Control method, apparatus, automatic cleaning device, and storage medium for automatic cleaning device
By implementing supplementary cleaning movements, the automatic cleaning device addresses the issue of incomplete cleaning near obstacles, improving coverage and effectiveness.
Patent Information
- Authority / Receiving Office
- JP · JP
- Patent Type
- Applications
- Current Assignee / Owner
- Filing Date
- 2024-03-04
- Publication Date
- 2026-03-19
AI Technical Summary
Existing automatic cleaning devices face issues with insufficient cleaning coverage and leakage areas during cleaning operations, particularly when navigating around obstacles.
The automatic cleaning device performs supplementary cleaning movements, including backward and forward motions, when changing direction near obstacles to ensure comprehensive coverage and improve cleaning effectiveness.
This approach increases the cleaning coverage area and reduces missed areas, enhancing the overall cleaning effect by ensuring thorough cleaning around obstacles.
Smart Images
Figure 2026509448000001_ABST
Abstract
Description
Related Applications , ,
[0006]
[0001] This disclosure claims the priority of Chinese Patent Application No. 202310267204.0 filed on March 15, 2023, and all the disclosure contents of the above Chinese patent application are incorporated herein by reference as part of this disclosure.
Technical Field
[0002] This disclosure relates to the field of smart home appliances, and particularly to a control method and device for an automatic cleaning device, an automatic cleaning device, and a readable storage medium.
Background Art
[0003] Currently, when an automatic cleaning device receives a cleaning command, it automatically executes the cleaning command to complete the cleaning operation, saving labor costs and improving cleaning efficiency. However, in related technologies, there may be a problem that the cleaning effect is insufficient during cleaning.
Summary of the Invention
[0004] In view of this, this disclosure provides a control method and device for an automatic cleaning device, an automatic cleaning device, and a readable storage medium that can increase the cleaning coverage area, reduce the cleaning leakage area, and improve the cleaning effect.
[0005] In a first aspect, embodiments of this disclosure provide a control method for an automatic cleaning device. The automatic cleaning device includes a main body and a cleaning assembly provided at the rear of the main body, and at least a part of the cleaning assembly protrudes from the outer edge of the main body. This method includes: When the automatic cleaning device reaches within a predetermined range of an obstacle and is in the process of changing its direction, until the automatic cleaning device completes the direction change, every time the automatic cleaning device rotates by a predetermined angle, it includes the step of performing one supplementary cleaning movement. Here, the supplementary cleaning movement includes a backward movement and a forward movement.
[0006] In one embodiment of the present disclosure, the supplementary cleaning motion includes controlling the automatic cleaning device to perform a backward movement from a first position and to stop when it reaches a second position corresponding to an obstacle, the first position being the position after the automatic cleaning device has rotated by a predetermined angle, and controlling the automatic cleaning device to perform a forward movement from the second position and to stop when it reaches the first position.
[0007] In one embodiment of the present disclosure, the supplementary cleaning motion further includes controlling the automatic cleaning device to stop in a second position for a predetermined time.
[0008] In one embodiment of the present disclosure, means for determining whether an automatic cleaning device has reached a second position includes determining whether an automatic cleaning device has reached a second position based on a signal change of a drive member of a cleaning assembly, and if the cleaning assembly comes into contact with an obstacle, the drive member generates a signal change.
[0009] In one embodiment of the present disclosure, an automatic cleaning device is provided with a sensing device, and means for determining whether the automatic cleaning device has reached a second position includes determining whether the automatic cleaning device has reached a second position based on a sensing signal from the sensing device, the sensing device includes at least one of a distance measuring sensor, a collision sensor, and an acceleration sensor.
[0010] In one embodiment of the present disclosure, controlling an automatic cleaning device to perform a forward movement from a second position and stop when it reaches a first position includes controlling an automatic cleaning device to perform a forward movement along a path of backward movement from a second position and stop when it reaches a first position.
[0011] In one embodiment of the present disclosure, the method further includes determining the size of a predetermined angle based on the cleaning level of an obstacle in an automatic cleaning device, wherein the higher the cleaning level, the smaller the predetermined angle.
[0012] In a second aspect, embodiments of the present disclosure provide a control device for an automatic cleaning device, the automatic cleaning device comprising a main body and a cleaning assembly located at the rear of the main body, with at least a portion of the cleaning assembly protruding from the outer edge of the main body, and the control device, The automatic cleaning device is equipped with a control module for controlling it to perform one supplemental cleaning motion each time it rotates by a predetermined angle until it reaches a predetermined range of an obstacle and changes direction, until it has completed changing direction. Supplemental cleaning exercises include backward and forward movements.
