Self-propelled cleaning device, its control method, device, and storage medium

Abstract

The present invention relates to a self-propelled cleaning device (100), a control method, apparatus, and storage medium thereof. Here, the self-propelled cleaning device (100) comprises a main body (110) and a cleaning element (153) provided at the bottom of the main body (110), at least a portion of the cleaning element (153) located in the edge projection area of ​​the main body (110), and the control method includes the steps of determining a target interference area of ​​the self-propelled cleaning device (100) (S401) and controlling the movement of the self-propelled cleaning device (100) based on obstacle information within the target interference area (S402).

Description

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[0001] This application was filed with the China National Intellectual Property Administration on March 15, 2023, claiming priority to a Chinese patent application with the application number 202310269418.1 and the title "Self-propelled cleaning device, its control method, device, and storage medium", the entire content of which is incorporated herein by reference.

Technical Field

[0002] The present disclosure relates to the technical field of smart control, and particularly to a self-propelled cleaning device, its control method, device, and storage medium.

Background Art

[0003] Current cleaning devices, such as self-propelled cleaning robots, can usually automatically travel through a certain area to be cleaned and complete the cleaning operation without user operation. During the travel process of the cleaning device, if the cleaning device encounters an obstacle, it is necessary for the cleaning device to avoid the obstacle and continue traveling.

Summary of the Invention

Problems to be Solved by the Invention

[0004] (I) Application Objectives The objective of this application is to provide a self-propelled cleaning device, its control method, device, and storage medium.

Means for Solving the Problems

[0005] (II) Technical Solutions The first aspect of the present disclosure provides a control method for a self-propelled cleaning device, the self-propelled cleaning device comprising a main body and a cleaning element provided at the bottom of the main body, at least a part of the cleaning element being located in the edge projection area of the main body, and the control method for the self-propelled cleaning device comprising: determining a target interference area of the self-propelled cleaning device; and controlling the travel of the self-propelled cleaning device based on obstacle information within the target interference area.

[0006] In some embodiments, the body is circular, and the step of determining the target interference area of ​​the self-propelled cleaning device includes determining the target interference area based on the self-structure of the self-propelled cleaning device and the position of the self-propelled cleaning device in space, where the self-structure of the self-propelled cleaning device includes the radius of the body and the maximum distance between the outer edge located in the edge projection area of ​​the body of the cleaning element and the center of rotation of the body.

[0007] In some embodiments, the step of controlling the movement of a self-propelled cleaning device based on obstacle information within a target interference area includes, if an obstacle is present within the target interference area, determining the relative position of the obstacle and the self-propelled cleaning device, and causing the self-propelled cleaning device to perform an obstacle avoidance operation corresponding to the relative position.

[0008] In some embodiments, the cleaning element is located at the rear of the main body and can be controlled to perform obstacle avoidance operations corresponding to a self-propelled cleaning device based on its relative position. When an obstacle is located on one side of the self-propelled cleaning device and the self-propelled cleaning device performs a turning operation on the opposite side of the obstacle, the system includes: obtaining the reachable area of ​​the self-propelled cleaning device based on a map of the space in which the self-propelled cleaning device is located; determining the rotation direction and rotation angle of the self-propelled cleaning device based on the reachable area; rotating the self-propelled cleaning device according to the rotation direction and rotation angle; and then performing a reverse operation to control the device so as to move the obstacle away from the target interference area.

[0009] In some embodiments, the control to cause the self-propelled cleaning device to perform an obstacle avoidance operation based on its relative position further includes rotating the self-propelled cleaning device back to its original angle and performing a swivel operation.

[0010] In some embodiments, the cleaning elements are optionally arranged symmetrically at the rear of the main body and controlled to perform obstacle avoidance operations corresponding to the self-propelled cleaning device based on their relative positions. The system includes, when an obstacle is located behind the self-propelled cleaning device and the self-propelled cleaning device is performing a turning operation, obtaining the reachable area of ​​the self-propelled cleaning device based on a map of the space in which the self-propelled cleaning device is located, and, if the reachable area is located in front of the self-propelled cleaning device, moving the self-propelled cleaning device forward to move the obstacle away from the target interference area, otherwise determining the rotation direction and rotation angle of the self-propelled cleaning device based on the reachable area, rotating the self-propelled cleaning device according to the rotation direction and rotation angle, and then performing a forward operation to move the obstacle away from the target interference area.

[0011] In some embodiments, it is possible to optionally control the self-propelled cleaning device to perform obstacle avoidance operations based on its relative position. After controlling the self-propelled cleaning device to rotate according to its rotational direction and angle and then perform a forward operation, if the obstacle is still located within the target interference area, the control further includes redetermining the rotational direction and angle of the self-propelled cleaning device based on the reachable area, and then controlling the self-propelled cleaning device to rotate according to the redetermined rotational direction and angle and then perform a forward operation to move the obstacle out of the target interference area.

[0012] In some embodiments, it is possible to optionally control the self-propelled cleaning device to perform obstacle avoidance operations based on its relative position. If, after repeatedly resetting the rotation direction and angle based on the reachable area, and controlling the self-propelled cleaning device to rotate according to the reset rotation direction and angle and then perform a forward operation, the obstacle is still located within the target interference area, the control further includes adjusting the rotation direction of the cleaning element to match the rotation direction of the swivel operation, or stopping the rotation of the cleaning element and controlling the self-propelled cleaning device to perform a swivel operation, until the obstacle is out of the target interference area.

[0013] In some embodiments, the control to cause the self-propelled cleaning device to perform an obstacle avoidance operation based on its relative position further includes causing the self-propelled cleaning device to perform a turning operation after the obstacle has been moved out of the target interference area.

[0014] Embodiments relating to a second aspect of this disclosure provide a control device for a self-propelled cleaning device, the self-propelled cleaning device comprising a main body and a cleaning element provided at the bottom of the main body, at least a portion of the cleaning element located in the edge projection region of the main body, the device, The system comprises a determination module configured to determine a target interference area for a self-propelled cleaning device, and a control module configured to control the movement of the self-propelled cleaning device based on obstacle information within the target interference area.

[0015] In some embodiments, the body is circular, and the determination module is configured to determine a target interference area based on the self-structure of the self-propelled cleaning device and the position of the self-propelled cleaning device in the space in which it is located, where the self-structure of the self-propelled cleaning device includes the radius of the body and the maximum distance between the outer edge of the cleaning element located in the projection area of ​​the body edge of the body and the center of rotation of the body.

[0016] In some embodiments, the control module may optionally include a relative positioning module configured to determine the relative position of an obstacle and the self-propelled cleaning device if the obstacle is within a target interference area, and a processing module configured to control the self-propelled cleaning device to perform an obstacle avoidance operation based on the relative position.

[0017] In some embodiments, the cleaning element is optionally located at the rear of the main body, and the processing module includes: a first acquisition unit configured to acquire the reachable area of ​​the self-propelled cleaning device based on a map of the space in which the self-propelled cleaning device is located when an obstacle is located on one side of the self-propelled cleaning device and the self-propelled cleaning device performs a turning operation on the opposite side of the obstacle; and a first processing unit configured to determine the rotation direction and angle of the self-propelled cleaning device based on the reachable area, control the self-propelled cleaning device to rotate according to the rotation direction and angle, and then perform a reversing operation to move the obstacle away from the target interference area.

[0018] In some embodiments, the processing module may optionally further include a reset unit configured to control the self-propelled cleaning device to rotate back to its original angle and perform a swivel operation.

[0019] In some embodiments, the cleaning elements are optionally arranged symmetrically behind the main body, and the processing module includes a second acquisition unit configured to acquire an area reachable by the self-propelled cleaning device based on a map of the space in which the self-propelled cleaning device is located when an obstacle is located behind the self-propelled cleaning device and the self-propelled cleaning device is performing a turning operation, and a second processing unit configured to move the self-propelled cleaning device forward to move the obstacle away from the target interference area if the reachable area is located in front of the self-propelled cleaning device, or otherwise to determine the direction and angle of rotation of the self-propelled cleaning device based on the reachable area, control the self-propelled cleaning device to rotate according to the direction and angle of rotation, and then perform a forward operation to move the obstacle away from the target interference area.

[0020] Optionally, in some embodiments, after the processing module controls the self-propelled cleaning device to rotate according to the rotation direction and rotation angle and then executes a forward operation, if an obstacle still remains within the target interference area, based on the reachable area, the processing module re-determines the rotation direction and rotation angle of the self-propelled cleaning device, rotates the self-propelled cleaning device according to the re-determined rotation direction and rotation angle, and then executes a forward operation, and further includes a third processing unit configured to move the obstacle out of the target interference area.

[0021] Optionally, in some embodiments, after the processing module repeatedly re-determines the rotation direction and rotation angle based on the reachable area and controls the self-propelled cleaning device to rotate according to the re-determined rotation direction and rotation angle and then execute a forward operation multiple times, if an obstacle still remains within the target interference area, until the obstacle moves out of the target interference area, the processing module adjusts the rotation direction of the cleaning element to make the rotation direction of the cleaning element coincide with the turning direction of the turning operation, or stops the rotation of the cleaning element and controls the self-propelled cleaning device to execute a turning operation, and further includes a fourth processing unit configured as such.

[0022] Optionally, in some embodiments, after moving the obstacle out of the target interference area, the processing module further includes a fifth processing unit configured to control the self-propelled cleaning device to execute a turning operation.

[0023] An embodiment of the third aspect of the present disclosure provides a readable storage medium storing a program or instructions, and when the program or instructions are executed by a processor, the steps of the control method of the self-propelled cleaning device according to any one of the first aspect are realized.

[0024] An embodiment of the fourth aspect of the present disclosure provides a self-propelled cleaning device including a storage medium, a processor, and a computer program stored in the storage medium and executable on the processor. When the processor executes the program, the control method of the self-propelled cleaning device according to any one of the first aspect is realized.

[0025] An embodiment of the fifth aspect of the present disclosure provides a self-propelled cleaning device, including a main body and a cleaning element provided at the bottom of the main body, at least a part of which is located in the edge projection area of the main body, a driving device configured to drive the running of the self-propelled cleaning device, a sensing device configured to sense obstacle information around the self-propelled cleaning device, and a control module configured to determine a target interference area of the self-propelled cleaning device based on the sensing information of the sensing device and control the driving device to drive the running of the self-propelled cleaning device based on the obstacle information in the target interference area.

[0026] Optionally, in some embodiments, the main body is circular, the sensing device is further configured to determine the position of the self-propelled cleaning device in the location space, and the control module is further configured to determine the target interference area based on the position of the self-propelled cleaning device in the map of the location space determined by the self-structure of the self-propelled cleaning device and the sensing device. Here, the self-structure of the self-propelled cleaning device includes the radius of the main body and the maximum distance between the outer edge located in the edge projection area of the main body of the cleaning element and the rotation center of the main body.

