determined based on the second angle β2. As shown in FIG. 4e, the cleaning device 100 is rotated away from the second detection member by the second angle α2. The trigger member is released, i.e., the buffer 122 of the cleaning device 100 is separated from the obstacle 200, and the second detection member can sense the obstacle 200, i.e., the second detection member can feed back the second detection information. Therefore, as shown in FIG. 4f, the control system can control the cleaning device 100 to travel along the obstacle based on the second detection information.

[0088] In the above embodiment, determining the second rotation angle based on the second angle specifically includes: The method includes determining a second rotation angle based on the second angle and an installation position of the second detection member relative to the device body.

[0089] Since the cleaning device 100 needs to be controlled to perform the obstacle-following operation based on the second detection information from the second detection member, the second detection member can detect the obstacle 200 early during the traveling process of the cleaning device 100, and the cleaning device 100 can perform the obstacle-following operation early. If the installation position of the second detection member relative to the device body 110 is different and the cleaning device 100 is rotated to different angles in the same posture, the second detection member can detect the obstacle 200. Therefore, by determining the second rotation angle α2 based on the second angle β2 and the installation position of the second detection member relative to the device body 110, after the cleaning device 100 rotates away from the second detection member by the second rotation angle α2, the trigger member is released and at the same time, the second detection member can sense the obstacle 200, i.e., the second detection member can feed back the second detection information, and by rotating two or more times more, the trigger member will not be released and the second detection member will be able to sense the obstacle 200, thereby greatly improving the efficiency of the cleaning device 100 performing the obstacle-following operation.

[0090] Specifically, the second detection member is provided on the right side of the device body 110, and the distance between the second detection member and the front end of the device body 110 is a fixed value, for example, 9 cm to 15 cm. The distance between the second detection member and the front end of the device body 110 may be, for example, 9 cm, 11 cm, 13 cm, 15 cm, or another value that meets the requirements. Note that the distance between the second detection member and the front end of the device body 110 is proportional to the size of the device body 110 in the front-to-rear direction. For example, the distance between the second detection member and the front end of the device body 110 may be 0.3, 0.4, 0.6 times the size of the device body 110 in the front-to-rear direction, or another value that meets the requirements, and is not specifically limited in the present disclosure. As a result, the second detection member can detect the obstacle 200 only when the angle between the cleaning device 100 and the obstacle 200 reaches a certain range. For example, if the distance between the second detecting member and the front end of the device body 110 is 11 cm, the second detecting member can only detect the wall when the angle between the device body 110 and the wall is within a certain angle range, for example, 27°, and therefore, in order to achieve obstacle-following operation, the cleaning device 100 needs to be rotated early within that angle range. Therefore, by determining the second rotation angle α2 based on the second angle β2 and 27°, the trigger member is released and the second detecting member can detect the wall after the cleaning device 100 has rotated to the left by the second rotation angle α2.

[0091] In some possible embodiments provided by the present disclosure, step S610-6 includes the following method steps:

[0092] S610-6-21: Based on the horizontal distance between the device body and the target end of the obstacle being less than a predetermined value, the cleaning device is controlled to move away from the second detection member at a first linear velocity and a first angular velocity, and if the trigger member is not triggered after a predetermined time has elapsed, the cleaning device is controlled to perform an obstacle search operation.

[0093] In this embodiment, as shown in FIG. 4g, if the horizontal distance L between the device body 110 and the target end Q of the obstacle 200 is less than a predetermined value H, i.e., the obstacle 200 is short, the cleaning device 100 will not be able to smoothly complete the first obstacle approach operation, and the combination of various sensors in the cleaning device 100 will not allow the cleaning device 100 to stably navigate around the obstacle. Therefore, as shown in FIG. 4g, the cleaning device 100 is controlled to move away from the second detection member at a first linear velocity and a first angular velocity, i.e., the cleaning device 100 is tilted as a whole to approach the obstacle 200, greatly increasing the cleaning area and achieving full cleaning as much as possible. If this traveling state is maintained, and the trigger member is not triggered after a predetermined time has elapsed, this means that the front part 111 of the cleaning device 100 has passed the obstacle 200, and the cleaning device 100 is then controlled to perform an obstacle search operation to search for a new obstacle 200 and achieve the obstacle-following operation.