[0013] In one embodiment of the present disclosure, the supplementary cleaning motion performed by the control module controlling the automatic cleaning device includes controlling the automatic cleaning device to move backward from a first position and stop when it reaches a second position corresponding to an obstacle, where the first position is the position after the automatic cleaning device has rotated by a predetermined angle, and controlling the automatic cleaning device to move forward from the second position and stop when it reaches the first position.
[0014] In one embodiment of the present disclosure, the supplementary cleaning motion that the control module controls the automatic cleaning device to perform further includes controlling the automatic cleaning device to stop in a second position for a predetermined time.
[0015] In one embodiment of the present disclosure, means for determining whether an automatic cleaning device has reached a second position by a control module includes determining whether an automatic cleaning device has reached a second position based on a signal change of a drive member of a cleaning assembly, and if the cleaning assembly comes into contact with an obstacle, the drive member generates a signal change.
[0016] In one embodiment of the present disclosure, an automatic cleaning device is provided with a sensing device, and means for determining whether the automatic cleaning device has reached a second position by a control module include determining whether the automatic cleaning device has reached a second position based on a sensing signal from the sensing device, wherein the sensing device includes at least one of a distance measuring sensor, a collision sensor, and an acceleration sensor.
[0017] In a third aspect, embodiments of the present disclosure provide an automatic cleaning device. The main unit and A cleaning assembly is provided at the rear of the main body, with at least a portion of it protruding from the outer edge of the main body, The main unit includes a memory in which a program or command is stored, The device comprises a processor located in the main body, which, upon execution of a program or command, realizes the steps of the method described in the first side.
[0018] In one embodiment of the present disclosure, the cleaning assembly includes at least one cleaning element that is rotatable relative to the body, with at least a portion of the cleaning element protruding from the outer edge of the body.
[0019] In one embodiment of the present disclosure, there are two cleaning elements, which are arranged left and right along the forward direction of the main body.
[0020] In a fourth aspect, embodiments of the present disclosure provide a readable storage medium in which a program or instruction is stored, and when the program or instruction is executed by a processor, the steps of the method described in the first aspect are realized.
[0021] In Aspect 5, embodiments of the present disclosure provide a chip including a processor and a communication interface, wherein the communication interface and the processor are coupled, and the processor is used to execute a program or instructions to realize the method of Aspect 1.
[0022] In the sixth aspect, embodiments of the present disclosure implement the method of the first aspect, wherein a computer program product is provided, the program product is stored in a storage medium, and the program product is executed by at least one processor.
[0023] In an embodiment of the present disclosure, the automatic cleaning device is controlled to perform a cleaning operation according to a cleaning instruction, and the cleaning instruction includes at least information such as a cleaning path and a cleaning mode. When the automatic cleaning device reaches within a predetermined range of an obstacle, that is, when the distance from the obstacle is close, in order to avoid a collision with the obstacle, the automatic cleaning device changes its direction. In the process of the automatic cleaning device changing its direction, until the automatic cleaning device rotates to a target angle, when the automatic cleaning device rotates a predetermined angle, the automatic cleaning device is repeatedly controlled to perform a supplementary cleaning movement multiple times to complete the direction change. The supplementary cleaning movement means that the automatic cleaning device sequentially performs a backward movement and a forward movement.
[0024] In an embodiment of the present disclosure, by performing a supplementary cleaning operation when the automatic cleaning device turns, the cleaning coverage area can be increased, the cleaning missed area can be reduced, and the cleaning effect of the automatic cleaning device can be improved.
[0025] The above description is only a general outline of the technical solution of the present disclosure. In order to more clearly understand the technical means of the present disclosure, it can be implemented according to the content of the specification. In order to make the above and other objects, features, and advantages of the present disclosure clearer and easier to understand, specific embodiments of the present disclosure are exemplified below.
Brief Description of the Drawings
[0026] The accompanying drawings described herein are provided to further understand the present disclosure, constitute a part of the present disclosure, and the exemplary embodiments and their descriptions of the present disclosure are used to interpret the present disclosure and do not constitute an improper limitation of the present disclosure. In the accompanying drawings,
[0027] [Figure 1] It is a structural diagram of the automatic cleaning device according to an embodiment of the present disclosure. [Figure 2] It is one of the cleaning schematic diagrams of the automatic cleaning device according to an embodiment of the present disclosure. [Figure 3] It is two of the cleaning schematic diagrams of the automatic cleaning device according to an embodiment of the present disclosure. [Figure 4]This is a schematic flowchart 1 of the control method for the automatic cleaning device according to the embodiment of the present disclosure. [Figure 5] This is a schematic diagram of the rotation of an automatic cleaning device according to an embodiment of the present disclosure. [Figure 6] This is a schematic diagram of the rotation of the automatic cleaning device according to an embodiment of the present disclosure. [Figure 7] This is a schematic flowchart 1 of the control method for the automatic cleaning device according to the embodiment of the present disclosure. [Figure 8] This is a structural block diagram of the control device for an automatic cleaning device according to an embodiment of the present disclosure. [Explanation of Symbols]
[0028] The correspondence between the reference numerals and component names in Figures 1 to 6 is as follows:
[0029] 100 Automatic cleaning device 200 Zigzag-shaped paths 300 Obstacles 101 Main Unit 102 Drive System 1021 Drive Wheel Assembly 1022 Driven wheel 103 Cleaning System 1031 Cleaning Assembly 1032 Roller brush 1033 Side Brush [Modes for carrying out the invention]
[0030] The technical solutions in the embodiments of this disclosure will be described below with reference to the accompanying drawings in the embodiments of this disclosure, but obviously the embodiments described are only a selection of the embodiments of this disclosure, not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this disclosure are all within the scope of protection of this disclosure.
