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

Abstract

Embodiments of the present disclosure provide a self-propelled cleaning device and a control method, apparatus, and storage medium thereof. The device comprises 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 method includes the steps of determining whether the self-propelled cleaning device is in a confined area, and, if the self-propelled cleaning device is in a confined area, controlling the self-propelled cleaning device to perform an obstacle avoidance operation.

Description

Related Application

[0001] This application was filed with the China National Intellectual Property Administration on March 15, 2023, claiming priority to a Chinese patent application with application number 202310252611.4 and 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 traveling 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] (1) Purpose of the Application The purpose of this application is to provide a self-propelled cleaning device, its control method, device, and storage medium.

Means for Solving the Problems

[0005] (2) 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 of the self-propelled cleaning device comprising the steps of determining whether the self-propelled cleaning device is in a narrow area, and when the self-propelled cleaning device is in a narrow area, controlling the self-propelled cleaning device to perform an obstacle avoidance operation.

[0006] In some embodiments, the cleaning element is located at the rear of the main body, and the step of determining whether the self-propelled cleaning device is in a confined area includes determining that the self-propelled cleaning device is in a confined area if, when the self-propelled cleaning device performs a turning operation, the cleaning element is in a first position and the self-propelled cleaning device is in a first position in the space in which it is located.

[0007] In some embodiments, the self-propelled cleaning device is equipped with a sensing device, and the step of determining that the self-propelled cleaning device is in a first position in the space in which it is located includes at least one of the following methods: The trigger member located at the front of the main body of the sensing device is triggered. The first detection member located on the main body of the sensing device detects that there is a cliff feature in front of the main body. The second detection member located on the main body of the sensing device detects that the distance between the main body and an obstacle in front of the main body is less than a preset threshold.

[0008] In some embodiments, the step of determining whether the cleaning element is in a first position is to determine whether the cleaning element is in a first position based on electrical signal information of the drive member of the cleaning element, where the electrical signal information of the drive member changes when the cleaning element comes into contact with an obstacle.

[0009] In some embodiments, the body is circular, and the step of determining whether the cleaning element is in a first position includes determining whether the cleaning element is in a first position based on the body radius, the maximum distance between the outer edge of the cleaning element located in the edge projection area of ​​the body and the center of rotation of the body, and the distance between the obstacle and the body.

[0010] In some embodiments, the step of controlling a self-propelled cleaning device to perform an obstacle avoidance operation includes, optionally, obtaining a 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 direction and angle of rotation of the self-propelled cleaning device based on the reachable area; controlling the self-propelled cleaning device to rotate according to the direction and angle of rotation, then perform a reverse operation to move the self-propelled cleaning device out of a confined area, and then perform a turning operation.

[0011] In some embodiments, the step of controlling the self-propelled cleaning device to perform an obstacle avoidance operation further includes, if the self-propelled cleaning device performs a turning operation and the self-propelled cleaning device is again located within the confined area, controlling the self-propelled cleaning device to perform an obstacle escape operation multiple times until the self-propelled cleaning device completes the turning operation, wherein the obstacle escape operation includes controlling the self-propelled cleaning device to redetermine the direction and angle of rotation of the self-propelled cleaning device based on the reachable area, rotate the self-propelled cleaning device according to the redetermined direction and angle of rotation, then perform a reverse operation to move the self-propelled cleaning device out of the confined area again, and then perform a turning operation again.

[0012] In some embodiments, the step of controlling a self-propelled cleaning device to perform an obstacle avoidance operation may optionally include, if the self-propelled cleaning device has performed an obstacle avoidance operation multiple times and the self-propelled cleaning device is still located within a confined area, adjusting the rotation direction of the cleaning element to match the rotation direction of the cleaning element with the rotation direction of the swivel operation, or controlling the self-propelled cleaning device to perform a swivel operation until the rotation of the cleaning element is stopped and the self-propelled cleaning device is out of the confined area.