[0094] Here, the predetermined time may be 400 ms, 500 ms, 600 ms, or any other time that meets the requirements. The predetermined time being within a reasonable range ensures that the front part 112 of the cleaning device 100 passes over the target end Q of the obstacle 200, such as a wall corner, and further prevents the cleaning device 100 from colliding with the wall corner and wasting time during the obstacle search operation.

[0095] Specifically, the first linear velocity and the first angular velocity may be predetermined values ​​of the control system. For example, if the second detection member is provided on the right side of the device body 110 of the cleaning device 100, when the horizontal distance between the target obstacle entry position and the device body 110 is less than a predetermined value, the cleaning device 100 is controlled to rotate and move to the left at the first linear velocity and the first angular velocity.

[0096] In the above embodiment, the obstacle searching operation includes controlling the cleaning device to move at an obstacle searching linear velocity and an obstacle searching angular velocity toward the side where the second detection member is provided until the trigger member is triggered.

[0097] In this embodiment, the second detection member detects the obstacle 200 early, and the cleaning device 100 performs the obstacle-following operation to clean the adjacent areas of the floor and wall. In order to do this, the cleaning device 100 should be controlled to rotate and move toward the side where the second detection member is located until the trigger member is triggered, which means that the cleaning device 100 collides with the obstacle 200, i.e., the obstacle 200 is found and the obstacle search operation is completed.

[0098] Here, by controlling the cleaning device 100 to rotate and move toward the side where the second detection member is provided, the probability that the second detection member will detect the obstacle 200 is increased during the process of moving the cleaning device 100 until the trigger member is triggered, which is advantageous in improving the efficiency with which the cleaning device 100 detects the appearance of the obstacle 200 or performs the operation of traveling along the obstacle.

[0099] Specifically, the cleaning device 100 is controlled to move toward the side where the second detection member is provided at an obstacle search linear velocity and an obstacle search angular velocity, where the obstacle search linear velocity and the obstacle search angular velocity may be predetermined values ​​of the control system. For example, if the second detection member is provided on the right side of the cleaning device 100's main body 110, as shown in FIG. 4g, when the horizontal distance between the main body 110 and the target end Q of the obstacle 200 is less than a predetermined value, the cleaning device 100 is controlled to rotate to the left at a first linear velocity and a first angular velocity. If the trigger member is not triggered after a predetermined time has elapsed, this means that the trigger member has passed the target obstacle entry position P. The cleaning device 100 is then controlled to move to the right at the obstacle search linear velocity and obstacle search angular velocity, i.e., to move forward while rotating to the right along the arrow in FIG. 4g. At this time, the cleaning device 100 will not collide with the target end Q of the obstacle 200, and the second detection member can sense the vertical wall connected to the wall just passed, allowing the cleaning device 100 to quickly follow the obstacle and clean the adjacent area of ​​the floor and the new wall.

[0100] In some possible embodiments provided by the present disclosure, the control method further includes the following steps: Step S612: Based on the fact that the first detection information has not been acquired, the cleaning device is controlled to move backward by a first predetermined distance and rotate by a second predetermined angle away from the second detection member, and then an obstacle search operation is performed.

[0101] In this embodiment, as shown in FIG. 5a, when the trigger member is triggered and the first detection information is not obtained, for example, after the cleaning device 100 collides with an obstacle 200, the first detection member fails to sense, for example, the height of the obstacle 200 is too low for the first detection member to sense, or the obstacle 200 is a light-absorbing material so that the second detection member cannot receive a return signal with sufficient strength. At this time, as shown in FIG. 5b, the control system controls the cleaning device 100 to retreat a first predetermined distance D01, so that the cleaning device 100 separates from the obstacle 200 and the trigger member is released from the triggered state, thereby realizing smooth movement of the cleaning device 100. Then, as shown in FIG. 5c, the cleaning device 100 is rotated a second predetermined angle δ1 away from the second detection member, and an obstacle search operation is performed to search for a new obstacle 200. In the process of moving the cleaning device 100 until the trigger member is triggered again, the probability that the second detection member will detect the obstacle 200 is increased, and further the efficiency of the cleaning device 100 in finding the obstacle 200 or performing the obstacle-following operation can be improved.

[0102] Here, the obstacle search operation includes controlling the cleaning device 100 to rotate toward the side where the second detection member is provided until the trigger member is triggered. For example, when the cleaning device 100 is moved toward the side where the second detection member is provided at an obstacle search linear velocity and an obstacle search angular velocity until it collides with an obstacle 200 and triggers the trigger member, this means that the cleaning device 100 has found the obstacle 200 again, and the obstacle 200 can be used as a reference when the cleaning device 100 performs an obstacle-following operation. That is, when the second detection member detects the obstacle 200, the cleaning device 100 can perform the obstacle-following operation.