[0031] The terms “first,” “second,” etc., in the specification and claims of this disclosure are used to distinguish similar subjects and do not describe a particular order or priority. The data used in this manner are interchangeable where appropriate, the embodiments of this disclosure can be implemented in an order other than those illustrated or described herein, and the subjects distinguished by “first,” “second,” etc., usually belong to the same category and do not limit the number of subjects; for example, there may be one or more first subjects. Furthermore, “and / or” in the specification and claims means at least one of the connected subjects, and the letter “ / ” generally indicates that the subjects related before and after are in an “or” relationship.
[0032] The control method, apparatus, automatic cleaning apparatus, and readable storage medium provided by the embodiments of this disclosure will be described in detail below with reference to the attached drawings, through specific embodiments and their application scenes.
[0033] Embodiments of this disclosure provide an automatic cleaning device, which may be a sweeping robot, a floor sweeping robot, a sweeping and mopping robot, etc. For convenience of explanation, this embodiment describes the technical solution of this disclosure using a sweeping and mopping robot as an example. Figure 1 shows a structural diagram of an automatic cleaning device according to an embodiment of this disclosure. The automatic cleaning device 100 comprises a main body 101, which is a mobile platform, which may be an autonomous mobile platform or a non-autonomous mobile platform. An autonomous mobile platform is one that can automatically and adaptively make operational decisions in response to environmental inputs that the mobile platform itself does not anticipate, while a non-autonomous mobile platform cannot adaptively make operational decisions in response to environmental inputs that the mobile platform itself does not anticipate, but can execute a predetermined program or operate according to a certain logic.
[0034] A drive system 102 is provided on the main body 101, and the drive system 102 includes a drive wheel assembly 1021 and a driven wheel 1022, and operates the drive wheel assembly 1021 and the driven wheel 1022 based on specific distance and angle information to enable the automatic cleaning device to travel and turn.
[0035] A cleaning system 103 is provided on the main body 101, and the cleaning system 103 includes a cleaning assembly 1031. At least a portion of the cleaning assembly 1031 is located outside the edge projection area of the main body 101, that is, at least a portion of the cleaning assembly 1031 protrudes from the main body 101 so that the cleaning range of the cleaning assembly 1031 extends beyond the edge of the travel range of the main body 101, allowing for comprehensive cleaning of corner positions that the main body cannot make close contact with, thereby expanding the cleaning range and improving the cleaning effect of the automatic cleaning device.
[0036] The cleaning system 103 further includes a liquid storage tank (not shown), and a cleaning assembly 1031 is located below the liquid storage tank. The cleaning fluid inside the liquid storage tank is transported to the cleaning assembly 1031, which then cleans the surface to be cleaned. The cleaning fluid inside the liquid storage tank can also be sprayed directly onto the surface to be cleaned, and the cleaning assembly 1031 uniformly applies the cleaning fluid to achieve cleaning of the surface.
[0037] In some embodiments, the cleaning assembly 1031 includes at least one cleaning element rotatable relative to the body 101, the cleaning element may typically be a flexible, absorbent material such as cloth or sponge. In this disclosure, the cleaning element may be at least one rotating turntable, water from a reservoir tank of the automatic cleaning device is directed to the cleaning element, and the wet cleaning element removes dirt from the ground by rotational motion. Specifically, as shown in Figure 1, the cleaning element consists of two turntables, which are positioned left and right along the forward direction of the body.
[0038] Furthermore, the cleaning system 103 includes a motion mechanism, and the entire cleaning assembly 1031 is mounted on the main body via the motion mechanism. The cleaning assembly 1031 moves with the movement of the main body to perform sweeping and mopping functions. Here, the motion mechanism is used to drive the movement of the cleaning element. For example, the motion mechanism can drive the lifting and lowering of the cleaning element or the rotation of the cleaning element. Thus, depending on whether the cleaning element needs to come into contact with the surface to be cleaned, the motion mechanism can be used to realize lifting and lowering and rotational operations of the cleaning element, thereby meeting the different functional needs of the cleaning element. When the cleaning element interferes with the surface to be cleaned to perform a mopping operation, the motion mechanism drives the rotational operation of the cleaning element.