[0013] A second aspect of this disclosure provides a control device 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, the control device for the self-propelled cleaning device comprising a determination module configured to determine whether the self-propelled cleaning device is in a confined area, and a control module configured to control the self-propelled cleaning device to perform an obstacle avoidance operation if the self-propelled cleaning device is in a confined area.

[0014] In some embodiments, the cleaning element is located at the rear of the main body, and the determination module is configured to determine that the self-propelled cleaning device is in a confined area if it determines that the cleaning element is in a first position and the self-propelled cleaning device is in a first position in the space in which it is located when the self-propelled cleaning device performs a turning operation.

[0015] In some embodiments, the self-propelled cleaning device is equipped with a sensing device, and the determination module includes a first determination unit configured to determine that the self-propelled cleaning device is in a first position in the space in which it is located by at least one of the following methods: a trigger member located at the front of the body of the sensing device is triggered; a first detection member on the body of the sensing device detects that there is a cliff feature in front of the body; and a second detection member on the body of the sensing device detects that the distance between the body and an obstacle in front of the body is less than a preset threshold.

[0016] In some embodiments, the determination module is optionally configured to determine whether the cleaning element is in a first position based on electrical signal information from the driving member of the cleaning element. The system includes a determination unit, in which the electrical signal information of the drive member changes when the cleaning element comes into contact with an obstacle.

[0017] In some embodiments, the body is circular, and the determination module includes a third determination unit configured to determine whether the cleaning element is in a first position based on the body radius, the maximum distance between the outer edge of the cleaning element located in the projected area of ​​the body's edge and the center of rotation of the body, and the distance between the obstacle and the body.

[0018] In some embodiments, the control module may optionally include: an 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; and a first processing unit configured to determine the rotation direction and angle of the self-propelled cleaning device based on the reachable area, rotate the self-propelled cleaning device according to the rotation direction and angle, then perform a reversing operation to move the self-propelled cleaning device out of the confined area, and then perform a turning operation.

[0019] Optionally, in some embodiments, the control module further includes a second processing unit configured to control the self-propelled cleaning device to perform multiple obstacle removal operations until the self-propelled cleaning device completes a turning operation, if the self-propelled cleaning device is again located within a confined area after performing a turning operation, wherein the obstacle removal operation includes controlling the device to redetermine the direction and angle of rotation of the self-propelled cleaning device based on an reachable area, rotate the self-propelled cleaning device according to the redetermined direction and angle of rotation, then perform a reversing operation to move the self-propelled cleaning device out of the confined area again, and then perform a turning operation again.

[0020] In some embodiments, the control module may optionally include a third processing unit configured to adjust the rotation direction of the cleaning element to match the rotation direction of the swivel operation if the self-propelled cleaning device is still located within the confined area after it has repeatedly performed obstacle removal operations, or to stop the rotation of the cleaning element and cause the self-propelled cleaning device to perform a swivel operation until it is out of the confined area.

[0021] 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.

[0022] 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.

[0023] The fifth aspect of the present disclosure provides a self-propelled cleaning device, which includes a main body, a cleaning element provided at the bottom of the main body and at least a part of which is located in the edge projection area of the main body, a driving device configured to drive the self-propelled cleaning device to travel, and a control module configured to determine whether the self-propelled cleaning device is in a narrow area, and when the self-propelled cleaning device is in a narrow area, control the driving device to drive the self-propelled cleaning device to perform an obstacle avoidance operation.

[0024] Optionally, in some embodiments, the control module is further configured to determine that the self-propelled cleaning device is in a narrow area when the cleaning element is in the first posture and the self-propelled cleaning device is at the first position in the location space when the self-propelled cleaning device performs a turning operation.