[0027] Optionally, in some embodiments, when it is determined based on the sensing information of the sensing device that there is an obstacle in the target interference area, the control module is further configured to determine the relative position between the obstacle and the self-propelled cleaning device based on the sensing information of the sensing device, and the control module is further configured to control the driving device based on the relative position to execute an obstacle avoidance operation corresponding to the self-propelled cleaning device.

[0028] In some embodiments, the cleaning element is optionally located at the rear of the main body, and the control module is further configured to acquire the reachable area of ​​the self-propelled cleaning device based on a map of the space in which the self-propelled cleaning device is located, if it is determined based on sensing information from the sensing device that an obstacle is located on one side of the self-propelled cleaning device and the self-propelled cleaning device is to perform a turning operation on the opposite side of the obstacle, and the control module is further configured to determine the rotation direction and rotation angle of the self-propelled cleaning device based on the reachable area, and to control the drive device to rotate the self-propelled cleaning device according to the rotation direction and rotation angle, and then perform a reversing operation to move the obstacle away from the target interference area.

[0029] In some embodiments, the control module is optionally configured to control the drive unit to drive the self-propelled cleaning device to rotate it back to its original angle and perform a swivel operation.

[0030] In some embodiments, the cleaning elements are optionally arranged symmetrically at the rear of the main body, and the control module is further, If an obstacle is located behind the self-propelled cleaning device and the self-propelled cleaning device is performing a turning operation, the system is configured to acquire the reachable area of ​​the self-propelled cleaning device based on a map of the space in which the self-propelled cleaning device is located. If it is determined that the reachable area is located in front of the self-propelled cleaning device based on the sensing information from the sensing device, the drive unit is controlled to move the self-propelled cleaning device forward to move the obstacle away from the target interference area. Otherwise, the system is configured to determine the rotation direction and rotation angle of the self-propelled cleaning device based on the reachable area, control the drive unit to rotate the self-propelled cleaning device according to the rotation direction and rotation angle, and then perform a forward operation to move the obstacle away from the target interference area.

[0031] In some embodiments, the control module is further configured to control the self-propelled cleaning device to perform a forward operation after rotating it according to the rotation direction and rotation angle, and if it is determined based on sensing information from the sensing device that the obstacle is still located within the target interference area, to re-determine the rotation direction and rotation angle of the self-propelled cleaning device based on the reachable area, and to control the drive device to rotate the self-propelled cleaning device according to the re-determined rotation direction and rotation angle, and then perform a forward operation to move the obstacle out of the target interference area.

[0032] In some embodiments, the control module is optionally configured to drive the drive unit to perform a turning maneuver after the obstacle has been moved out of the target interference area.

[0033] In some embodiments, the self-propelled cleaning device may further include a motion mechanism configured to drive the rotation of the cleaning element. The control module is further configured to re-determine the rotation direction and angle based on the reachable area, and to control the self-propelled cleaning device to rotate according to the re-determined rotation direction and angle, and then perform a forward operation, and if it is determined based on sensing information from the sensing device that the obstacle is still located within the target interference area, then it is configured to adjust the rotation direction of the cleaning element to match the rotation direction of the sweeping operation with the rotation direction of the sweeping operation until the obstacle leaves the target interference area, or to control the sweeping mechanism to stop the rotation of the cleaning element and to control the drive unit to drive the self-propelled cleaning device to perform a sweeping operation.

[0034] (3) Technical effects The above technical solution of this application has the following technical effects. In the technical solution of this application, by determining the target interference area of ​​the self-propelled cleaning device during its travel, it is possible to understand which areas of obstacles affect the smooth travel of the self-propelled cleaning device. By controlling the drive device based on the obstacle information within the target interference area to drive the travel of the self-propelled cleaning device, the cleaning elements protruding from the main body of the automatic cleaning device can reduce or avoid interference with obstacles, further improving the obstacle avoidance performance of the self-propelled cleaning device and improving the smoothness of its travel. [Brief explanation of the drawing]

[0035] Further advantages and benefits will become clear to those skilled in the art by reading the detailed description of the selectable embodiments below. The accompanying drawings are used solely for the purpose of illustrating the selectable embodiments and do not limit this application. Throughout the accompanying drawings, the same reference numerals indicate the same component. In the accompanying drawings, [Figure 1] This is a schematic diagram of the structure of a self-propelled cleaning device according to an optional embodiment of the present disclosure. [Figure 2] This is a schematic diagram of the structure from a different perspective of the embodiment shown in Figure 1. [Figure 3] This is a schematic diagram of the target interference region of a self-propelled cleaning device according to an optional embodiment of the present disclosure. [Figure 4] This is a schematic flowchart of the control method for a self-propelled cleaning device provided in the embodiments of this disclosure. [Figure 5] This is a schematic block diagram of a control device for a self-propelled cleaning device provided in the embodiments of this disclosure. [Figure 6] This is a schematic diagram of the electronic structure of a self-propelled cleaning device provided in the embodiments of this disclosure. [Explanation of Symbols]

[0036] 100 Self-propelled cleaning device 110 Main Unit 111 Front part 112 Rear part 120 Sensing device 121 Positioning device 122 buffers 130 Man-Machine Interactive Systems 140 Drive unit 141 Drive Wheel Assembly 142 Driven Wheel 150 Cleaning Systems 151 Dry Cleaning System 152 Side Brush 153 Cleaning Elements 160 control modules 500 Control Device 510 Decision Module 520 Control Module 601 Processing Unit 602 ROM 603 RAM 604 Bus 605 I / O Interface 606 Input device 607 Output device 608 Storage device 609 Communication equipment [Modes for carrying out the invention]

[0037] The following description provides many specific details to allow for a more thorough understanding of the technical solutions offered by this disclosure. However, it will be apparent to those skilled in the art that the technical solutions offered by this disclosure can be implemented even if one or more of these details are omitted.

[0038] It should be noted that the terms used herein are used solely to describe specific embodiments and are not intended to limit the exemplary embodiments of this disclosure. Where used herein, singular nouns include plural nouns unless otherwise specified in the context. Furthermore, it should be noted that where the terms “includes” and / or “compose” in this specification, they refer to the presence of such features, wholes, steps, operations, elements and / or parts, but do not preclude the presence or addition of one or more other features, wholes, steps, operations, elements, parts and / or combinations thereof.

[0039] Illustrative embodiments of this disclosure will be described in more detail below with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in a variety of different forms and are not limited to the embodiments described herein. It should be noted that these embodiments are provided to make the disclosure thorough and complete and to fully convey the concepts of these exemplary embodiments to those skilled in the art.

[0040] The embodiments of this disclosure provide possible application scenarios, which include a self-propelled cleaning device 100, and Figures 1 and 2 are schematic diagrams of the structure of the self-propelled cleaning device 100 according to an exemplary embodiment of this disclosure. As shown in Figures 1 and 2, the self-propelled cleaning device 100 of this disclosure may be a floor sweeping robot, a sweeping and mopping cleaning robot, etc. For convenience of explanation, this embodiment will describe the technical solution of this disclosure using a sweeping and mopping cleaning robot as an example.

[0041] As shown in Figures 1 and 2, the self-propelled cleaning device 100 comprises a mobile platform, a sensing system 120, a man-machine interactive system 130, a drive unit 140, a cleaning module, an energy system, and a control module 160. The mobile platform is configured to automatically move along the target direction on the operating surface. The operating surface may be the surface to be cleaned by the self-propelled sweeping device 100. In some embodiments, the self-propelled sweeping device 100 operates on the ground, and the ground is the operating surface.

[0042] In some embodiments, the mobile platform may be an autonomous mobile platform or a non-autonomous mobile platform. An autonomous mobile platform is one in which the mobile platform itself automatically and adaptively makes operational decisions in response to unexpected environmental inputs, while a non-autonomous mobile platform cannot adaptively make operational decisions in response to unexpected environmental inputs, but can execute a predetermined program or execute according to a certain logic. Therefore, if the mobile platform is an autonomous mobile platform, the target direction may be determined autonomously by the self-propelled cleaning device 100, and if the mobile platform is a non-autonomous mobile platform, the target direction may be set by the system or manually. Here, the mobile platform is considered to be the main body 110 of the self-propelled cleaning device 100, and if the mobile platform is an autonomous mobile platform, the main body 110 includes a front portion 111 and a rear portion 112.

[0043] As shown in Figures 1 and 2, the sensing system 120 includes a position determination device 121 located above the main body 110, a buffer 122 located in the front portion 111 of the main body 110, and sensing devices located on the main body 110 such as a vision sensor and laser sensor (not shown), an infrared sensor (not shown), a magnetometer (not shown), an accelerometer (not shown), a gyroscope (not shown), an odometer (not shown), an inertial sensor (not shown), and a wheel sensor (not shown). These sensors provide the control module 160 with various position information and motion state information of the device. For example, the self-propelled cleaning device 100 can use a gyroscope to detect whether the cleaning robot is moving, for example, a three-axis gyroscope, and it can determine whether the cleaning robot is moving based on the change in acceleration of the three-axis gyroscope. Alternatively, the self-propelled cleaning device 100 can use a wheel sensor to determine whether the cleaning robot is rotating.

[0044] The position determination device 121 includes, but is not limited to, a camera and a laser rangefinder. The laser rangefinder (such as an LDS) can measure events (or objects) within a measurement height range above the self-propelled cleaning device 100. The measurement height range can be set, for example, to a range of 8 to 10 cm above the self-propelled cleaning device 100.

[0045] To more clearly explain the operation of the self-propelled cleaning device 100, the following directions are defined: The self-propelled cleaning device 100 can travel on the ground by various combinations of movement along three mutually perpendicular axes defined by the main body 110: the lateral axis x, the longitudinal axis y, and the central vertical axis z. The forward drive direction along the longitudinal axis y is indicated as "forward," and the rearward drive direction along the longitudinal axis y is indicated as "rear." The lateral axis x is an axis that extends between the right and left wheels of the self-propelled cleaning device 100 along the center defined substantially by the center point of the drive wheel assembly 141. Here, the self-propelled cleaning device 100 is rotatable around the x axis. The state in which the front portion 111 of the self-propelled cleaning device 100 is tilted upward and the rear portion 112 is tilted downward is referred to as "pitch up," and the state in which the front portion 111 of the self-propelled cleaning device 100 is tilted downward and the rear portion 112 is tilted upward is referred to as "pitch down." Furthermore, the self-propelled cleaning device 100 is rotatable around the z-axis. In the forward direction of the self-propelled cleaning device 100, a state in which the self-propelled cleaning device 100 is tilted to the right of the Y-axis is defined as "right turn," and a state in which the self-propelled cleaning device 100 is tilted to the left of the Y-axis is defined as "left turn."