[0039] In some embodiments, the cleaning system 103 includes a roller brush 1032 which has constant contact with the ground to lift debris from the ground and suck it into a dust box, and the cleaning system 103 further includes a side brush 1033 which has a rotating shaft at a constant angle with respect to the ground and is used to move debris into the roller brush area.
[0040] However, during the cleaning process of the automatic cleaning device, blind spots are likely to occur when it turns. As shown in Figure 2, the automatic cleaning device 100 cleans along a zigzag path 200, and when it finishes cleaning the current row and switches to an adjacent row, the automatic cleaning device performs a turning motion as shown in Figure 3. During the turning process, there are areas near obstacles (e.g., wall surface 300) that the automatic cleaning device cannot cover, i.e., areas that are not cleaned, which reduces the cleaning effectiveness of the automatic cleaning device.
[0041] Therefore, embodiments of the present disclosure provide a method for controlling an automatic cleaning device, and as shown in Figure 4, this method includes the following steps.
[0042] Step 401, in the process of the automatic cleaning device reaching a predetermined range of the obstacle and changing direction, the automatic cleaning device performs one supplemental cleaning movement each time it rotates by a predetermined angle until it completes the change of direction, wherein the supplemental cleaning movement includes backward movement and forward movement.
[0043] In this embodiment, the automatic cleaning device is controlled to perform cleaning work according to a cleaning command, and the cleaning command includes information such as at least the cleaning path and cleaning mode. When the automatic cleaning device reaches a predetermined range of an obstacle, that is, when it is close to the obstacle, the automatic cleaning device changes direction to avoid collision with the obstacle. During the process of the automatic cleaning device changing direction, the control is such that when the automatic cleaning device has rotated at a predetermined angle, it is made to perform one supplementary cleaning movement, and this is repeated multiple times until the automatic cleaning device has rotated to a target angle, thereby completing the change of direction.
[0044] The supplementary cleaning movement refers to the automatic cleaning device performing a reverse movement followed by a forward movement in sequence. For example, as shown in Figure 5, the automatic cleaning device 100 first performs a reverse movement in the direction of the rear arrow, and then performs a forward movement in the direction of the front arrow. In addition, the cleaning assembly performs cleaning work during at least one of the two processes of the reverse movement and the forward movement.
[0045] As shown in Figure 6, during the rotation process of the automatic cleaning device 100, it repeatedly performs backward and forward movements until the rotation is complete, so that the original areas that were missed during cleaning within a predetermined range of the obstacle are also covered by the cleaning assembly, thereby achieving cleaning of those areas.
[0046] The target angle for changing direction is not limited and may be 90 degrees, 180 degrees, etc. The predetermined angle of rotation of the automatic cleaning device is smaller than the target angle and is determined based on the target angle or can be set by the user. For example, in a scenario where the automatic cleaning device performs "Z" shaped path cleaning, in the process of completing cleaning of the current row and switching to cleaning the adjacent row, the automatic cleaning device needs to rotate 180 degrees. During the rotation process, it performs backward and forward movements every 30 degrees of rotation, and repeats the rotation, backward, and forward movements multiple times until the 180-degree rotation is completed, cleaning the area near obstacles such as walls and furniture. For example, in a scenario where the automatic cleaning device cleans a 90-degree wall corner, it performs backward and forward movements every 15 degrees of rotation during the rotation process, and repeats the rotation, backward, and forward movements multiple times until the 90-degree rotation is completed, cleaning the area near the wall corner.
[0047] In the embodiments of this disclosure, by performing supplemental cleaning operations when the automatic cleaning device rotates, the cleaning coverage area can be increased, the area of missed cleaning can be reduced, and the cleaning effect of the automatic cleaning device can be improved.
[0048] In one embodiment of the present disclosure, the supplementary cleaning motion includes causing the automatic cleaning device to move backward from a first position and stop when it reaches a second position corresponding to an obstacle, where the first position is the position after the automatic cleaning device has rotated by a predetermined angle, and causing the automatic cleaning device to move forward from the second position and stop when it reaches the first position.
[0049] In this embodiment, after the automatic cleaning device rotates by a predetermined angle, its position at this time is recorded as the first position. From the first position, it is moved backward and stopped when it reaches the second position, where the second position is the location of an obstacle or a predetermined distance from the obstacle. Furthermore, the automatic cleaning device is moved forward from the second position and stopped when it returns to the first position, after which the rotational movement continues.