[0103] Here, the second predetermined angle δ1 may be a predetermined value of the control system. By moving the cleaning device 100 backward by the first predetermined distance D01 and then rotating it by the second predetermined angle δ1 away from the second detection member, it is possible to avoid a situation in which the first detection member still cannot detect the obstacle 200 after the cleaning device 100 moves forward again in its current posture and collides with the obstacle 200. By controlling the cleaning device 100 to perform an obstacle search operation after rotating by the second angle δ1, it is possible to increase the probability that the first detection member can detect the obstacle 200 after the cleaning device 100 collides with the obstacle 200 again, which in turn increases the probability that the second detection member will detect the obstacle 200 and further improves the efficiency with which the cleaning device 100 performs the obstacle-following operation.

[0104] Furthermore, if, after the cleaning device 100 has been moved backward a first predetermined distance D01 and rotated a second predetermined angle δ1 away from the second detection member and an obstacle search operation has been performed to search for the obstacle 200, the control system still cannot obtain the first detection information, i.e., the first detection member still cannot sense the obstacle 200, then the cleaning device 100 can be controlled to be moved backward a third predetermined distance D02 again and rotated a third predetermined angle δ2 away from the detection member, as shown in Figures 5d and 5e, and then the obstacle search operation can be performed.

[0105] As shown in FIG. 8 , an embodiment of a second aspect of the present disclosure provides a control device 800 for a cleaning device, the cleaning device including: an appliance body; a trigger member, a first detection member, and a second detection member provided on the appliance body; the trigger member is configured to be triggered when the cleaning device collides with an obstacle; the first detection member is configured to detect an obstacle around the appliance body; and the second detection member is provided on one side of the appliance body and configured to detect an obstacle on a side of the appliance body; and the control device 800 The cleaning device includes a first acquisition module 810 configured to acquire first detection information of a first detection member based on the triggering of the trigger member; a first determination module 820 configured to determine a first movement distance based on at least the acquired first detection information; a first processing module 830 configured to control the cleaning device to move backward by the first movement distance and then execute a first obstacle approach operation based on the first detection information; a second acquisition module 840 configured to acquire second detection information of a second detection member; and a second processing module 850 configured to control the cleaning device to execute an obstacle-following operation based on the second detection information.

[0106] The cleaning device control device 800 provided by the present disclosure can grasp the positional relationship of the obstacle 200 relative to the cleaning device 100 when the cleaning device collides with an obstacle during forward movement and triggers the operation of the trigger member, and can further determine a first movement distance by acquiring first detection information of the first detection member using a first acquisition module 810, and can further move the cleaning device backward by a first distance using a first processing module 830, controlling the cleaning device to separate from the obstacle, thereby ensuring smooth movement of the cleaning device. Then, the first processing module 830 performs a different first obstacle approach operation based on the different first detection information, thereby reducing the number of times the cleaning device collides with the obstacle again as much as possible; at the same time, the second detection member can sense the obstacle, the second acquisition module 840 can acquire the second detection information, and the second processing module 850 can control the cleaning device to perform an obstacle-following operation based on the second detection information, so that the cleaning device can quickly follow the obstacle and reduce the problem of leaving the adjacent parts of the floor and wall uncleaned, thereby greatly improving cleaning efficiency and ensuring good cleaning results.

[0107] As an example, the first detection information includes at least a first angle between the equipment body and the obstacle, a vertical distance between the equipment body and the obstacle, a horizontal distance between the equipment body and the target end of the obstacle, and the target end of the obstacle is located on a side of the cleaning device away from the second detection member, where the first determination module 820 includes a first determination unit configured to determine a first movement distance based on the first angle, the vertical distance between the equipment body and the obstacle, and the horizontal distance between the equipment body and the target end of the obstacle.

[0108] As an example, the first processing module 830 includes a second determination unit configured to determine a first rotation angle based on the first angle, a first processing unit configured to rotate the cleaning device away from the second detection member by the first rotation angle, and a second processing unit configured to control the cleaning device to move forward based on the horizontal distance between the equipment body and the target end of the obstacle.