[0046] As shown in Figure 2, visual sensors are provided on the main body 110, in front of and behind the drive wheel assembly 141. These visual sensors acquire images of the area around the self-propelled cleaning device 100 and prevent it from tipping over when it moves backward, thereby avoiding damage to the self-propelled cleaning device 100. The "front" refers to the side in the same direction as the self-propelled cleaning device 100's travel, and the "rear" refers to the side opposite to the direction of travel. The position and number of visual sensors can be set as needed.

[0047] Each component in the sensing system 120 can operate independently or work together to more accurately achieve its intended function. By using visual sensors and laser sensors to identify surfaces to be cleaned, and by specifying the physical characteristics of the surface to be cleaned, such as surface material and degree of cleanliness, a more accurate determination can be made by combining visual sensors, laser sensors, etc.

[0048] A buffer 122 is provided in the front portion 111 of the main body 110. When the drive wheel assembly 141 moves the self-propelled cleaning device 100 on the ground during the cleaning process, the buffer 122 detects one or more events (or objects) in the travel path of the self-propelled cleaning device 100 via a sensor system, such as an infrared sensor. The self-propelled cleaning device 100 then controls the drive wheel assembly 141 to respond to the event (or object) detected by the buffer 122, such as an obstacle or a wall, by moving away from or overcoming the obstacle.

[0049] The control module 160 is mounted on a circuit board within the main unit 110 and includes a computing processor, such as a central processing unit and an application processor, which communicate with non-temporary storage media, such as a hard disk, flash storage media, and random access storage media. The application processor is configured to receive environmental information detected by the multiple sensors transmitted from the sensing system 120. Furthermore, the control module 160 can determine whether to start a cleaning operation of the cleaning module based on the environmental information and the environmental map.

[0050] Specifically, the control module 160 determines the current working state of the vacuum cleaner, such as crossing a threshold, riding on a carpet, being on a cliff, getting stuck above or below, having a full dustbin, or being lifted, based on distance and speed information fed back from sensing devices such as the buffer 122, vision sensors, laser sensors, infrared sensors, magnetometers, accelerometers, gyroscopes, and odometers. It then presents a specific next action strategy according to the different situations, ensuring that the operation of the self-propelled cleaning device 100 better suits the owner's requirements and provides a better user experience. Furthermore, the control module 160 plans the most efficient and rational travel path and travel method based on real-time map information drawn by SLAM, significantly improving the travel efficiency of the self-propelled cleaning device 100.

[0051] The drive unit 140 executes drive commands based on specific distance and angle information, such as x, y, and θ components, to control the self-propelled cleaning device 100 to travel on the ground. To enable the self-propelled cleaning device 100 to move more stably on the ground or to exhibit more powerful mobility, the self-propelled cleaning device 100 includes one or more steering components, which may be driven wheels 142 or drive wheels, and their structural form may include, but is not limited to, universal wheels, and the steering components may be located in front of the drive wheel assembly 141.

[0052] The drive wheel assembly 141 is detachably connected to the main body 110 for easy attachment, removal, and maintenance. The drive wheels include an eccentric drop suspension system, are movably fixed and, for example, rotatably connected to the main body 110 of the self-propelled cleaning device 100, and maintain contact and traction with the ground with a constant grounding force by elastic elements such as tension springs or compression springs, while the cleaning module of the self-propelled cleaning device 100 also contacts the surface to be cleaned with a constant pressure. The cleaning module may include a dry cleaning module and / or a wet cleaning module.

[0053] The energy system includes rechargeable batteries such as nickel-metal hydride batteries and lithium batteries. A charging control circuit, a battery pack charging temperature detection circuit, and a battery low voltage monitoring circuit are connected to the rechargeable batteries, and these circuits are also connected to a microcontroller control circuit. The host device is connected to the charging pile for charging via charging electrodes provided on the side or bottom of the main unit 110.

[0054] The man-machine interactive system 130 includes buttons on a host device panel, which the user uses to select functions; it further includes a display and / or indicator lights and / or a speaker, which display the current device status or function selections to the user; and it may further include a mobile phone client application.

[0055] If the cleaning system 150 includes a wet cleaning system, the automatic cleaning device becomes a mopping robot; or if the cleaning system 150 includes both a wet cleaning system and a dry cleaning system 151, the automatic cleaning device becomes a sweeping and mopping robot.

[0056] Here, the dry cleaning system 151 includes a roller brush, a dust box, a dust collection fan, and an air outlet. The roller brush, having a certain interference with the ground, sweeps up debris from the ground and draws it forward to the dust collection port between the roller brush and the dust box, where it is then sucked into the dust box by a gas with suction force generated by the dust collection fan and passing through the dust box. The dry cleaning system 151 may further include a side brush 152 having a rotating shaft, which forms a certain angle with respect to the ground and is used to move debris to the roller brush area of ​​the cleaning system 150.

[0057] The wet cleaning system includes cleaning parts, a water supply mechanism, and a liquid storage tank. Here, the cleaning parts are located below the liquid storage tank, and cleaning fluid from inside the liquid storage tank is transported to the cleaning parts via the water supply mechanism, allowing the cleaning parts to wet-clean the surface to be cleaned. Alternatively, the cleaning fluid from inside the liquid storage tank can be sprayed directly onto the surface to be cleaned, and the cleaning parts can uniformly apply the cleaning fluid to achieve cleaning of the surface. Or, the self-propelled cleaning device 100 is provided with a water outlet that communicates with the liquid storage tank, and the liquid from inside the liquid storage tank can be transported to the cleaning parts using the water outlet.

[0058] As shown in Figure 2, the cleaning component includes at least one cleaning element 153 that is rotatable relative to the main body 110. The cleaning component also includes a motion mechanism, and the entire cleaning component is attached to the main body 110 via the motion mechanism. The cleaning component moves with the movement of the main body 110 to perform the mopping function. The motion mechanism is used to drive the movement of the cleaning element 153. For example, the motion mechanism can drive the cleaning element 153 to move up and down or to rotate. This allows for the lifting and rotation of the cleaning element 153 via the motion mechanism, depending on whether the cleaning element 153 needs to come into contact with the surface to be cleaned, thereby meeting the different functional needs of the cleaning element 153. When the cleaning element 153 interferes with the surface to be cleaned to perform a mopping operation, the motion mechanism drives the rotation of the cleaning element 153.

[0059] Here, as shown in Figure 2, in the forward direction of the self-propelled cleaning device 100, the cleaning element 153 is located at the rear of the dry cleaning system 151, and the cleaning element 153 is usually made of a flexible material with water absorption, such as cloth or sponge. In this solution, the cleaning element 153 is at least one rotating turntable, water in the liquid storage tank of the self-propelled cleaning device 100 is guided to the cleaning element 153, and the wet cleaning element 153 removes dirt from the ground by rotational motion. Specifically, as shown in Figures 1 and 2, the cleaning element 153 is two turntables, and the two turntables are located on the left and right sides in the forward direction of the main body 110.

[0060] Here, as shown in Figure 2, at least a portion of the cleaning element 153 is located outside the projection area of ​​the edge of the main body 110, that is, at least a portion of the cleaning element 153 protrudes from the main body 110 so that the cleaning range of the cleaning element 153 extends beyond the edge of the movement range of the moving platform. This makes it possible to clean corners that the main body 110 cannot reach, thereby expanding the cleaning range of the cleaning element 153 and improving the cleaning effect of the automatic cleaning device.

[0061] However, since at least a portion of the cleaning element 153 protrudes from the main body 110, during the travel process of the self-propelled cleaning device 100, for example during the turning process of the self-propelled cleaning device 100, even if the main body 110 is not in contact with an obstacle, continuous turning may cause the cleaning element 153 to come into contact with an obstacle, which may affect the smooth operation of the self-propelled cleaning device 100.

[0062] In view of this, this embodiment provides a control method for a self-propelled cleaning device, and as shown in Figure 4, this method includes the following steps.

[0063] Step S401: Determine the target interference area of ​​the self-propelled cleaning device.

[0064] Here, as the self-propelled cleaning device 100 autonomously explores the environmental space, it is positioned and a map is created based on the movement and measurements of the self-propelled cleaning device 100 using a SLAM (Simultaneous Localization And Mapping) algorithm, thereby obtaining a map of the space in which the self-propelled cleaning device 100 is located. The map of the space in which the self-propelled cleaning device 100 is located provides detailed environmental feature data, is suitable for spatial representation of an unstructured environment, and serves as an important foundation for the navigation and route planning of the self-propelled cleaning device 100.

[0065] Here, the target interference region is an area in the space where the self-propelled cleaning device 100 is located that may affect the smooth operation of the self-propelled cleaning device 100. For example, an obstacle within the target interference region may affect the smooth operation of the self-propelled cleaning device 100. For example, an obstacle within the target interference region may not currently be in contact with the main body 110 or the cleaning element 153, but in this embodiment of the disclosure, at least a part of the cleaning element 153 protrudes from the main body 110. Therefore, if the self-propelled cleaning device 100 continues to move, for example, if the self-propelled cleaning device 100 performs a turning operation, a problem may occur in which the cleaning element 153 interferes with and collides with an obstacle within the target interference region, thereby affecting the smooth operation of the self-propelled cleaning device 100. Therefore, when the self-propelled cleaning device 100 is in motion, determining the target interference area of ​​the self-propelled cleaning device 100 provides a basis for determining whether an obstacle affects the smooth operation of the self-propelled cleaning device 100, reduces the possibility of the cleaning element 153 of the self-propelled cleaning device 100 interfering with and colliding with an obstacle, and ensures that the self-propelled cleaning device 100 operates smoothly.

[0066] In a specific embodiment, the main body 110 of the self-propelled cleaning device 100 is circular, and the step of determining the target interference area of ​​the self-propelled cleaning device 100 is: This includes determining a target interference area based on the self-structure of the self-propelled cleaning device and its position in the space in which it is located, wherein the self-structure of the self-propelled cleaning device includes the radius of the main body and the maximum distance between the outer edge of the cleaning element located in the projection area of ​​the edge of the main body and the center of rotation of the main body.