[0025] Optionally, in some embodiments, the self-propelled cleaning device includes a sensing device configured to determine that the self-propelled cleaning device is at the first position in the location space by at least one of the following methods: a trigger member at the front of the main body of the sensing device is triggered, a first detection member on the main body of the sensing device detects that there is a cliff feature in front of the main body, and a second detection member on the main body of the sensing device detects that the distance between the main body and an obstacle in front of the main body is less than a preset threshold.

[0026] Optionally, in some embodiments, the self-propelled cleaning device further includes a drive member configured to drive the cleaning element to rotate, and a sensing device configured to detect the electrical signal information of the drive member. The control module is further configured to determine whether the cleaning element is in the first posture based on the detection information of the sensing device. Here, when the cleaning element contacts an obstacle, the electrical signal information of the drive member changes.

[0027] Optionally, in some embodiments, the main body is circular, and the self-propelled cleaning device further includes a sensing device configured to detect the distance between the obstacle and the main body. The control module is further configured to determine whether the cleaning element is in the first posture based on the main body radius, 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, and the detection information of the sensing device.

[0028] Optionally, in some embodiments, the control module further obtains the reachable area of the self-propelled cleaning device based on the map of the space where the self-propelled cleaning device is located, 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, then executes a reverse operation, and after the self-propelled cleaning device leaves the narrow area, executes a turning operation.

[0029] Optionally, in some embodiments, when the self-propelled cleaning device is located in the narrow area again even though the self-propelled cleaning device executes a turning operation, the control module is configured to control the drive device to repeatedly execute the obstacle detachment operation on the self-propelled cleaning device multiple times until the turning operation of the self-propelled cleaning device is completed. Here, the obstacle detachment operation includes re-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 re-determined rotation direction and rotation angle, then executing a reverse operation, and after the self-propelled cleaning device leaves the narrow area again, executing a turning operation again.

[0030] In some embodiments, the control module is further configured to control the drive member of the cleaning element to adjust the rotation direction of the cleaning element so that the rotation direction of the cleaning element matches the rotation direction of the swivel operation if the self-propelled cleaning device is still located within the confined area after it has repeatedly performed obstacle removal operations, or to control the drive member of the cleaning element to stop the rotation of the cleaning element and to control the drive member to cause the self-propelled cleaning device to perform a swivel operation until the self-propelled cleaning device is out of the confined area.

[0031] (3) Technical effects The above technical solution of this application has the following technical effects. The technical solution of this application determines whether a self-propelled cleaning device can smoothly pass through a confined area by determining whether the self-propelled cleaning device is in that area. If it is determined that the self-propelled cleaning device is in a confined area, it indicates that the cleaning elements will interfere with an obstacle, preventing the self-propelled cleaning device from moving forward, or that the distance the self-propelled cleaning device can move forward is short, preventing the cleaning elements from disengaging from the obstacle, meaning that the self-propelled cleaning device cannot directly perform a turning operation within the confined area. Therefore, by controlling the self-propelled cleaning device to perform an obstacle avoidance operation, the self-propelled cleaning device is moved out of the confined area, reducing or avoiding the possibility of re-interference or continuous interference between the cleaning elements of the self-propelled cleaning device and the obstacle, and enabling the self-propelled cleaning device to turn. This can improve the smoothness of operation. [Brief explanation of the drawing]

[0032] 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,

[0033] [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]

[0034] 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 Judgment 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]

[0035] In the following explanation, to better understand the technical solutions provided by this disclosure, Several specific details are provided. However, it will be obvious to those skilled in the art that the technical solutions provided in this disclosure can be implemented even if one or more of these details are omitted.

[0036] 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.

[0037] 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.

[0038] 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.

[0039] As shown in Figures 1 and 2, the self-propelled cleaning device 100 comprises a mobile platform, a sensing device 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.

[0040] 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.