[0050] By repeating the above operation multiple times, supplemental cleaning of areas near obstacles is achieved, reducing areas that are missed during cleaning.
[0051] In one embodiment of the present disclosure, the supplementary cleaning motion further includes controlling the automatic cleaning device to stop in a second position for a predetermined time.
[0052] In this embodiment, when the automatic cleaning device retracts to the second position, it stops at the second position for a predetermined time, extending the cleaning time near the obstacle and enabling deep cleaning near the obstacle.
[0053] The predetermined time for stopping at the second position may be a set fixed time, or it may be determined based on the cleaning level of a predetermined area of the obstacle. For example, the higher the cleaning level, or the greater the need for cleaning around the obstacle, the longer the predetermined time. The cleaning level can be set by the user, or determined by the automatic cleaning device identifying the degree of soiling in a predetermined area of the obstacle. If the cleaning level is set by the user, it can be set manually by the user using the automatic cleaning device's man-machine interactive system, or it can be transmitted to the automatic cleaning device via a terminal set by the user.
[0054] In one embodiment of the present disclosure, it can be determined whether the automatic cleaning device has performed a proper reversing motion (i.e., reached the second position) by any of the following methods: (1) In response to a change in the signal of the drive member of the cleaning assembly, it is determined whether the automatic cleaning device has reached the second position. At this point, when the cleaning assembly comes into contact with an obstacle, the drive member generates a change in signal.
[0055] Because at least a portion of the cleaning assembly at the rear of the main body protrudes from the outer edge of the main body, when the automatic cleaning device retracts, the cleaning assembly first comes into contact with an obstacle, and at this time, the current in the drive member (e.g., motor) of the motion mechanism that drives the rotation of the cleaning assembly increases. Therefore, by determining the change in the signal of the drive member, it is possible to determine whether the automatic cleaning device has retracted properly.
[0056] (2) Based on the sensing signal of the sensing device set in the automatic cleaning device, it is determined whether the automatic cleaning device has reached the second position, where the sensing device includes at least one of a distance measuring sensor, a collision sensor, and an acceleration sensor.
[0057] The detection method used by the sensing device determines whether the automatic cleaning device has reversed properly. For example, if the sensing device is a distance measuring sensor, the distance measuring sensor detects the distance between the automatic cleaning device and an obstacle during the reversing process. If the distance is below a predetermined distance threshold, it indicates that the distance between the automatic cleaning device and the obstacle is too close and a collision is imminent. At this time, it is determined that the automatic cleaning device has reversed properly, and the system controls it to stop. If the sensing device is a collision sensor, the collision sensor is used to detect whether or not there is contact between the automatic cleaning device and an obstacle. When the automatic cleaning device comes into contact with an obstacle, it is determined that the automatic cleaning device has reversed properly, and the system controls it to stop. If the sensing device is an acceleration sensor, the acceleration sensor is used to detect the acceleration of the automatic cleaning device. When the automatic cleaning device comes into contact with an obstacle, the movement of the automatic cleaning device stops. At this time, the acceleration of the automatic cleaning device detected by the acceleration sensor is zero, and it is determined that the automatic cleaning device has reversed properly.
[0058] Furthermore, to more accurately determine whether the reversal movement has been completed properly, it is also possible to combine the two methods described above.
[0059] The above method allows for accurate identification of whether the automatic cleaning device has retracted properly. On the one hand, it ensures that the automatic cleaning device retracts precisely to the second position, improving the cleaning effect in areas near obstacles. On the other hand, it prevents the automatic cleaning device from retracting too far and damaging obstacles such as furniture or walls.
[0060] In one embodiment of the present disclosure, causing the automatic cleaning device to move forward from a second position and stop upon reaching a first position includes causing the automatic cleaning device to move forward along a path of backward movement from a second position and stop upon reaching a first position.
[0061] In this embodiment, when the automatic cleaning device moves backward, it records the movement path from the first position to the second position. If it is necessary to move forward, it reverses along the recorded movement path to return to the first position, stops after reaching the first position, and then continues its rotational movement.
[0062] By using the method described above, the automatic cleaning device reverses direction after moving backward and then moves forward, continuing its rotational motion to ultimately achieve supplemental cleaning of the area near the obstacle.
[0063] As a miniaturization and expansion of the above embodiment, an embodiment of the present disclosure provides a method for controlling another automatic cleaning device, as shown in Figure 7, the method includes the following steps.
[0064] Step 701: Based on the cleaning level of the automatic cleaning device relative to a predetermined range of obstacles, the size of a predetermined angle is determined, where the higher the cleaning level, the smaller the predetermined angle.