[0067] As shown in Figure 3, the main body 110 is circular, and its radius is r1, where r1 represents the distance between the outer edge of the main body 110 and its center of rotation. The maximum distance between the outer edge of the cleaning element 153, which is outside the projection area of ​​the edge of the main body 110, and its center of rotation is r2. Since r1 and r2 are concentric, the circle corresponding to r2 has one more annular region than the circle corresponding to r1, and the cleaning element 153 is located behind the main body 110, with a portion of it protruding from the main body 110. Therefore, if the obstacle is located within the annular portion of the rear half of the main body 110, the distance between the obstacle and the cleaning element 153 is short, and there is a possibility that a portion of the cleaning element 153 protruding from the main body 110 may collide with the obstacle when the self-propelled cleaning device 100 continuously rotates. For this reason, the area where interference is possible is defined as the portion of the annular region where the circle corresponding to r2 is greater than the circle corresponding to r1, and the portion located behind the main body 110, minus the projected portion of the cleaning element 153. Specifically, the area where interference is possible is shown as the shaded area in Figure 3. It should be noted that the area where interference is possible can also be determined after the structure of the self-propelled cleaning device 100 has been determined, for example, after the size of the main body 110, the size of the cleaning element 153, and the position of the cleaning element 153 relative to the main body 110 have been determined.

[0068] During the movement of the self-propelled cleaning device 100, the main body 110 and the cleaning element 153 move synchronously. That is, the interference area of ​​the self-propelled cleaning device 100 may move as the self-propelled cleaning device 100 moves within the spatial map. Therefore, by determining the area corresponding to the spatial map where the interference area of ​​the self-propelled cleaning device 100 at that location is located as the target interference area, the target interference area can be associated with the location in the spatial map. Subsequently, based on the sensing information from the sensing system, the positional relationship between obstacles around the self-propelled cleaning device 100 and the target interference area can be easily identified, and it is possible to accurately determine whether obstacles affect the smooth movement of the self-propelled cleaning device 100.

[0069] In actual use, the detection device of the self-propelled cleaning device 100 is equipped with a laser rangefinder located on the top of the main body 110 of the self-propelled cleaning device 100. This device can detect the distance between the self-propelled cleaning device 100 and surrounding obstacles, and can also determine the position information of the self-propelled cleaning device 100 on a spatial map. It should be understood that the distance between the automatic cleaning device and surrounding obstacles may be measured by other sensors in the detection device, and the position of the self-propelled cleaning device 100 on the spatial map may also be determined. Therefore, the control module 160 can determine the target interference area based on the self-structure of the self-propelled cleaning device 100 and the position of the self-propelled cleaning device 100 in the spatial location determined by the detection device.

[0070] Step S402: The movement of the self-propelled cleaning device is controlled based on obstacle information within the target interference area.

[0071] In this embodiment, since the obstacle is within the target interference area, a phenomenon occurs where the portion of the cleaning element 153 protruding from the main body 110 collides with the obstacle when the self-propelled cleaning device 100 turns. Therefore, by controlling the movement of the self-propelled cleaning device 100 based on information about the obstacle within the target interference area, the self-propelled cleaning device 100 can avoid the obstacle and move smoothly.

[0072] In other words, the control method for the self-propelled cleaning device 100 provided in this disclosure determines the target interference area of ​​the self-propelled cleaning device 100 during its travel process, thereby enabling the determination of which obstacles within which area range affect the smooth travel of the self-propelled cleaning device 100. Therefore, by controlling the drive unit 140 based on the obstacle information within the target interference area to drive the self-propelled cleaning device 100, interference between the cleaning element 153 of the automatic cleaning device protruding body 110 and obstacles can be reduced or avoided, further improving the obstacle avoidance performance of the self-propelled cleaning device 100 and improving the smoothness of its travel.

[0073] In actual use, the self-propelled cleaning device 100 can detect the distance between the self-propelled cleaning device 100 and surrounding obstacles using a sensing device. Specifically, the laser rangefinder located on the top of the main body 110 is used to detect the distance between the self-propelled cleaning device 100 and surrounding obstacles. The control module 160 can then determine the positional relationship between the obstacle and the target interference region based on the determined target interference region and the sensing information. For example, it can determine whether the obstacle is within the target interference region or outside the target interference region.

[0074] Furthermore, as a miniaturization and expansion of the specific embodiment described above, in order to fully explain the specific implementation process of this embodiment, the step of controlling the movement of the self-propelled cleaning device based on obstacle information within the target interference area includes the following steps: Step S501: If there is an obstacle within the target interference area, determine the relative position of the obstacle and the self-propelled cleaning device. Step S502: The self-propelled cleaning device is made to perform an obstacle avoidance operation based on its relative position.

[0075] In this embodiment, when there is an obstacle within the target interference area, it is indicated that the distance between the obstacle and the self-propelled cleaning device 100 is short. Specifically, if the obstacle is close to the main body 110, or close to the cleaning element 153, if the self-propelled cleaning device 100 moves continuously toward the obstacle, there is a possibility that the self-propelled cleaning device 100 will interfere with and collide with the obstacle. Therefore, by further specifying the relative positions of the obstacle and the self-propelled cleaning device 100, and clarifying the specific positional relationship between the obstacle and the self-propelled cleaning device 100, and by controlling the self-propelled cleaning device 100 to perform obstacle avoidance operations corresponding to the relative positions, the self-propelled cleaning device 100 can be moved in the correct direction, the target interference area can be moved away from the obstacle, the obstacle can be moved away from the target interference area, thereby increasing the distance between the self-propelled cleaning device 100 and the obstacle, and based on this, the turning operation can be re-executed, thereby effectively reducing or avoiding the possibility of interference between the cleaning element 153 protruding from the main body 110 and the obstacle, and improving the smoothness with which the self-propelled cleaning device 100 can perform a predetermined turning operation.

[0076] Here, moving the obstacle away from the target interference area means that the obstacle is not within the target interference area. The movement of the self-propelled cleaning device 100 can change the position of the target interference area in the space where the self-propelled cleaning device 100 is located. Therefore, by moving the self-propelled cleaning device 100 away from the obstacle, the obstacle can be moved away from the target interference area.

[0077] Furthermore, if there are no obstacles within the target interference area, it indicates that the distance between the obstacle and the self-propelled cleaning device 100 is large. For example, if the distance between the obstacle and the cleaning element 153 is large, the likelihood of interference and collision between the obstacle and the cleaning element 153 occurring is low even if the self-propelled cleaning device 100 continues to travel. This allows the self-propelled cleaning device 100 to be controlled to perform a direct turning operation.

[0078] In some feasible embodiments provided in this disclosure, the cleaning elements 153 are located at the rear of the main body 110, where there may be one, two or more cleaning elements 153, and as shown in Figure 3, there are two cleaning elements 153, both of which are located at the rear of the main body 110.

[0079] Furthermore, as a miniaturization and expansion of the specific embodiment of the above example, in order to fully explain the specific implementation process of this example, the step of controlling the self-propelled cleaning device to perform obstacle avoidance operations based on its relative position includes the following steps: Step S601: If an obstacle is located on one side of the self-propelled cleaning device and the self-propelled cleaning device is performing a turning operation on the opposite side of the obstacle, the reachable area of ​​the self-propelled cleaning device is obtained based on a map of the space in which the self-propelled cleaning device is located. Step S602: Determine the rotation direction and rotation angle of the self-propelled cleaning device based on the reachable area, control the self-propelled cleaning device to rotate according to the rotation direction and rotation angle, and then perform a reversing operation to move the obstacle away from the target interference area.

[0080] Here, the obstacle is located on one side of the self-propelled cleaning device, meaning all cleaning elements 153 are located on the same side of the obstacle, and as shown in Figure 3, all cleaning elements 153 are located to the right of the obstacle, or all cleaning elements 153 are located to the left of the obstacle. Here, if the obstacle is located in the upper shaded area in Figure 3, it indicates that all cleaning elements 153 are located to the left of the obstacle, meaning the obstacle is located to the right of the self-propelled cleaning device 100. In this case, the number of cleaning elements 153 may be one or two.

[0081] Here, if an obstacle is located on one side of the self-propelled cleaning device 100, and the self-propelled cleaning device 100 performs a turning operation on the opposite side of the obstacle, that is, if the direction of the obstacle relative to the self-propelled cleaning device 100 is opposite to the direction of rotation of the turning operation performed by the self-propelled cleaning device 100, specifically, if the self-propelled cleaning device 100 performs a left turn, in this case the obstacle is located to the right of the self-propelled cleaning device 100, and the self-propelled cleaning device 100 directly performs a left turn, the cleaning element 153 protruding from the main body 110 at the rear of the self-propelled cleaning device 100 moves to the right, that is, the cleaning element 153 moves in a direction toward the obstacle, so a problem occurs in which the cleaning element 153 protruding from the main body 110 interferes with and collides with the obstacle. Furthermore, when the self-propelled cleaning device 100 performs a right turn operation, if an obstacle is located to the left of the self-propelled cleaning device 100, that is, if the direction of the obstacle relative to the self-propelled cleaning device 100 is opposite to the direction of rotation of the turning operation performed by the self-propelled cleaning device 100, it should be noted that if the device performs a direct right turn, the cleaning element 153 will interfere with and collide with the obstacle.

[0082] Here, the reachable area of ​​the self-propelled cleaning device 100 is the area that the self-propelled cleaning device 100 can reach on the map of the space in which it is located. Based on the map of the space in which the self-propelled cleaning device 100 can reach, the reachable area may include areas that the self-propelled cleaning device 100 has already covered in the current operation, areas that the self-propelled cleaning device 100 has covered in previous operations, and areas that the self-propelled cleaning device 100 has not yet covered in operation but is still reachable. In actual use, the control module 160 may determine the reachable area of ​​the self-propelled cleaning device 100 based on the detection information from the sensing device 120.

[0083] This determines the rotation direction and rotation angle of the self-propelled cleaning device 100 based on the reachable area of ​​the self-propelled cleaning device 100, and guides the self-propelled cleaning device 100 to move into the reachable area according to the rotation direction and rotation angle determined based on the reachable area. After controlling the self-propelled cleaning device 100 to rotate according to the rotation direction and rotation angle, the drive unit 140 is controlled to drive the self-propelled cleaning device 100 to perform a reverse operation. Since the rotation direction and rotation angle are determined based on the reachable area of ​​the self-propelled cleaning device 100, by having the self-propelled cleaning device 100 rotate before performing the reverse operation, a smooth reverse operation of the self-propelled cleaning device 100 can be ensured, and the possibility of the self-propelled cleaning device 100 interfering with and colliding with other obstacles during the reverse operation can be reduced. When the control module 160 controls the drive unit 140 and drives the self-propelled cleaning device 100 to rotate until the obstacle is out of the target interference area, and then performs a reverse operation, it indicates that the obstacle is outside the target interference area of ​​the self-propelled cleaning device 100, and the distance between the obstacle and the part of the cleaning element 153 that protrudes from the main body 110 is large, reducing or avoiding the possibility of interference between the cleaning element 153 and the obstacle, thereby allowing the self-propelled cleaning device 100 to perform a turning operation smoothly.