[0041] As shown in Figures 1 and 2, the sensing device 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 equipment. For example, the self-propelled cleaning device 100 uses a gyroscope to clean the cleaning robot The system can detect whether the robot is moving. For example, a gyroscope is a three-axis gyroscope, and based on the changes in acceleration of the three-axis gyroscope, it can determine whether the cleaning robot is moving. Alternatively, the self-propelled cleaning device 100 can use wheel sensors to determine whether the cleaning robot is rotating.

[0042] 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.

[0043] 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."

[0044] 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.

[0045] Each component in the sensing device 120 can operate independently or work together to more accurately achieve its intended function. By using a visual sensor and a laser sensor to identify the surface to be cleaned, and by specifying the physical characteristics of the surface to be cleaned, such as the surface material and the degree of cleaning required, a more accurate determination can be made by combining the visual sensor, laser sensor, etc.

[0046] 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.

[0047] 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 device 120. Furthermore, the control module 160 can determine whether to start the cleaning operation of the cleaning module based on the environmental information and the environmental map. .

[0048] 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. 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.

[0049] 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.

[0050] 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.

[0051] 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.

[0052] 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.

[0053] 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.

[0054] 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.

[0055] 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.

[0056] 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.

[0057] 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.

[0058] Because at least a portion of the cleaning element 153 protrudes from the main body 110, if the self-propelled cleaning device 100 reaches a narrow area during its travel, the main body 110 of the self-propelled cleaning device 100 may not come into contact with the obstacle, but the cleaning element 153 may come into contact with the obstacle and interfere with it. This could prevent the cleaning element from directly performing a turning operation, potentially affecting the smooth operation of the self-propelled cleaning device 100.

[0059] In view of this, embodiments of the present disclosure provide a method for controlling a self-propelled cleaning device, which, as shown in Figure 4, includes the following steps: Step S401: Determine whether the self-propelled cleaning device is in a constricted area. Step S402: If the self-propelled cleaning device is in a confined area, control the self-propelled cleaning device to perform an obstacle avoidance operation.

[0060] 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.

[0061] Here, a constricted area refers to an area within the space where the self-propelled cleaning device 100 is located that may hinder the smooth movement of the self-propelled cleaning device 100. For example, if the self-propelled cleaning device 100 is in a constricted area, the main body 110 of the self-propelled cleaning device 100 may not come into contact with an obstacle, but some cleaning elements 153 protruding from the main body 110 of the self-propelled cleaning device 100 may come into contact with an obstacle. As a result, the self-propelled cleaning device 100 may not be able to perform operations such as turning or changing direction directly, and consequently affect the smooth movement of the self-propelled cleaning device 100. Therefore, determining whether the self-propelled cleaning device 100 is in a constricted area while it is in motion is the basis for determining whether the self-propelled cleaning device 100 can pass through the area smoothly.

[0062] In a specific embodiment, as shown in Figure 2, the cleaning element 153 is located at the rear of the main body, where the number of cleaning elements 153 may be one, two, or more. In the self-propelled cleaning device 100 shown in Figure 2, there are two cleaning elements 153, and the two cleaning elements 153 are arranged symmetrically along the left-right direction of the self-propelled cleaning device 100, with the front, rear, left, and right directions of the self-propelled cleaning device 100 indicated by the arrows in Figure 2. Here, the step of determining whether the self-propelled cleaning device is in a confined area includes the following: When a self-propelled cleaning device performs a turning operation, if it is determined that the cleaning element is in a first position and the self-propelled cleaning device is in a first position in the space in which it is located, then it is determined that the self-propelled cleaning device is in a confined area.

[0063] Here, the fact that the cleaning element 153 is in the first position indicates that the cleaning element 153 will collide with and interfere with an obstacle. Specifically, the portion of the cleaning element 153 that protrudes from the main body 110 will interfere with and contact the obstacle, while the main body 110 will not interfere with the obstacle. Furthermore, 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 the center of rotation of the main body 110. 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 the center of rotation of the main body 110 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 distance between the obstacle and the rotation center of the main body 110 is between r1 and r2, or if the self-propelled cleaning device reaches a narrow area having a width between 2r1 and 2r2, it may become impossible to rotate, and it may be necessary to perform other actions to move the self-propelled cleaning device 100 out of the narrow area.