[0065] Step 702, in the process of the automatic cleaning device reaching a predetermined range of the obstacle and changing direction, the automatic cleaning device performs one supplemental cleaning movement each time it rotates by a predetermined angle until it completes the change of direction, wherein the supplemental cleaning movement includes backward movement and forward movement.
[0066] In this embodiment, a predetermined angle is determined each time the automatic cleaning device rotates. Specifically, this predetermined angle is determined based on the target angle of the change of direction and the cleaning level of a predetermined area of the obstacle. Here, the higher the cleaning level, the higher the degree of dirt around the obstacle, and the higher the degree of cleaning required, the smaller the predetermined angle becomes. For example, if the target angle is 180 degrees and the cleaning level of a predetermined area of the obstacle is low, the predetermined angle can be set to 60 degrees, and the automatic cleaning device performs three supplemental cleaning movements. If the cleaning level of a predetermined area of the obstacle is high, the predetermined angle can be set to 30 degrees, and the automatic cleaning device performs six supplemental cleaning movements. By rotating the automatic cleaning device at a small angle, the effect of the cleaning assembly covering the area around the obstacle after the automatic cleaning device has retracted is improved, and furthermore, by the cleaning assembly repeatedly cleaning the area around the obstacle, the cleaning effect of the area around the obstacle with a high degree of dirt can be guaranteed.
[0067] As a concrete implementation of the control method for the automatic cleaning device described above, an embodiment of the present disclosure provides a control device for an automatic cleaning device, the automatic cleaning device comprising a main body and a cleaning assembly provided at the rear of the main body, with at least a portion of the cleaning assembly protruding from the outer edge of the main body. As shown in Figure 8, the control device 800 for the automatic cleaning device includes a control module 801 for performing one supplemental cleaning movement each time the automatic cleaning device rotates by a predetermined angle until the automatic cleaning device completes its change of direction, in the process of the automatic cleaning device reaching a predetermined range of an obstacle and changing direction, where the supplemental cleaning movement includes backward movement and forward movement.
[0068] In this embodiment, the automatic cleaning device is controlled to perform cleaning work according to a cleaning command, and the cleaning command includes information such as at least the cleaning path and cleaning mode. When the automatic cleaning device reaches a predetermined range of an obstacle, that is, when it is close to the obstacle, the automatic cleaning device changes direction to avoid collision with the obstacle. During the process of the automatic cleaning device changing direction, the control is performed so that the automatic cleaning device performs one supplementary cleaning movement multiple times when it has rotated by a predetermined angle until it has rotated to a target angle, thereby completing the change of direction.
[0069] The supplementary cleaning motion refers to the automatic cleaning device sequentially performing a backward movement and a forward movement. Furthermore, the cleaning assembly performs cleaning work during at least one of the two processes of the backward movement and the forward movement.
[0070] In the embodiments of this disclosure, by performing supplemental cleaning operations when the automatic cleaning device rotates, the cleaning coverage area can be increased, the area of missed cleaning can be reduced, and the cleaning effect of the automatic cleaning device can be improved.
[0071] Furthermore, the supplementary cleaning motion performed by the control module 801 includes causing the automatic cleaning device to move backward from a first position and stop when it reaches a second position corresponding to an obstacle, where the first position is the position after the automatic cleaning device has rotated by a predetermined angle, and causing the automatic cleaning device to move forward from the second position and stop when it reaches the first position.
[0072] Furthermore, the supplementary cleaning motion performed by the control module 801 further includes controlling the automatic cleaning device to stop in a second position for a predetermined time.
[0073] Furthermore, the means by which the control module 801 determines whether the automatic cleaning device has reached the second position includes determining whether the automatic cleaning device has reached the second position in response to a signal change in the drive member of the cleaning assembly, where the drive member generates a signal change when the cleaning assembly comes into contact with an obstacle.
[0074] Furthermore, the automatic cleaning device is provided with a sensing device, and the means for determining whether the automatic cleaning device has reached a second position by the control module 801 includes determining whether the automatic cleaning device has reached a second position based on the sensing signal of the sensing device, wherein the sensing device includes at least one of a distance measuring sensor, a collision sensor, and an acceleration sensor.
[0075] Furthermore, the step of causing the automatic cleaning device to move forward from a second position using the control module 801 and stop it when it reaches a first position includes causing the automatic cleaning device to move forward from a second position along a path of reverse movement and stop it when it reaches a first position.
[0076] Furthermore, the control module 801 is used to determine the size of a predetermined angle based on the cleaning level of the obstacles within a predetermined range of the automatic cleaning device, where the higher the cleaning level, the smaller the predetermined angle.
[0077] The control device 800 of the automatic cleaning device in the embodiments of this disclosure may be a component of the automatic cleaning device, such as an integrated circuit or a chip.