[0084] In actual use, it is possible to confirm that an obstacle has moved away from the target interference area based on the sensing information from the sensing device.

[0085] Here, the direction of rotation determined based on the reachable area may be the same as the direction of rotation of the turning operation performed by the self-propelled cleaning device 100, or it may be the opposite direction of rotation of the turning operation. For example, if the turning operation performed by the self-propelled cleaning device 100 is a left turn, the direction of rotation determined based on the reachable area may be a left turn or a right turn.

[0086] Furthermore, as a refinement and extension of the specific embodiment of the above example, in order to fully explain the specific implementation process of this example, the step of controlling the self-propelled cleaning device to perform obstacle avoidance operations based on its relative position further includes the following steps: Step S603: Rotate the self-propelled cleaning device back to its original angle and perform the turning operation.

[0087] Here, rotating the self-propelled cleaning device 100 back to its original angle means controlling the drive unit 140 to rotate the self-propelled cleaning device 100 in the opposite direction to the rotation direction determined based on the reachable area, at a rotation angle determined based on the reachable area, thereby achieving the operation of rotating the self-propelled cleaning device 100 back to its original angle.

[0088] In this embodiment, the drive unit 140 drives the self-propelled cleaning device 100 to perform a rotation operation in a rotation direction and rotation angle determined based on the area reachable before backward movement, so that the self-propelled cleaning device 100 rotates and moves backward, moving the obstacle away from the target interference area, and before the step of performing a turning operation, the control module 160 controls the drive unit 140 to rotate the self-propelled cleaning device 100 back to its original angle, that is, the drive unit 140 drives the cleaning device to rotate in the opposite direction of rotation determined based on the area reachable, at a rotation angle determined based on the area reachable, and then performs a turning operation. This reduces or avoids the possibility of the cleaning element 153 protruding from the main body 110 colliding with an obstacle during the process of the self-propelled cleaning device 100 performing a turning operation, and enables the self-propelled cleaning device 100 to perform a smooth rotation operation.

[0089] In some feasible embodiments provided by this disclosure, as shown in Figure 3, a plurality of cleaning elements 153 are arranged symmetrically at the rear of the body 110, specifically, the number of cleaning elements 153 may be two, and the two cleaning elements 153 are positioned at the rear bottom of the body 110 along the left-right direction of the body 110, specifically, the two cleaning elements 153 include a first cleaning element 1531 on the rear right side of the body 110 and a second cleaning element 1532 on the rear left side of the body 110, the left-right direction is shown in Figure 3.

[0090] Furthermore, as a miniaturization and expansion of the specific embodiment of the above example, in order to fully explain the specific implementation process of this example, the step of controlling the self-propelled cleaning device to perform obstacle avoidance operations based on its relative position includes the following steps: Step S701: If an obstacle is located behind the self-propelled cleaning device and the self-propelled cleaning device is performing a turning operation, the reachable area of ​​the self-propelled cleaning device is obtained based on a map of the space in which the self-propelled cleaning device is located. Step S702: If the reachable area is located in front of the self-propelled cleaning device, move the self-propelled cleaning device forward to move the obstacle away from the target interference area; otherwise, determine the rotation direction and rotation angle of the self-propelled cleaning device based on the reachable area, control the self-propelled cleaning device to rotate according to the rotation direction and rotation angle, and then perform a forward operation to move the obstacle away from the target interference area.

[0091] In this embodiment, when an obstacle is located behind the self-propelled cleaning device 100, the obstacle is positioned between two cleaning elements 153. In this case, if the self-propelled cleaning device 100 performs a direct turning operation, the portion of the cleaning element 153 protruding from the main body 110 may interfere with and collide with the obstacle. As shown in Figure 3, if the turning operation performed by the self-propelled cleaning device 100 is a left turn, during the left turn operation, the left-side second cleaning element 1532 may gradually approach the obstacle and interfere with and collide with it. As shown in Figure 3, if the turning operation performed by the self-propelled cleaning device 100 is a right turn, during the right turn operation, the right-side first cleaning element 1531 may gradually approach the obstacle and interfere with and collide with it.

[0092] Therefore, based on a map of the space where the self-propelled cleaning device 100 is located, the reachable area of ​​the self-propelled cleaning device 100 can be obtained, and the area that the self-propelled cleaning device 100 can reach smoothly and without obstacles from its current position can be clearly identified. Subsequently, the position of the reachable area relative to the self-propelled cleaning device 100 is determined, and if the reachable area is located in front of the self-propelled cleaning device 100, it indicates that the self-propelled cleaning device 100 can move directly forward. In this case, the drive unit 140 is controlled to move the self-propelled cleaning device 100 forward. During the forward movement of the self-propelled cleaning device 100, the target interference area also moves forward, and the target interference area is moved away from the obstacle until the control module 160 confirms that the obstacle has moved away from the target interference area based on the sensing information of the sensing device. In this case, it indicates that the distance between the cleaning element 153 and the obstacle is sufficient. At this time, the control module 160 controls the drive unit 140 to perform a re-rotation operation, thereby ensuring the smooth operation of the rotation operation, that is, the cleaning element 153 does not interfere with or collide with the obstacle during the process of performing the rotation operation after the obstacle has moved away from the target interference area.

[0093] If the reachable area is not located in front of the self-propelled cleaning device 100, it indicates that the self-propelled cleaning device 100 cannot move forward. For example, if there is an obstacle or stairs in front of the self-propelled cleaning device 100 that prevents it from moving forward, the rotation direction and rotation angle of the self-propelled cleaning device 100 are determined based on the reachable area, and the self-propelled cleaning device 100 can be driven to the reachable area. After controlling the self-propelled cleaning device 100 to rotate according to the rotation direction and rotation angle, the drive unit 140 is controlled to drive the self-propelled cleaning device 100 to perform a forward operation. Since the obstacle is located behind the self-propelled cleaning device 100 and the rotation direction and rotation angle are determined based on the area that the self-propelled cleaning device 100 can reach, the smooth forward movement of the self-propelled cleaning device 100 is ensured when the self-propelled cleaning device 100 performs a forward operation after rotating, and the possibility of the self-propelled cleaning device 100 interfering with and colliding with other obstacles during the forward movement process can be reduced.

[0094] The control module 160 controls the drive unit 140 and, based on sensing information from the sensing device, confirms that the obstacle has left the target interference area. When rotating and then moving the self-propelled cleaning device 100 forward, it indicates that the obstacle is outside the target interference area of ​​the self-propelled cleaning device 100, and the distance between the obstacle and the portion of the cleaning element 153 protruding from the main body 110 is large, reducing or avoiding the possibility of interference between the cleaning element 153 and the obstacle, thereby enabling the self-propelled cleaning device 100 to perform turning operations smoothly.

[0095] Here, the direction of rotation determined based on the reachable area may be the same as or opposite to the direction of rotation of the turning operation performed by the self-propelled cleaning device. For example, if the turning operation performed by the self-propelled cleaning device 100 is a left turn, the direction of rotation determined based on the reachable area may be left or right. Specifically, by appropriately setting the program of the control device, the direction of rotation determined based on the reachable area may be selectably the same as the direction of rotation of the turning operation performed by the self-propelled cleaning device 100. For example, if the turning operation performed by the self-propelled cleaning device 100 is a left turn, the direction of rotation determined based on the reachable area may be selectably left, and furthermore, the direction of rotation determined based on the reachable area may be right.

[0096] In actual use, it is possible to determine whether the self-propelled cleaning device 100 can move forward based on the sensing information from the sensing device. For example, if the sensing information from the sensing device indicates that the distance between the self-propelled cleaning device 100 and an obstacle in front is short, or that there are stairs in front of the main unit 110, or that the collision sensor in the sensing device has been triggered, it indicates that the self-propelled cleaning device 100 cannot move forward.

[0097] Furthermore, as a miniaturization and expansion of the specific embodiment of the above embodiment, in order to fully explain the specific implementation process of this embodiment, the steps of controlling the self-propelled cleaning device to perform obstacle avoidance operations based on its relative position include, specifically, the following steps: Step S704: After controlling the self-propelled cleaning device to rotate according to the rotation direction and rotation angle and then perform a forward operation, if the obstacle is still located within the target interference area, the rotation direction and rotation angle of the self-propelled cleaning device are re-determined based on the reachable area, and the self-propelled cleaning device is rotated according to the re-determined rotation direction and rotation angle and then performed a forward operation to move the obstacle out of the target interference area.

[0098] In this embodiment, the control module 160 controls the drive unit 140 to rotate the self-propelled cleaning device 100 in a rotation direction determined based on the reachable area and at a rotation angle determined based on the reachable area. After moving forward a certain distance, if an obstacle is still located within the target interference area, the self-propelled cleaning device 100 will have a very short forward distance after rotation and will not be able to move forward continuously. For example, if the self-propelled cleaning device 100 rotates and moves forward a short distance, and then a new obstacle or cliff feature such as stairs is present in front of the self-propelled cleaning device 100, and the self-propelled cleaning device 100 cannot continue to travel in its current posture, and at the same time, if an obstacle that was initially within the target interference area is still located within the target interference area, then even if the self-propelled cleaning device 100 directly performs a turning operation, there is a possibility that the self-propelled cleaning device 100 will interfere with the obstacle. Therefore, based on the current position of the self-propelled cleaning device 100, the rotation direction and rotation angle of the self-propelled cleaning device are re-determined based on the reachable area, thereby guiding the self-propelled cleaning device 100 to travel to the reachable area according to the rotation direction and rotation angle re-determined based on the reachable area. After the self-propelled cleaning device 100 has been rotated according to the rotation direction and rotation angle re-determined based on the reachable area, the drive unit 140 is controlled to drive the self-propelled cleaning device 100 to perform a forward operation. Since the obstacle is located behind the self-propelled cleaning device 100 and the rotation direction and rotation angle are determined based on the reachable area of ​​the self-propelled cleaning device 100, the forward operation of the self-propelled cleaning device 100 after rotation ensures the smooth forward movement of the self-propelled cleaning device 100 and reduces the possibility of the self-propelled cleaning device 100 interfering with and colliding with other obstacles during the forward movement process. When the control module 160 controls the drive unit 140 and rotates and then moves the self-propelled cleaning device 100 forward until it is confirmed, based on the sensing information from the sensing device, that the obstacle is outside the target interference area of ​​the self-propelled cleaning device 100, and that there is sufficient distance between the obstacle and the part of the cleaning element 153 that protrudes from the main body 110, the possibility of the cleaning element 153 interfering with the obstacle can be reduced or avoided, thereby ensuring that the self-propelled cleaning device 100 can perform a smooth turning operation.