[0064] Here, when the self-propelled cleaning device 100 is in a first position in the space in which it is located, its forward movement may be hindered. Specifically, this refers to a situation where the self-propelled cleaning device 100 cannot move forward, or even if the self-propelled cleaning device 100 moves forward, it cannot be guaranteed that the cleaning element 153 of the self-propelled cleaning device 100 will disengage from the obstacle. For example, if the distance the self-propelled cleaning device 100 can move forward is short, and even if the self-propelled cleaning device 100 moves that distance, the cleaning element 153 may interfere with the obstacle, meaning that it cannot perform a smooth turning operation.

[0065] Therefore, when the self-propelled cleaning device 100 performs a turning operation, if the cleaning element 153 is in a first position and the self-propelled cleaning device 100 is in a first position in the space in which it is located, and the cleaning element 153 interferes with an obstacle, preventing the self-propelled cleaning device 100 from moving forward, or if the distance the self-propelled cleaning device 100 can move forward does not guarantee that the cleaning element 153 will be free from the obstacle, then it can be determined that the self-propelled cleaning device 100 is in a constricted area. Note that if the self-propelled cleaning device 100 is in a constricted area, it cannot perform a turning operation directly.

[0066] Therefore, if the control module 160 determines that the self-propelled cleaning device 100 is in a narrow area, it controls the drive unit to cause the self-propelled cleaning device 100 to perform an obstacle avoidance operation. The mechanism drives the self-propelled cleaning device 100 to smoothly disengage from the confined area, reducing or avoiding the possibility of the cleaning element 153 of the self-propelled cleaning device 100 interfering with an obstacle again, and mitigating the possibility of the self-propelled cleaning device 100 getting stuck in the confined area and being unable to move smoothly, thereby enabling smooth turning operations of the self-propelled cleaning device 100.

[0067] Furthermore, if it is determined that the self-propelled cleaning device 100 is not located within a constricted area, it means that the self-propelled cleaning device 100 can smoothly turn within that area, and that area does not affect the smooth movement of the self-propelled cleaning device 100.

[0068] In other words, the control method for a self-propelled cleaning device provided in the embodiments of this disclosure determines whether the self-propelled cleaning device 100 can smoothly pass through a confined area by checking whether the self-propelled cleaning device 100 is in a confined area. If it is determined that the self-propelled cleaning device 100 is in a confined area, the cleaning element 153 may interfere with an obstacle, preventing the self-propelled cleaning device 100 from moving forward, or the forward distance of the self-propelled cleaning device 100 may be short, making it impossible to guarantee that the cleaning element 153 will disengage from the obstacle. In other words, the self-propelled cleaning device 100 cannot directly perform a turning operation within the confined area. Therefore, the self-propelled cleaning device 100 is controlled to perform an obstacle avoidance operation and move out of the confined area, thereby reducing or avoiding the possibility of the cleaning element 153 of the self-propelled cleaning device 100 interfering with an obstacle again or continuously interfering, and improving the smoothness of the turning operation of the self-propelled cleaning device 100.

[0069] Furthermore, as a miniaturization and expansion of the specific embodiment described above, in order to fully explain the specific implementation process of this embodiment, it is possible to determine that the self-propelled cleaning device is in a first position in the space in which it is located by at least one of the following methods.