[0109] As an example, the second processing unit includes a first processing subunit configured to control the cleaning device to move forward based on the horizontal distance between the equipment body and the target end of the obstacle being greater than or equal to a predetermined value; a first acquisition submodule configured to control the cleaning device to acquire a second angle between the equipment body and the obstacle at the current position based on the trigger member being triggered again; a first determination subunit configured to determine a second rotation angle based on the second angle; and a second processing subunit configured to control the cleaning device to rotate by the second rotation angle away from the second detection member.

[0110] As an example, the first determining subunit specifically includes determining a second rotation angle based on the second angle and an installation position of the second detection member relative to the device body.

[0111] As an example, the second processing unit includes a third processing subunit configured to control the cleaning device to move away from the second detection member at a first linear velocity and a first angular velocity based on the horizontal distance between the device body and the target end of the obstacle being less than a predetermined value, and to perform an obstacle search operation if the trigger member is not triggered after a predetermined time has elapsed.

[0112] As an example, the control device 800 of the cleaning device further includes a third processing module configured to control the cleaning device to move backward a first predetermined distance, rotate a second predetermined angle away from the second detection member, and then perform an obstacle search operation based on the first detection information not being acquired.

[0113] As an example, the obstacle search operation includes controlling the cleaning device to move and rotate in the direction of the second detection member at an obstacle search linear velocity and an obstacle search angular velocity until the trigger member is triggered.

[0114] An embodiment of the present disclosure provides a cleaning device having a processor and a memory, wherein the memory stores computer program instructions executable by the processor, and when the processor executes the computer program instructions, the steps of the cleaning device control method of any embodiment are realized.

[0115] As shown in Figure 7, the cleaning device includes a processing unit 701 (e.g., a central processor, a graphics processor, etc.) for implementing various appropriate operations and processes by executing programs in a read-only memory (ROM 702) or programs loaded from a storage device 708 into a random access memory (RAM 703). Various programs and data necessary for the operation of the electronic robot are stored in the RAM 703. The processing unit 701, the ROM 702, and the RAM 703 are connected to each other via a bus 704. An input / output (I / O) interface is also connected to the bus 704.

[0116] Typically, input devices 706 including a touch screen, touch pad, keyboard, mouse, camera, microphone, sensing device, etc., output devices 707 including a liquid crystal display (LCD), speaker, vibrator, etc., storage device 708 including a hard disk, etc., and communication device 709 are connected to the I / O interface 705. The communication device 709 enables the cleaning robot to communicate with other base stations wirelessly or via a wire to exchange data; for example, the communication device 709 can realize communication between the cleaning robot and a base station or a remote mobile device. Although FIG. 7 illustrates a cleaning device with various devices, it should be understood that it is not necessary to implement or include all of the devices illustrated. More or fewer devices may alternatively be implemented or included.

[0117] In particular, according to an embodiment of the present disclosure, the processes described above with reference to the flowcharts may be implemented as a robot software program. For example, an embodiment of the present disclosure includes a robot software program product, which includes a computer program carried on a readable medium, the computer program including program code for the method illustrated in flowchart FIG. 6. In such an embodiment, the computer program may be downloaded and installed from a network via the communication device 709, or may be installed from the storage device 708, or may be installed from the ROM 702. When the computer program is executed by the processing device 701, it performs the functions defined in the method of the embodiment of the present disclosure.

[0118] It should be noted that the computer-readable medium described in this disclosure may be a computer-readable signal medium, a computer-readable storage medium, or any combination thereof. The computer-readable storage medium may be, for example, but is not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of computer-readable storage media include, but are not limited to, an electrical connection having one or more wires, a portable computer disk, a hard disk, a random access memory (RAM 703), a read-only memory (ROM 702), an erasable programmable read-only memory (EPROM 702 or flash), an optical fiber, a portable compact disk read-only memory (CD-ROM 702), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this disclosure, a computer-readable storage medium may be any tangible medium that contains or stores a program, and the program may be used by or in combination with an instruction execution system, apparatus, or device. In this disclosure, a computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave carrying computer-readable program code. Such propagated data signals include, but are not limited to, electromagnetic signals, optical signals, or any suitable combination of the foregoing. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium that transmits, propagates, or carries a program that can be used by or in combination with an instruction execution system, apparatus, or device. The program code contained in the computer-readable medium may be transmitted over any suitable medium, including, but not limited to, electrical wire, optical cable, RF (radio frequency), etc., or any suitable combination of the foregoing.