[0099] Here, the rotation direction re-determined based on the reachable area may be the same as or opposite to the rotation direction previously determined based on the reachable area, or the rotation direction re-determined based on the reachable area may be the same as or opposite to the rotation direction of the self-propelled cleaning device 100's turning operation. Specifically, by appropriately setting the program of the control device, the rotation direction re-determined based on the reachable area can be selected to be opposite to the rotation direction previously determined based on the reachable area. For example, the rotation direction previously determined based on the reachable area may be left, and the rotation direction re-determined based on the reachable area may be right, or the rotation direction re-determined based on the reachable area may be left.

[0100] Furthermore, as a refinement and expansion of the specific embodiment of the above example, in order to fully explain the specific implementation process of this example, the step of controlling the self-propelled cleaning device to perform obstacle avoidance operations based on its relative position specifically includes the following steps: Step S705: After repeatedly controlling the self-propelled cleaning device to rotate according to the re-determined rotation direction and rotation angle and then perform a forward operation, if the obstacle is still located within the target interference area, adjust the rotation direction of the cleaning element to match the rotation direction of the sweeping operation, or stop the rotation of the cleaning element and control the self-propelled cleaning device to perform a sweeping operation, until the obstacle is out of the target interference area.

[0101] Here, the multiple repetitions may be two, three, or any other number of times, and the repeated operation involves re-determining the rotation direction and rotation angle based on the reachable area, controlling the drive unit 140, rotating the self-propelled cleaning device 100 according to the re-determined rotation direction and rotation angle, and then performing a forward operation. It should be understood that if the obstacle is still located within the target interference area after the forward operation has stopped, the rotation direction and rotation angle are re-determined based on the reachable area, the drive unit 140 is controlled, the self-propelled cleaning device 100 is rotated according to the re-determined rotation direction and rotation angle, and then a forward operation is performed, and this process is repeated. Furthermore, the rotation direction and rotation angle determined for each reachable area may be the same or different, and may be determined mainly based on the reachable area and the current posture of the self-propelled cleaning device 100, and this is not specifically limited in this disclosure.

[0102] In this embodiment, if the control module 160 re-determines the rotation direction and rotation angle based on the reachable area, and controls the drive unit 140 to drive the self-propelled cleaning device 100 to rotate according to the re-determined rotation direction and rotation angle, and then performs a forward operation, and this process is repeated multiple times, if the obstacle is still located within the target interference area, the cleaning element 153 protruding from the body 110 of the self-propelled cleaning device 100 may interfere with and collide with the obstacle, potentially preventing the self-propelled cleaning device 100 from moving forward. In this case, the control module 160 can adjust the rotation direction of the cleaning element 153 to match the rotation direction of the cleaning element 153 with the rotation direction of a predetermined swivel motion. Specifically, the control module 160 can adjust the rotation direction of the cleaning element 153 by adjusting the working parameters of the motion mechanism. For example, if the predetermined rotation direction of the self-propelled cleaning device 100 is clockwise rotation relative to the main body 110, and the cleaning element 153 rotates counterclockwise, the control module 160 can rotate the motor of the motion mechanism in the opposite direction to adjust the rotation direction of the cleaning element 153 to clockwise rotation, or the control module 160 can stop the operation of the motor of the motion mechanism and stop the rotation of the cleaning element 153, that is, control the cleaning element 153 so that it does not perform any work. Subsequently, the control module 160 controls the drive unit 140 to drive the self-propelled cleaning device 100 to perform a turning operation. Thus, since the rotation direction of the cleaning element 153 is the same as the rotation direction of the turning operation of the self-propelled cleaning device 100, the cleaning element 153 provides power for the self-propelled cleaning device 100 to escape, or, since the cleaning element 153 does not rotate, the cleaning element 153 reduces the resistance when the self-propelled cleaning device 100 escapes. Furthermore, the self-propelled cleaning device 100 can smoothly disengage from the obstacle until the obstacle is out of the target interference area. This indicates that there is sufficient distance between the cleaning element 153 and the obstacle, and the self-propelled cleaning device 100 disengages from the obstacle and performs a turning operation.

[0103] Furthermore, as a refinement and extension of the specific embodiment of the above example, in order to fully explain the specific implementation process of this example, the step of controlling the self-propelled cleaning device to perform obstacle avoidance operations based on its relative position specifically includes the following steps: Step S706: After removing the obstacle from the target interference area, the self-propelled cleaning device is instructed to perform a turning operation.

[0104] If the obstacle has already moved out of the target interference area, it indicates that the distance between the cleaning element 153 and the obstacle is sufficient. At this time, the drive unit 140 is controlled to perform a rotation operation, thereby ensuring the sequential execution of the rotation operation, i.e., the cleaning element 153 does not interfere with or collide with the obstacle during the rotation operation.

[0105] Furthermore, as shown in Figure 5, as a concrete realization of the control method for the self-propelled cleaning device described above, an embodiment of the present disclosure provides a control device 500 for a self-propelled cleaning device, the self-propelled cleaning device comprising a main body and cleaning elements provided at the bottom of the main body, at least a portion of the cleaning elements located in the edge projection region of the main body, and the control device 500 for the self-propelled cleaning device comprising a determination module 510 and a control module 520.

[0106] Here, the decision module 510 is used to determine the target interference area of ​​the self-propelled cleaning device, and the control module 520 is used to control the movement of the self-propelled cleaning device based on obstacle information within the target interference area.

[0107] In this embodiment, during the travel process of the self-propelled cleaning device, the determination module 510 can determine the target interference area of ​​the self-propelled cleaning device, thereby understanding which obstacles within which area range affect the smooth travel of the self-propelled cleaning device. Consequently, the control module 520 controls the drive unit based on the obstacle information within the target interference area to drive the travel of the self-propelled cleaning device, thereby reducing or avoiding interference between the cleaning elements of the protruding body of the automatic cleaning device and obstacles, further improving the obstacle avoidance performance of the self-propelled cleaning device and improving the smoothness of the travel of the self-propelled cleaning device.

[0108] Furthermore, the body is circular, and the determination module 510 is specifically used to determine the target interference area based on the self-structure of the self-propelled cleaning device and the position of the self-propelled cleaning device in the space in which it is located, where the self-structure of the self-propelled cleaning device includes the radius of the body and the maximum distance between the outer edge located in the projection area of ​​the body edge of the cleaning element and the center of rotation of the body.

[0109] Furthermore, the control module 520 includes a relative position determination module used to determine the relative position between the obstacle and the self-propelled cleaning device when the obstacle is within the target interference area, and a processing module used to control the self-propelled cleaning device to perform obstacle avoidance operations corresponding to its movement based on the relative position.

[0110] Furthermore, the cleaning element is located at the rear of the main body, and the processing module includes a first acquisition unit used to acquire the reachable area of ​​the self-propelled cleaning device based on a map of the space in which the self-propelled cleaning device is located when an obstacle is located on one side of the self-propelled cleaning device and the self-propelled cleaning device performs a turning operation on the opposite side of the obstacle, and a first processing unit used to determine the rotation direction and rotation angle of the self-propelled cleaning device based on the reachable area, and after rotating the self-propelled cleaning device according to the rotation direction and rotation angle, perform a reversing operation to control the device so as to move the obstacle away from the target interference area.

[0111] Furthermore, the processing module further includes a reset unit used to control the self-propelled cleaning device to rotate back to its original angle and perform a turning operation.

[0112] Furthermore, multiple cleaning elements are provided symmetrically at the rear of the main body, and the processing module includes a second acquisition unit used to acquire the reachable area of ​​the self-propelled cleaning device based on a map of the space in which the self-propelled cleaning device is located when an obstacle is located behind the self-propelled cleaning device and the self-propelled cleaning device is performing a turning operation, and a second processing unit used to move the self-propelled cleaning device forward to move the obstacle away from the target interference area if the reachable area is located in front of the self-propelled cleaning device, or otherwise to determine the rotation direction and rotation angle of the self-propelled cleaning device based on the reachable area, and after rotating the self-propelled cleaning device according to the rotation direction and rotation angle, perform a forward operation to move the obstacle away from the target interference area.

[0113] Furthermore, the processing module further includes a third processing unit used to control the self-propelled cleaning device to perform a forward operation after rotating it according to the rotation direction and rotation angle, and if the obstacle is still located within the target interference area, to redetermine the rotation direction and rotation angle of the self-propelled cleaning device based on the reachable area, and to perform a forward operation after rotating the self-propelled cleaning device according to the redetermined rotation direction and rotation angle, thereby moving the obstacle out of the target interference area.

[0114] Furthermore, the processing module further includes a fourth processing unit used to control the self-propelled cleaning device to perform a pivoting operation, or to stop the rotation of the cleaning element and cause the self-propelled cleaning device to perform a pivoting operation, after the processing module has repeatedly controlled the self-propelled cleaning device to perform a pivoting operation after it has redetermined the rotation direction and angle of rotation based on the reachable area and the self-propelled cleaning device has performed a pivoting operation, if the obstacle is still located within the target interference area and the cleaning element has redetermined the rotation direction and angle of rotation based on the reachable area.

[0115] Furthermore, the processing module further includes a fifth processing unit used to cause the self-propelled cleaning device to perform a turning maneuver after the obstacle has been removed from the target interference area.

[0116] For further details regarding the correspondence of each functional module related to the control device 500 of the self-propelled cleaning device provided by the embodiments of this disclosure, please refer to the description of the embodiments of the above method, and the details will be omitted here.

[0117] Based on the above-described control method for a self-propelled cleaning device and embodiments of the control device 500 for a self-propelled cleaning device, in order to achieve the above objective, embodiments of the present disclosure further provide a self-propelled cleaning device comprising a storage medium and a processor, wherein the storage medium is used to store a computer program and the processor is used to execute the computer program and realize the control method for a self-propelled cleaning device provided by the above embodiments.

[0118] The self-propelled cleaning device may optionally further include a user interface, a network interface, a camera, a radio frequency (RF) circuit, sensors, an audio circuit, a Wi-Fi module, and the like. The user interface may include an input unit such as a display and a keyboard, and optionally further include a USB interface, a card reader interface, and the like. The network interface may optionally include a standard wired interface, a wireless interface (such as a Bluetooth interface or a Wi-Fi interface), and the like.

[0119] As those skilled in the art will understand, the structure of the self-propelled cleaning device provided by this embodiment is not a limitation of the self-propelled cleaning device, and may include more or fewer components, or combine some components, or employ different component arrangements.

[0120] In exemplary embodiments of this disclosure, the map construction method for a self-propelled cleaning device may be implemented by the self-propelled cleaning device (such as a mopping self-propelled cleaning device or a sweeping and mopping cleaning robot), that is, the self-propelled cleaning device performs each step of the control method for the self-propelled cleaning device, in which case the control device 500 for the self-propelled cleaning device may be located on the self-propelled cleaning device.