[0070] (1) The trigger member located on the front of the main body of the sensing device is triggered. In this embodiment, the sensing device 120 includes a trigger member, which is provided on the front of the main body 110 and is configured to be triggered when the front of the main body collides with an obstacle. The trigger member may be a collision sensor, a short-range sensor, or another structure that satisfies the requirements, provided on the buffer 122 of the front portion 111 of the main body 110. When the trigger member is triggered, it indicates that the self-propelled cleaning device has collided with an obstacle during its forward movement. For example, when the buffer in front of the main body 110 of the self-propelled cleaning device collides with a wall, the operation of the collision sensor is triggered. Therefore, when the trigger member is triggered, the forward movement of the self-propelled cleaning device 100 is hindered, and the self-propelled cleaning device 100 cannot perform a forward operation. Thus, when the trigger member is triggered, it can be determined that the self-propelled cleaning device 100 is in a first position in its space.

[0071] (2) The first detection member located on the main body of the sensing device detects that there is a cliff feature in front of the main body.

[0072] In this embodiment, a cliff feature refers to a dangerous situation with a difference in height in the environmental scene where the self-propelled cleaning device 100 is located. Cliff features may include steps at the edge of the area of ​​the space in which it is located, stair railings, stair fences, etc. When the first detection member in the sensing device 120 detects that there is a cliff feature such as a step, stair railing, or stair fence in front of the main body 110, it indicates that the forward movement of the self-propelled cleaning device 100 is hindered and the self-propelled cleaning device 100 cannot perform a forward operation. Therefore, when the first detection member detects that there is a cliff feature in front of the main body 110, it can be determined that the self-propelled cleaning device 100 is in a first position in the space in which it is located.

[0073] In one specific example, the first detection member may be an infrared sensor, and an infrared detection signal is transmitted from the first detection member to the ground within a predetermined range, and the intensity of the reflected light from the ground within the predetermined range is determined based on the feedback signal of the received infrared detection signal, and the reflected light intensity is the standard reflected light intensity If within the range, it is determined that cliff features have been detected within a predetermined range in front of the main body of the self-propelled cleaning device.

[0074] Specifically, the ground reflected light intensity affects the infrared sensor, and cliffs are determined by detecting the change in infrared radiation energy. For example, a feedback signal with a high reflected light intensity is clearly larger than a feedback signal with a low reflected light intensity at the same distance. The ground reflected light intensity depends on the ground surface shape, material, and the distance between the ground and the detector, and the standard reflected light intensity range is reasonably set according to different materials with flat surface conditions, with different materials corresponding to different standard reflected light intensity ranges. Users can pre-set the ground material at cliff locations and determine the standard reflected light intensity range for identifying cliffs.

[0075] In another specific example, the first detection member is a color detection device that acquires the color of the ground, and if the color of the ground matches a preset color, it can be determined that the self-propelled cleaning device has detected cliff features within a predetermined range. Here, the user can pre-set the ground material of the cliff location and determine a preset color for identifying the cliff.

[0076] The first detection member may also be an image acquisition device. If the image acquisition device acquires image features of the stair railing, stair handrail, or step difference of the stairs in front of the main body, it is determined that there is a cliff feature in front of the main body 110 of the self-propelled cleaning device 100. Alternatively, the first detection member may be any other device that satisfies the requirements, and not all such devices are listed in this disclosure.

[0077] (3) The second detection member located on the main body of the sensing device detects that the distance between the main body and an obstacle in front of the main body is less than a preset threshold.

[0078] In this embodiment, the second detection member may be 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 main body 110 and an obstacle in front of the main body 110. When the second detection member detects that the distance between the main body 110 and the obstacle in front of the main body 110 is less than a preset threshold, it indicates that the distance the self-propelled cleaning device 100 can advance from its current position is short. Even if the self-propelled cleaning device 100 advances that distance, the cleaning elements will still interfere with the obstacle and will not be able to disengage from it, preventing the self-propelled cleaning device 100 from smoothly turning. Therefore, when the second detection member detects that the distance between the main body 110 and the obstacle in front of the main body 110 is less than a preset threshold, it can determine that the self-propelled cleaning device 100 is in the first position in the space in which it is located.

[0079] Please note that other sensors in the sensing device 120 may also be used to detect the distance between the main unit 110 and any obstacles in front of it.