[0119] The computer-readable medium may be included in the robot, or may exist independently without being incorporated into the robot.

[0120] Computer program code for carrying out the operations of the present disclosure can be written in one or more program design languages, or a combination thereof, including object-oriented program design languages ​​such as Java, Smalltalk, C++, and traditional procedural program design languages ​​such as "C" or similar program design languages. The program code may run entirely on the user's computer, partially on the user's computer, as a single, separate software packet, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server.

[0121] In the case of a remote computer, the remote computer may be connected to the user computer via any type of network, such as a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet Service Provider).

[0122] The flowcharts and block diagrams in the accompanying drawings illustrate possible architectures, functions, and operations of systems, methods, and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowcharts or block diagrams represents a module, program segment, or portion of code, which includes one or more executable instructions for implementing a given logical function. It should be noted that, in alternative implementations, the functions illustrated in the blocks may occur in a different order than that shown in the accompanying drawings. For example, it should be noted that two connected blocks may be executed substantially in parallel or in the reverse order, depending on the related functionality. It should be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, may be implemented by a dedicated hardware-based system for performing a given function or operation, or by a combination of dedicated hardware and computer instructions.

[0123] The present disclosure further provides a cleaning device for front bumper bounce.

[0124] FIG. 11 is a top view of a cleaning device for front bumper bounces. The cleaning device is divided into two sections, a front section and a rear section. The front section has a roughly rectangular / square configuration. A front bumper 3 is provided on the outside of the square section of the cleaning device. The front bumper 3 is divided into a front straight segment and a side straight segment, with roughly rounded corners at the junctions of the front straight segment and both side straight segments. The shape of the front of the cleaning device rack corresponds to the shape of the front bumper 3. Note that during the cleaning device's travel, when the front section collides, the front bumper 3 moves relative to the rack along a direction perpendicular to the front straight segment of the cleaning device, and when the side section collides, the front bumper 3 moves relative to the rack along a direction perpendicular to the side straight segment of the cleaning device. The rear of the cleaning device has a roughly circular configuration. This configuration allows cleaning elements to be provided at the bottom of the square-shaped rack at the front of the cleaning device, extending substantially across the width of the front section and closer to the front of the device in the direction of travel, allowing for more effective corner cleaning during the cleaning of surfaces to be cleaned.

[0125] 9, at least one collision sensor is provided on each of the front and side of the cleaning device rack, which can transmit response data or signals to a control unit in response to a collision during the cleaning device's travel. The control unit can then control the drive wheels and cleaning unit of the cleaning device to avoid the obstacle or change the cleaning characteristics. The obstacle avoidance can be an operation to bypass or move away from the obstacle, and the change in cleaning characteristics can be an operation change of the cleaning unit (such as the output of the side brush, main brush, mopping element, or dust suction fan). Of course, the collision sensor can also be provided on the inner wall and / or side wall at the front end of the front bumper, and its operation mode is similar to the rack-mounted configuration described above. However, in an actual design, wiring is also required, and the rack-mounted configuration contributes to the installation of wiring. Therefore, this embodiment will be described using the rack-mounted collision sensor as an example.

[0126] In order to optimize obstacle detection, two front collision sensors may be provided symmetrically at the front and one side collision sensor may be provided at each side, i.e., a first front collision sensor 11, a second front collision sensor 12, a first side collision sensor 13, and a second side collision sensor 14 as shown in Fig. 9 may be provided. Of course, the specific configuration is not limited to the positions and numbers described in the embodiment, and is not specifically limited in this example.

[0127] According to the above configuration, when the front straight segment of the front bumper 3 collides with an obstacle, the front bumper 3 moves relative to the rack in a direction perpendicular to the front straight segment, and after a certain distance, the two collision sensors installed at the front are triggered. During the collision process, the front bumper 3 does not move strictly in a direction perpendicular to the front straight segment. The movement of the front bumper 3 in that direction is distorted to some extent depending on the collision location. This distortion is understandable. For example, if a collision occurs exactly at the location of one collision sensor, the corresponding position of the front bumper 3 is directly urged to move relative to the rack, further driving the entire front bumper 3 to move relative to the rack. That is, when the front bumper 3 is pressed by an external object at the collision point, the point moves, and other points on the front bumper 3 that are distant from the collision point are also driven to move and displace. In this case, the collision sensor closer to the collision point is triggered before other collision sensors that are distant from the collision point. Based on this principle, it is possible to identify the specific collision point based on the trigger order or timing of multiple sensors. The side straight segments are shorter than the front straight segments, and the requirement can be met by providing only one collision sensor on the side, and of course, the number and location of the collision sensor are not limited.