[0078] The control device 800 for the automatic cleaning device provided in the embodiments of this disclosure can implement each step of the control method embodiment for the automatic cleaning device shown in Figure 4, and will not be described again here to avoid duplication.
[0079] Embodiments of the present disclosure further provide an automatic cleaning device, as shown in Figure 1, the automatic cleaning device is Main unit 101, A cleaning assembly 1031 is provided at the rear of the main body 101, with at least a portion of it protruding from the outer edge of the main body 101, The main unit 101 includes a memory (not shown) in which a program or command is stored, The main body 101 includes a processor (not shown) which, when a program or command is executed, realizes each step of the above-described embodiment of the control method for the automatic cleaning device. Similar technical effects can be achieved, and to avoid duplication, it will not be described again here.
[0080] Here, memory is used to store software programs and various types of data. Memory mainly consists of a first storage area that stores programs or instructions and a second storage area that stores data, where the first storage area stores the operating system, application programs or instructions necessary for at least one function (such as audio playback function, image playback function, etc.), etc. Furthermore, memory includes volatile memory or non-volatile memory, or memory includes both volatile and non-volatile memory. Here, non-volatile memory may be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (Erasable PROM, EPROM), electrically erasable programmable read-only memory (Electrically EPROM, EEPROM), or flash memory. Volatile memory may include Random Access Memory (RAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), Synchronous Dynamic Random Access Memory (SDRAM), Double Data Rate Synchronous Dynamic Random Access Memory (DDRSDRAM), Enhanced Synchronous Dynamic Random Access Memory (ESDRAM), Synch-link Dynamic Random Access Memory (SLDRAM), and Direct Rambus Random Access Memory (DRRAM). The memories in the embodiments of this disclosure include, but are not limited to, these memories and any other suitable types of memory.
[0081] The processor may include one or more processing units, and optionally, it may integrate an application processor and a modem processor, where the application processor primarily handles operations related to the operating system, user interface, and application programs, and the modem processor primarily handles wireless communication signals, such as a baseband processor. It should be understood that the above-mentioned modem processor does not necessarily have to be integrated into the processor.
[0082] In one embodiment of the present disclosure, the cleaning assembly includes at least one cleaning element that is rotatable relative to the body, with at least a portion of the cleaning element protruding from the outer edge of the body.
[0083] In one embodiment of the present disclosure, there are two cleaning elements, which are arranged left and right along the forward direction of the main body.
[0084] With the above method, the cleaning range of the cleaning assembly extends beyond the edge of the main unit's travel range, allowing for comprehensive cleaning of corner areas that the main unit cannot directly contact. This expands the cleaning range and improves the cleaning effectiveness of the automatic cleaning device.
[0085] Embodiments of this disclosure further provide a readable storage medium on which a program or instruction is stored, and when the program or instruction is executed by a processor, each process of the above-described embodiment of the control method for the automatic cleaning device is realized, achieving similar technical effects. To avoid duplication, these embodiments will not be described again here.
[0086] Embodiments of this disclosure further provide a chip comprising a processor and a communication interface, wherein the communication interface and the processor are coupled, and the processor executes a program or command to realize each process of the above-described embodiment of the control method for the automatic cleaning device, achieving similar technical effects. To avoid duplication, these embodiments will not be described again here.
[0087] The chips referred to in the embodiments of this disclosure are also called system-level chips, system chips, chip systems, or system-on-a-chip.
[0088] Embodiments of this disclosure further provide a computer program product which is stored in a storage medium and executed by at least one processor, which can implement each process of the above-described embodiment of the control method for the automatic cleaning device and achieve similar technical effects, and will not be described again here to avoid duplication.
[0089] In this specification, the terms “equipped with,” “including,” or any other variation thereof mean non-exclusive inclusion, and a process, method, article, or apparatus comprising a set of elements means that it includes not only those elements but also other elements not explicitly listed, or elements specific to that process, method, article, or apparatus. Unless further restrictions are made, an element limited by “equipped with one…” does not preclude the existence of other identical elements in a process, method, article, or apparatus comprising that element. Furthermore, the scope of methods and apparatus in embodiments of this disclosure is not limited to performing functions in the order shown or discussed, but also includes performing functions essentially simultaneously or in reverse order depending on such functions, for example, a method may be described in an order different from the order described, and various steps may be added, omitted, or combined. Also, features described with reference to some examples may be combined in other examples.
[0090] While embodiments of this disclosure have been described above with reference to the attached drawings, this disclosure is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not limiting, and many forms made by those skilled in the art based on the revelation of this disclosure, without departing from the spirit of this disclosure and the claims, are all included within the scope of protection of this disclosure.