[0121] Corresponding to the method provided in the above embodiment, the embodiment of the present disclosure further provides a storage medium in which a computer program is stored, and when the program is executed by a processor, the control method of the self-propelled robot of the above embodiment is realized.

[0122] Based on this understanding, the technical solutions of the present disclosure may be embodied in the form of a software product, which is stored on a non-volatile storage medium (such as a CD-ROM, USB disk, or portable hard disk) and includes a number of instructions for causing a computer device (such as a personal computer, server, or network device) to perform the methods described in each embodiment of the present disclosure.

[0123] The storage medium further includes an operating system and a network communication module. The operating system manages and stores programs for the hardware and software resources of the computer device and supports the execution of information processing programs and other software and / or programs. The network communication module is used to enable communication between the components within the storage medium and between other hardware and software in the physical device.

[0124] As shown in Figure 6, the self-propelled robot is equipped with a processing unit 601 (e.g., a central processor, graphics processor, etc.) that performs various appropriate operations and processes based on programs stored in a read-only storage medium (ROM 602) or programs loaded from storage device 608 into a random access storage medium (RAM 603). RAM 603 also stores various programs and data necessary for operating the electronic self-propelled robot. The processing unit 601, ROM 602, and RAM 603 are connected to each other via a bus 604. The input / output (I / O) interface is also connected to bus 604.

[0125] Typically, input devices 606 such as touchscreens, touchpads, keyboards, mice, cameras, microphones, accelerometers, and gyroscopes, output devices 607 such as liquid crystal displays (LCDs), speakers, and vibrators, storage devices 608 such as hard disks, and communication devices 609 are connected to the I / O interface 605. The communication device 609 allows the electronically controlled self-propelled robot to communicate wirelessly or via wired connection with other self-propelled robots to exchange data. Figures 3 and 4 show electronically controlled self-propelled robots equipped with various devices, but it is not necessary to implement or have all of the shown devices. It is possible to implement or have more or fewer devices.

[0126] In particular, according to embodiments of the present disclosure, the process described above with reference to the flowchart can be implemented as a software program for a self-propelled robot. For example, embodiments of the present disclosure include a software program product for a self-propelled robot, which includes a computer program stored on a readable medium, the computer program including program code in the manner shown in flowchart 4. In such embodiments, the computer program may be downloaded and installed from a network via a communication device 609, or installed from a storage device 608, or installed from a ROM 602. When the computer program is executed by the processing device 601, the above-described functions as defined in the manner of embodiments of the present disclosure are performed.

[0127] Furthermore, embodiments of the present disclosure provide a self-propelled cleaning device 100 comprising a main body 110, a cleaning element 153, a drive unit, a sensing device, and a control module 160. Herein, at least a portion of the cleaning element 153 is located outside the edge projection area of ​​the main body 110, the drive unit drives the movement of the self-propelled cleaning device, the sensing device is used to sense obstacle information around the self-propelled cleaning device, and the control module 160 is used to determine a target interference area of ​​the self-propelled cleaning device based on the sensing information from the sensing device, and to control the drive unit to drive the movement of the self-propelled cleaning device based on the obstacle information within the target interference area.

[0128] Furthermore, the main body 110 is circular, the sensing device is further used to determine the position of the self-propelled cleaning device in the space where it is located, and the control module 160 is further used to determine the target interference area based on the self-structure of the self-propelled cleaning device and the position of the self-propelled cleaning device on a map of the space where it is located, where the self-structure of the self-propelled cleaning device includes the radius of the main body 110 and the maximum distance between the outer edge of the cleaning element 153 that is outside the edge projection area of ​​the main body 110 and the center of rotation of the main body 110.

[0129] Furthermore, the control module 160 is used to determine the relative position between the obstacle and the self-propelled cleaning device based on the sensing information of the sensing device, if it is determined that an obstacle exists within the target interference area based on the sensing information of the sensing device. The control module 160 is further configured to control the drive unit based on the relative position to cause the self-propelled cleaning device to perform an obstacle avoidance operation.

[0130] Furthermore, the cleaning element 153 is located behind the main body 110, and the control module 160 is further used to obtain the reachable area of ​​the self-propelled cleaning device based on a map of the space in which the self-propelled cleaning device is located, when it is determined that an obstacle is on one side of the self-propelled cleaning device based on sensing information from the sensing device, and the self-propelled cleaning device performs a turning operation on the opposite side of the obstacle, and the control module 160 is further used to determine the rotation direction and rotation angle of the self-propelled cleaning device based on the reachable area, and after controlling the drive device to rotate the self-propelled cleaning device according to the rotation direction and rotation angle, it performs a reversing operation and drives the obstacle away from the target interference area.

[0131] Furthermore, the control module 160 is used to control the drive unit and drive the self-propelled cleaning device to rotate back to its original angle and perform a turning operation.

[0132] Furthermore, multiple cleaning elements 153 are symmetrically arranged behind the main body 110, and the control module 160 is further, If an obstacle is located behind the self-propelled cleaning device and the self-propelled cleaning device is performing a turning operation, the system is configured to acquire the reachable area of ​​the self-propelled cleaning device based on a map of the space in which the self-propelled cleaning device is located, and if it is determined that the reachable area is in front of the self-propelled cleaning device based on sensing information from the sensing device, the drive unit is controlled to move the self-propelled cleaning device forward to move the obstacle away from the target interference area; otherwise, the system is configured to determine the rotation direction and rotation angle of the self-propelled cleaning device based on the reachable area, and then control the drive unit to rotate the self-propelled cleaning device according to the rotation direction and rotation angle, and then perform a forward operation to drive the device away from the target interference area.

[0133] Furthermore, the control module 160 is configured to control the self-propelled cleaning device to rotate according to the rotation direction and rotation angle and then perform a forward operation, and if it is determined based on sensing information from the sensing device that the obstacle is still located within the target interference area, to re-determine the rotation direction and rotation angle of the self-propelled cleaning device based on the reachable area, and to control the drive device to rotate the self-propelled cleaning device according to the re-determined rotation direction and rotation angle and then perform a forward operation to move the obstacle out of the target interference area.

[0134] Furthermore, the control module 160 is configured to control the drive unit to drive the self-propelled cleaning device to perform a turning operation after the obstacle has been moved out of the target interference area.

[0135] Furthermore, the self-propelled cleaning device further comprises a motion mechanism used to drive the rotation of the cleaning element 153, The control module 160 further re-determines the rotation direction and angle based on the reachable area, and after repeatedly controlling the self-propelled cleaning device to rotate according to the re-determined rotation direction and angle and then perform a forward operation, if it is determined based on sensing information from the sensing device that the obstacle is still located within the target interference area, it controls the motion mechanism until the obstacle leaves the target interference area, adjusting the rotation direction of the cleaning element 153 to match the rotation direction of the cleaning element 153 with the rotation direction of the swivel operation, or controlling the motion mechanism to stop the rotation of the cleaning element 153 and controlling the drive device to drive the self-propelled cleaning device to perform a swivel operation.

[0136] From the above description of embodiments, it will be apparent to those skilled in the art that the present disclosure may be implemented by combining software and a necessary general-purpose hardware platform, or by hardware alone.

[0137] Those skilled in the art will understand that the accompanying drawings are merely schematic diagrams of selectable embodiments, and that the units or flows in the accompanying drawings are not necessarily required to carry out the disclosure. Those skilled in the art will understand that the units in the apparatus in the embodiments may be arranged in the apparatus of the embodiments as described in the embodiment, or may be modified as necessary to be arranged in one or more apparatuses different from those of the embodiments. The units of the above embodiments may be integrated as a single unit or divided into multiple subunits.

[0138] The numbers in the above disclosure are for illustrative purposes only and do not indicate any preference for one embodiment over another. The above disclosures represent only a few specific embodiments of the disclosure, and the disclosure is not limited thereto. Modifications that a person skilled in the art could conceive of are also covered by the disclosure.

Claims

1. A control method for a self-propelled cleaning device comprising a main body and a cleaning element provided at the bottom of the main body, wherein at least a portion of the cleaning element is located outside the edge projection area of ​​the main body, The steps include determining the target interference area of ​​the self-propelled cleaning device, A method for controlling a self-propelled cleaning device, comprising the step of controlling the movement of the self-propelled cleaning device based on obstacle information within the target interference area.

2. The main body is circular, and the step of determining the target interference area of ​​the self-propelled cleaning device is: A method for controlling a self-propelled cleaning device according to claim 1, comprising determining the target interference area based on the self-structure of the self-propelled cleaning device and the position of the self-propelled cleaning device in the space in which it is located, wherein the self-structure of the self-propelled cleaning device includes the radius of the main body and the maximum distance between the outer edge of the cleaning element located outside the projection area of ​​the edge of the main body and the rotation center of the main body.

3. The step of controlling the movement of the self-propelled cleaning device based on obstacle information within the target interference area is: If there is an obstacle within the target interference area, the relative position between the obstacle and the self-propelled cleaning device is determined. A method for controlling a self-propelled cleaning device according to claim 1 or 2, comprising controlling the device to perform an obstacle avoidance operation corresponding to the self-propelled cleaning device based on the relative position.

4. The cleaning element is provided at the rear of the main body, and is controlled to perform obstacle avoidance operations corresponding to the self-propelled cleaning device based on its relative position. When the obstacle is located on one side of the self-propelled cleaning device and the self-propelled cleaning device performs a turning operation toward the opposite side of the obstacle, the reachable area of ​​the self-propelled cleaning device is obtained based on a map of the space in which the self-propelled cleaning device is located. A method for controlling a self-propelled cleaning device according to claim 3, comprising: determining the rotation direction and rotation angle of the self-propelled cleaning device based on the reachable area; rotating the self-propelled cleaning device according to the rotation direction and rotation angle; and then performing a reversing operation to control the device so as to move the obstacle away from the target interference area.

5. Controlling a self-propelled cleaning device to perform an obstacle avoidance operation corresponding to the self-propelled cleaning device based on its relative position further includes rotating the self-propelled cleaning device back to its original angle and performing the turning operation, according to claim 4.

6. Multiple cleaning elements are symmetrically arranged behind the main body, and are controlled to perform obstacle avoidance operations corresponding to the self-propelled cleaning device based on their relative positions. When the aforementioned obstacle is located behind the self-propelled cleaning device and the self-propelled cleaning device performs a turning operation, the reachable area of ​​the self-propelled cleaning device is obtained based on a map of the space in which the self-propelled cleaning device is located. A method for controlling a self-propelled cleaning device according to claim 3, comprising: if the reachable area is located in front of the self-propelled cleaning device, moving the self-propelled cleaning device forward to move the obstacle away from the target interference area; otherwise, determining the rotation direction and rotation angle of the self-propelled cleaning device based on the reachable area, rotating the self-propelled cleaning device according to the rotation direction and rotation angle, and then performing a forward operation to move the obstacle away from the target interference area.