[0128] The front bumper 3 needs to recover after moving relative to the rack after being hit so that it can respond to the next collision. To achieve this, the rack can be provided with multiple rebound members or recovery mechanisms to enable the front bumper 3 to recover. In the case of the irregular-shaped cleaning device described in this embodiment, particularly a cleaning device with a square front structure, it is also necessary to effectively position the front bumper 3 to recover. Of course, the rebound members may be provided on the inner wall of the front bumper. However, due to space limitations, this embodiment will specifically describe a case in which the rebound members are provided on the rack, but this does not exclude the possibility of providing the rebound members on the front bumper. As shown in Figure 10, a rebound member 2 is provided on the rack, and the rebound member 2 has each part shown in Figures 13 to 15, which is an elastic arm 21, a recovery arm 23 and a fixed arm 25 provided at both ends of the elastic arm 21, the elastic arm 21 and the recovery arm 23 forming an acute angle, a recovery hook 24 provided at the other end of the recovery arm 23 and a fixed hook 26 provided at one end of the fixed arm 25, and a contact part 22 formed at the intersection of the elastic arm 21 and the recovery arm 23.

[0129] The rack is provided with corresponding structures for the fixed arms 25 and fixed hooks 26, and in order to more stably and fixedly connect the rebound member 1 to the rack, there are two fixed arms 25, which are arranged symmetrically and parallel to the elastic arm 21, and the fixed hooks 26 are hooked onto corresponding structures on the rack, thereby restricting the rebound member 2 from being displaced along the moving direction of the elastic arm 21 relative to the rack; that is, the rebound member is fixed to the rack by the fixed arms 25, fixed hooks 26 and corresponding fixing structures on the rack.

[0130] The recovery hook 24 can limit the rebound stroke of the elastic arm 21 by a corresponding structure on the rack. When the elastic arm 21 is pressed and elastically deformed by the front bumper 3, the recovery arm 23 moves the recovery hook 24 in the pressing direction. At this time, the corresponding structure inside the rack does not limit the movement of the recovery arm 23 and the recovery hook 24. However, when the pressure from the front bumper 3 is removed, the elastic arm 21 rebounds to its initial position, and the corresponding structure on the rack catches the recovery hook 24 so that it cannot move beyond the initial position. The initial position is set to limit the rebound position of the elastic arm 21. In the initial position, the front bumper 3 is in its natural state, i.e., not subjected to a collision, and there is a predetermined gap between the contact portion 22 and the inner wall of the front bumper 3. The predetermined gap value may be set, for example, between 0.3 mm and 2 mm. Therefore, in the initial stage of a head-on collision of the front bumper 3, the inner wall of the front bumper 3 moves at least the above-mentioned predetermined gap and then contacts the contact portion 22, and moves further to elastically deform the elastic arm 21, and the recovery arm 23 then drives the recovery hook 24 away from its initial position, and once the head-on collision ceases, the elastic arm 21 recovers the front bumper 3. Due to the setting of the above-mentioned predetermined gap, when the front bumper 3 collides with a side, the side collision sensor is triggered, but throughout the entire side collision process, the front inner wall of the front bumper 3 does not contact the contact portion 22, i.e., in the case of a simple side collision, the rebound member 2 has no effect on the front bumper 3, and therefore the rebound member 2 does not have any effect on the front bumper 3, allowing for more accurate feedback of a side collision of the front bumper 3.

[0131] As described above, the front bumper 3 has two substantially rounded corners, and when a collision occurs in the area of ​​the rounded corners, for example when the front bumper is configured to move along a wall, both the front and side collision sensors of the rack may be triggered. At this time, due to the setting of the predetermined gap, the lateral displacement of the front bumper 3 is not affected by the rebound member 2 in the initial stage, before the contact portion 22 contacts the inner wall of the front bumper 3. The subsequent lateral displacement is more or less affected by the frictional force between the contact portion 22 and the inner wall of the front bumper 3, but at this time the side collision sensor has already been triggered, and the effect of the frictional force is further reduced.