Claims
1. A control method for an automatic cleaning device comprising a main body and a cleaning assembly provided at the rear of the main body, wherein at least a part of the cleaning assembly protrudes from the outer edge of the main body, In the process of the automatic cleaning device reaching a predetermined range of an obstacle and changing direction, the automatic cleaning device performs one supplemental cleaning motion each time it rotates by a predetermined angle until it completes the change of direction. A control method for an automatic cleaning device, characterized in that the supplementary cleaning movement includes backward movement and forward movement.
2. The aforementioned supplementary cleaning campaign is The automatic cleaning device is controlled to move backward from a first position and stop when it reaches a second position corresponding to the obstacle, the first position being the position after the automatic cleaning device has rotated by the predetermined angle. The method according to claim 1, characterized in that it includes controlling the automatic cleaning device to perform forward movement from the second position and to stop when it reaches the first position.
3. The aforementioned supplementary cleaning campaign is The method according to the previous version, further comprising controlling the automatic cleaning device to stop at the second position for a predetermined time.
4. The means for determining whether the automatic cleaning device has reached the second position is: The method according to the previous version, characterized in that, based on a change in the signal of the drive member of the cleaning assembly, it is determined whether the automatic cleaning device has reached the second position, and if the cleaning assembly comes into contact with the obstacle, the drive member generates a change in signal.
5. The automatic cleaning device is provided with a sensing device, and means for determining whether the automatic cleaning device has reached the second position is: The process includes determining whether the automatic cleaning device has reached the second position based on the sensing signal from the sensing device, The method according to claim 2, characterized in that the sensing device includes at least one of a distance measuring sensor, a collision sensor, and an acceleration sensor.
6. Controlling the automatic cleaning device to perform forward movement from the second position and stop when it reaches the first position means that The method according to the previous invention, characterized in that the automatic cleaning device is controlled to perform a forward movement from the second position along the path of the backward movement, and to stop when it reaches the first position.
7. The process further includes determining the size of the predetermined angle based on the cleaning level of the obstacles in the predetermined range of the automatic cleaning device, The method according to any one of claims 1 to 6, characterized in that the higher the cleaning level, the smaller the predetermined angle becomes.
8. A control device for an automatic cleaning device comprising a main body and a cleaning assembly provided at the rear of the main body, wherein at least a portion of the cleaning assembly protrudes from the outer edge of the main body, The automatic cleaning device is provided with a control module for controlling it to perform one supplemental cleaning movement each time it rotates by a predetermined angle until it reaches a predetermined range of an obstacle and changes direction, until it completes the change of direction. A control device for an automatic cleaning device, characterized in that the supplementary cleaning movement includes backward movement and forward movement.
9. The supplementary cleaning movement that the control module controls and causes the automatic cleaning device to perform is: The automatic cleaning device is controlled to move backward from a first position and stop when it reaches a second position corresponding to the obstacle, the first position being the position after the automatic cleaning device has rotated by the predetermined angle. The apparatus according to claim 8, further comprising controlling the automatic cleaning device to perform forward movement from the second position and to stop when it reaches the first position.
10. The supplementary cleaning movement that the control module controls and causes the automatic cleaning device to perform is: The apparatus according to claim 9, further comprising controlling the automatic cleaning device to stop at the second position for a predetermined time.
11. The means by which the control module determines whether the automatic cleaning device has reached the second position is: The apparatus according to claim 9, characterized in that it determines whether the automatic cleaning device has reached the second position based on a signal change of the drive member of the cleaning assembly, and if the cleaning assembly comes into contact with the obstacle, the drive member generates a signal change.
12. The automatic cleaning device is provided with a sensing device, and the control module determines whether the automatic cleaning device has reached the second position, The process includes determining whether the automatic cleaning device has reached the second position based on the sensing signal from the sensing device, The apparatus according to claim 9, characterized in that the sensing device includes at least one of a distance measuring sensor, a collision sensor, and an acceleration sensor.
13. An automatic cleaning device, The main unit and A cleaning assembly is provided at the rear of the main body, with at least a portion of it protruding from the outer edge of the main body, The main body is provided with a memory in which a program or command is stored, An automatic cleaning device comprising: a processor provided in the main body, which, when the program or command is executed, realizes the steps of the control method for the automatic cleaning device described in any one of claims 1 to 7.
14. The apparatus according to claim 13, wherein the cleaning assembly includes at least one cleaning element that is rotatable relative to the body, and at least a portion of the cleaning element protrudes from the outer edge of the body.
15. The apparatus according to claim 14, characterized in that there are two cleaning elements, and the two cleaning elements are arranged left and right along the forward direction of the main body.
16. A readable storage medium in which a program or instruction is stored, wherein when the program or instruction is executed by a processor, the steps of the control method for an automatic cleaning device described in any one of claims 1 to 7 are realized.