7. Controlling the self-propelled cleaning device to perform obstacle avoidance operations based on the relative position is, A method for controlling a self-propelled cleaning device according to claim 6, further comprising: controlling the self-propelled cleaning device to perform a forward operation after rotating it according to the rotation direction and rotation angle, and if the obstacle is still located within the target interference area, redetermining the rotation direction and rotation angle of the self-propelled cleaning device based on the reachable area, and controlling the self-propelled cleaning device to perform a forward operation after rotating it according to the redetermined rotation direction and rotation angle to move the obstacle out of the target interference area.

8. Controlling the self-propelled cleaning device to perform obstacle avoidance operations based on the relative position is, A method for controlling a self-propelled cleaning device according to claim 7, further comprising: redetermining the direction and angle of rotation based on the reachable area; repeatedly controlling the self-propelled cleaning device to rotate according to the redetermined direction and angle of rotation and then perform a forward operation; and if the obstacle is still located within the target interference area, adjusting the direction of rotation of the cleaning element to match the direction of rotation of the cleaning element with the direction of rotation of the turning operation, or stopping the rotation of the cleaning element and controlling the self-propelled cleaning device to perform the turning operation, until the obstacle is out of the target interference area.

9. Controlling the self-propelled cleaning device to perform obstacle avoidance operations based on the relative position is, A method for controlling a self-propelled cleaning device according to claim 7, further comprising causing the self-propelled cleaning device to perform the turning operation after moving the obstacle away from the target interference area.

10. A control device for a self-propelled cleaning device comprising a main body and a cleaning element provided at the bottom of the main body, wherein at least a portion of the cleaning element is located outside the edge projection area of ​​the main body, A determination module configured to determine the target interference area of ​​the self-propelled cleaning device, A control device for a self-propelled cleaning device, comprising: a control module configured to control the movement of the self-propelled cleaning device based on obstacle information within the target interference area; and a control device for a self-propelled cleaning device.

11. The main body is circular, and the decision module is, A control device for a self-propelled cleaning device according to claim 10, configured to determine the target interference area based on the self-structure of the self-propelled cleaning device and the position of the self-propelled cleaning device in the space in which it is located, wherein the self-structure of the self-propelled cleaning device includes the radius of the main body and the maximum distance between the outer edge of the cleaning element located outside the edge projection area of ​​the main body and the center of rotation of the main body.

12. The control module is A relative position determination module is configured to determine the relative position between the obstacle and the self-propelled cleaning device when an obstacle is present within the target interference area. A control device for a self-propelled cleaning device according to claim 10 or 11, comprising: a processing module configured to control the self-propelled cleaning device to perform an obstacle avoidance operation corresponding to the self-propelled cleaning device based on the relative position.

13. The cleaning element is provided at the rear of the main body, and the processing module is, When the obstacle is located on one side of the self-propelled cleaning device and the self-propelled cleaning device performs a turning operation toward the opposite side of the obstacle, a first acquisition unit is configured to acquire the area reachable by the self-propelled cleaning device based on a map of the space in which the self-propelled cleaning device is located, A control device for a self-propelled cleaning device according to claim 12, comprising: a first processing unit configured to determine the rotation direction and rotation angle of the self-propelled cleaning device based on the reachable area, and after rotating the self-propelled cleaning device according to the rotation direction and rotation angle, perform a reversing operation to control the obstacle to move it away from the target interference area.

14. The aforementioned processing module is The control device for a self-propelled cleaning device according to claim 13, further comprising a reset unit configured to control the self-propelled cleaning device to rotate back to its original angle and to perform the turning operation.

15. Multiple cleaning elements are symmetrically arranged at the rear of the main body, and the processing module is When the aforementioned obstacle is located behind the self-propelled cleaning device and the self-propelled cleaning device performs a turning operation, a second acquisition unit is configured to acquire the area reachable by the self-propelled cleaning device based on a map of the space in which the self-propelled cleaning device is located, A control device for a self-propelled cleaning device according to claim 12, comprising: a second processing unit configured to move the self-propelled cleaning device forward to move the obstacle away from the target interference area if the reachable area is located in front of the self-propelled cleaning device; otherwise, to determine the rotation direction and rotation angle of the self-propelled cleaning device based on the reachable area, and to perform a forward operation after rotating the self-propelled cleaning device according to the rotation direction and rotation angle to move the obstacle away from the target interference area.

16. The aforementioned processing module is A control device for a self-propelled cleaning device according to claim 15, further comprising a third processing unit configured to control the self-propelled cleaning device to perform a forward operation after rotating the self-propelled cleaning device according to the rotation direction and rotation angle, and if the obstacle is still located within the target interference area, to redetermine the rotation direction and rotation angle of the self-propelled cleaning device based on the reachable area, and to control the self-propelled cleaning device to perform a forward operation after rotating the self-propelled cleaning device according to the redetermined rotation direction and rotation angle, thereby moving the obstacle out of the target interference area.

17. The aforementioned processing module is Control device for a self-propelled cleaning device according to claim 16, further comprising a fourth processing unit configured to adjust the rotation direction of the cleaning element to match the rotation direction of the cleaning element with the rotation direction of the turning operation, or to stop the rotation of the cleaning element and cause the self-propelled cleaning device to perform the turning operation, if the obstacle is still located within the target interference area, until the obstacle leaves the target interference area.

18. The aforementioned processing module is The control device for a self-propelled cleaning device according to claim 16, further comprising a fifth processing unit configured to cause the self-propelled cleaning device to perform the turning operation after the obstacle has been removed from the target interference area.

19. A readable storage medium in which a program or instruction is stored, wherein when the program or instruction is executed by a processor, a step of the control method for a self-propelled cleaning device according to any one of claims 1 to 9 is realized.

20. A self-propelled cleaning device comprising a storage medium, a processor, and a computer program stored in the storage medium and executable on the processor, A self-propelled cleaning device that, when the processor executes the program, realizes the control method for the self-propelled cleaning device according to any one of claims 1 to 9.

21. A self-propelled cleaning device, A main body, a cleaning element provided at the bottom of the main body and at least a portion of which is located outside the projection area of ​​the edge of the main body, A drive unit configured to drive the movement of the self-propelled cleaning device, A sensing device configured to sense obstacle information around the self-propelled cleaning device, A self-propelled cleaning device comprising: a control module configured to determine a target interference area of ​​the self-propelled cleaning device based on sensing information from the sensing device, and to control the drive device to drive the self-propelled cleaning device based on obstacle information within the target interference area.

22. The aforementioned body is circular, The sensing device is further configured to determine the position of the self-propelled cleaning device within the space in which it is located. The control module is further configured to determine the target interference area based on the self-structure of the self-propelled cleaning device and the position of the self-propelled cleaning device on a map of the spatial location of the self-propelled cleaning device determined by the sensing device, wherein the self-structure of the self-propelled cleaning device includes the radius of the body and the maximum distance between the outer edge of the cleaning element located outside the edge projection area of ​​the body and the center of rotation of the body, according to claim 21.

23. The control module is further configured to determine the relative position between the obstacle and the self-propelled cleaning device based on the sensing information of the sensing device if it is determined that an obstacle exists within the target interference area based on the sensing information of the sensing device. The self-propelled cleaning device according to claim 21 or 22, wherein the control module is further configured to drive the drive unit to perform obstacle avoidance operations corresponding to the self-propelled cleaning device based on the relative position.

24. The cleaning element is provided at the rear of the main body. The control module is further configured to acquire, based on a map of the space in which the self-propelled cleaning device is located, the reachable area of ​​the self-propelled cleaning device when it is determined, based on the sensing information of the sensing device, that the obstacle is located on one side of the self-propelled cleaning device and that the self-propelled cleaning device will perform a turning operation toward the opposite side of the obstacle. The self-propelled cleaning device according to claim 23, further comprising the control module, which determines the rotation direction and rotation angle of the self-propelled cleaning device based on the reachable area, controls the drive device to drive the self-propelled cleaning device to rotate according to the rotation direction and rotation angle, and then performs a reversing operation to move the obstacle away from the target interference area.

25. The self-propelled cleaning device according to claim 24, wherein the control module is further configured to control the drive device to drive the self-propelled cleaning device to rotate it back to its original angle and perform the turning operation.

26. Multiple cleaning elements are symmetrically arranged at the rear of the main body, and the control module further comprises, If the aforementioned obstacle is located behind the self-propelled cleaning device and the self-propelled cleaning device is performing a turning operation, the reachable area of ​​the self-propelled cleaning device is obtained based on a map of the space in which the self-propelled cleaning device is located. The self-propelled cleaning device according to claim 23, wherein, based on the sensing information of the sensing device, it is determined that the reachable area is located in front of the self-propelled cleaning device, the drive device is controlled to move the self-propelled cleaning device forward to move the obstacle away from the target interference area, and otherwise, the rotation direction and rotation angle of the self-propelled cleaning device are determined based on the reachable area, the drive device is controlled to drive the self-propelled cleaning device to rotate according to the rotation direction and rotation angle, and then a forward operation is performed to move the obstacle away from the target interference area.

27. The control module further, The self-propelled cleaning device according to claim 26, wherein after controlling the self-propelled cleaning device to rotate according to the rotation direction and rotation angle and then perform a forward operation, if it is determined based on sensing information from the sensing device that the obstacle is still located within the target interference area, the rotation direction and rotation angle of the self-propelled cleaning device are re-determined based on the reachable area, the drive device is controlled to drive the self-propelled cleaning device to rotate according to the re-determined rotation direction and rotation angle and then perform a forward operation to move the obstacle away from the target interference area.

28. The control module further, The self-propelled cleaning device according to claim 27, wherein the drive unit is controlled to drive the self-propelled cleaning device to perform the turning operation after the obstacle has been removed from the target interference area.

29. The system further comprises a motion mechanism configured to drive the rotation of the cleaning element, The control module further, The self-propelled cleaning device according to claim 27, wherein the rotation direction and rotation angle are redetermined based on the reachable area, and the self-propelled cleaning device is controlled to perform a forward operation after rotating according to the redetermined rotation direction and rotation angle, and after this process is repeated multiple times, if it is determined based on the sensing information of the sensing device that the obstacle is still located within the target interference area, the motion mechanism is controlled to adjust the rotation direction of the cleaning element to match the rotation direction of the cleaning element with the rotation direction of the turning operation, or the motion mechanism is controlled to stop the rotation of the cleaning element, and the drive device is controlled to drive the self-propelled cleaning device to perform the turning operation.

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