[0132] In addition to the rebound of the rebound member 2 against the front bumper 3 in the direction perpendicular to the front straight segment as described above, another rebound alignment member is further provided on the front side of the rack, which actively recovers the lateral movement of the front bumper 3 and aligns the lateral recovery of the front bumper 3, the specific setting manner of which is described in other patent applications and will not be repeated here.

[0133] To optimize the interaction between the front bumper 3, the collision sensors, and the rebound members 2, in this embodiment, two rebound members 2 are symmetrically arranged on the front straight segment of the rack, and the two rebound members 2 are farther away from the two rounded corners than the first and second front collision sensors, i.e., the distance between the two rebound members 2 is smaller than the distance between the two collision sensors. The two front collision sensors and the collision sensors on both sides are close to or located near the rounded corner areas, which has the advantage that front or side frontal collisions are less sensitive to the specific positions of the sensors, and therefore corner area collisions can be more accurately reported. However, corner area collisions require more calculation steps due to the complexity of the angle and size of the external collision, which can improve the subsequent processing flow and processing speed of the control system to a certain extent.

[0134] Compared with the prior art, the embodiments of the present disclosure have the following technical effects: a rebound member that does not contact the front bumper in a natural state is provided on the rack of the cleaning device provided by the present disclosure, and only when the left and right sides of the front bumper are biased, there is a certain gap between the rebound member and the front bumper. This ensures that when the front bumper is displaced laterally to the left or right, the rebound member does not interfere with the lateral displacement of the front bumper and does not affect the high trigger sensitivity of the collision sensors on the left and right sides of the rack, making it easier to more accurately align the rebound position of the front bumper after displacement.

[0135] The above-described device embodiments are merely examples, and the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, i.e., they may be located in one place or distributed across multiple network units. Depending on actual needs, some or all of these modules may be selected to achieve the purpose of this embodiment. Those skilled in the art can understand and implement this without any creative effort.

[0136] Finally, the above-mentioned embodiments are not limiting and are only used to illustrate the technical solutions of the present disclosure. Although the present disclosure has been described in detail with reference to the above-mentioned embodiments, those skilled in the art may modify the technical solutions described in each of the above-mentioned embodiments or substitute some technical features with equivalents, and such modifications or substitutions will not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of each of the embodiments of the present disclosure.

Claims

1. A method for controlling a cleaning device, the cleaning device comprising: a device body; and a trigger member, a first detection member, and a second detection member provided on the device body, the trigger member being configured to be triggered when the cleaning device collides with an obstacle, the first detection member being configured to detect obstacles on the periphery of the device body, and the second detection member being provided on one side of the device body and used to detect obstacles on a side of the device body, the method for controlling the cleaning device comprising: acquiring first detection information of the first detection member in response to the trigger member being triggered; determining a first movement distance in response to at least the acquired first detection information; controlling the cleaning device to move backward by the first movement distance, and then executing a first obstacle approach operation based on the first detection information; acquiring second detection information of the second detection member; and controlling the cleaning device to perform an obstacle-following operation based on the second detection information.

2. 2. The method for controlling a cleaning device according to claim 1, wherein the first detection information includes at least a first angle between the device body and the obstacle, a vertical distance between the device body and the obstacle, and a horizontal distance between the device body and a target end of the obstacle, and the target end of the obstacle is located on a side of the front of the cleaning device away from the second detection member.

3. Controlling the cleaning device to perform an obstacle-following operation based on the second detection information includes: determining a first rotation angle based on the first angle; controlling the cleaning device to rotate by the first rotation angle to a side away from the second detection member; 3. The method for controlling a cleaning device according to claim 2, further comprising: controlling the cleaning device to move forward based on the horizontal distance between the device body and the target end of the obstacle.

4. The control to move the cleaning device forward based on the horizontal distance between the device body and the target end of the obstacle includes: controlling the cleaning device to move forward in response to the horizontal distance between the device body and the target end of the obstacle being equal to or greater than a predetermined value; acquiring a second angle between the device body and the obstacle at a current position in response to the trigger member being triggered again; determining a second rotation angle based on the second angle; The method of controlling a cleaning device according to claim 3 , further comprising: controlling the cleaning device to rotate by the second rotation angle away from the second detection member.

5. Determining the second rotation angle based on the second angle includes: The method for controlling a cleaning device according to claim 4 , further comprising determining the second rotation angle based on the second angle and an installation position of the second detection member relative to the device body.

6. The control to move the cleaning device forward based on the horizontal distance between the target obstacle entry position and the device body includes:

4. The method for controlling a cleaning device according to claim 3, further comprising: controlling the cleaning device to move away from the second detection member at a first linear velocity and a first angular velocity in response to a horizontal distance between the device body and the target end of the obstacle being less than a predetermined value; and controlling the cleaning device to perform an obstacle search operation if the trigger member is not triggered after a predetermined time has elapsed.

7. 7. The method for controlling a cleaning device according to claim 1, further comprising: in response to the first detection information not being acquired, controlling the cleaning device to move backward by a first predetermined distance, rotate by a second predetermined angle away from the second detection member, and then perform an obstacle search operation.

8. The obstacle detection operation includes:

8. The method for controlling a cleaning device according to claim 7, further comprising controlling the cleaning device to move and rotate in a direction toward the second detection member at an obstacle search linear velocity and an obstacle search angular velocity until the trigger member is triggered.

9. A control device for a cleaning device, the cleaning device comprising: a device body; and a trigger member, a first detection member, and a second detection member provided on the device body, the trigger member being configured to be triggered when the cleaning device collides with an obstacle, the first detection member being configured to detect obstacles around the device body, and the second detection member being provided on one side of the device body and used to detect obstacles on a side of the device body, the control device comprising: a first acquisition module configured to acquire first detection information of the first detection member in response to the trigger member being triggered; a first determination module configured to determine a first movement distance in response to at least the acquired first detection information; a first processing module that controls the cleaning device to perform a first obstacle approach operation based on the first detection information after the cleaning device has been moved backward by the first movement distance; a second acquisition module configured to acquire second detection information of the second detection member; a second processing module configured to control the cleaning device to perform an obstacle-following operation based on the second detection information.

10. The first detection information includes at least a first angle between the device body and the obstacle, a vertical distance between the device body and the obstacle, and a horizontal distance between the device body and a target end of the obstacle, the target end of the obstacle being located on a side of the front of the cleaning device away from the second detection member, and the first determination module:

10. The control device of claim 9, further comprising a first determination unit configured to determine the first movement distance based on the first angle, a vertical distance between the device body and the obstacle, and a horizontal distance between the device body and a target end of the obstacle.

11. The first processing module a second determination unit configured to determine a first rotation angle based on the first angle; a first processing unit configured to control the cleaning device to rotate by the first rotation angle away from the second detection member; The control device for a cleaning device according to claim 10, further comprising: a second processing unit configured to control the cleaning device to move forward based on the horizontal distance between the device body and the target end of the obstacle.

12. The second processing unit a first processing subunit configured to control the cleaning device to move forward in response to a horizontal distance between the device body and a target end of the obstacle being equal to or greater than a predetermined value; a first acquisition sub-module configured to acquire a second angle between the device body and the obstacle at a current position in response to the trigger member being triggered again; a first determination subunit configured to determine a second rotation angle based on the second angle; and a second processing subunit configured to rotate the cleaning device away from the second detection member by the second rotation angle.

13. The first determination subunit: The control device of claim 12 , configured to determine the second rotation angle based on the second angle and an installation position of the second detection member relative to the device body.

14. The second processing unit 12. The control device for a cleaning device according to claim 11, further comprising a third processing subunit that controls the cleaning device to move away from the second detection member at a first linear velocity and a first angular velocity in response to a horizontal distance between the device body and the target end of the obstacle being less than a predetermined value, and to perform an obstacle search operation when the trigger member is not triggered after a predetermined time has elapsed.

15. The control device for a cleaning device according to any one of claims 9 to 14, further comprising a third processing module that, in response to the first detection information not being acquired, controls the cleaning device to move backward by a first predetermined distance, rotate by a second predetermined angle away from the second detection member, and then perform an obstacle search operation.

16. The obstacle detection operation includes: The control device for a cleaning device according to claim 15, further comprising control for moving and rotating the cleaning device in a direction toward the side where the second detection member is provided at an obstacle search linear velocity and an obstacle search angular velocity until the trigger member is triggered.

17. A cleaning robot comprising a processor and a memory, the memory is used to store operating instructions; The cleaning robot, wherein the processor is used to execute the cleaning device control method according to any one of claims 1 to 8 by calling the operation command.

18. A computer-readable storage medium storing a computer program, the computer-readable storage medium executing the cleaning device control method according to any one of claims 1 to 8 when the program is executed by a processor.

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