[0080] Furthermore, as a miniaturization and expansion of the specific embodiment described above, in order to fully explain the specific implementation process of this embodiment, it is possible to determine that the cleaning element is in the first position by at least one of the following methods.

[0081] (1) Based on the electrical signal information of the drive member of the cleaning element, it is determined whether the cleaning element is in a first position, and when the cleaning element comes into contact with an obstacle, the electrical signal of the drive member changes.

[0082] In this embodiment, the drive member of the cleaning element 153 may be a motor, and the drive member is used to drive the cleaning element 153 to rotate. Here, the electrical signal information of the drive member may be motor current information, motor voltage information, etc. When the cleaning element 153 collides with an obstacle, the electrical signal of the drive member changes, and for example, the motor current increases. Therefore, by determining the change situation of the electrical signal information of the driving member, it is possible to determine whether the cleaning element 153 of the self-propelled cleaning device 100 is in the first posture.

[0083] In an actual use scenario, the sensing device 120 of the self-propelled cleaning device 100 may include a current sensor. The current sensor is used to detect the current information of the driving member. Therefore, the control module 160 can determine whether the cleaning element 153 of the self-propelled cleaning device 100 is in the first posture based on the change situation of the detection information of the current sensor.

[0084] (2) Determine whether the cleaning element is in the first posture based on the body radius, the maximum distance between the outer edge located in the edge projection area of the body of the cleaning element and the rotation center of the body, and the distance between the obstacle and the body.

[0085] In this embodiment, as shown in FIG. 3, the body is circular, the radius of the body 110 is r1, r1 represents the distance between the outer edge of the body 110 and the rotation center of the body 110, and the maximum distance between the outer edge outside the edge projection area of the body 110 of the cleaning element 153 and the rotation center of the body 110 is r2. r1 and r2 are concentric, and r1 < r2. When the distance between the obstacle and the body is smaller than r2 - r1, it indicates that the obstacle is not currently in contact with the body 110 and is not in contact with the cleaning element 153 either. However, since at least a part of the cleaning element 153 in the embodiment of the present disclosure protrudes from the body 110, when the self-propelled cleaning device 100 continues to travel, for example, when the self-propelled cleaning device 100 performs a turning operation, there is a problem that the cleaning element 153 interferes with and collides with the obstacle, which in turn affects the smooth running of the self-propelled cleaning device 100. Or, when the distance between the obstacle and the body 110 is smaller than r2 - r1, although the obstacle is not currently in contact with the body 110, there is a possibility that the obstacle is in contact with the cleaning element 153, which in turn affects the smooth turning operation of the self-propelled cleaning device 100. Therefore, based on the body radius r1, the maximum distance r2 between the outer edge located in the edge projection area of the body of the cleaning element 153 and the rotation center of the body 110, and the distance between the obstacle and the body, it is possible to accurately determine whether the cleaning element is in the first posture.

[0086] In actual use, after the self-propelled cleaning device 100's structure is determined, the body radius is also determined, and the maximum distance between the outer edge of the cleaning element 153, which is outside the edge projection area of ​​the body 110, and the rotation center of the body 110 is also determined. The sensing device 120 of the self-propelled cleaning device 100 includes a laser rangefinder located on the top of the body 110 of the self-propelled cleaning device 100, which can detect the distance between the self-propelled cleaning device 100 and surrounding obstacles, and further determine the distance between the obstacles and the body 110. It should be understood that the distance between the body and surrounding obstacles may also be measured through other sensors of the sensing device 120. Therefore, the control module 160 can determine whether the cleaning element 153 of the self-propelled cleaning device 100 is in a first position based on the self-propelled cleaning device 100's structure and the detection information of the sensing device 120.

[0087] It should be noted that the sensing device 120 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 within the spatial map.

[0088] 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 self-propelled cleaning device to perform an obstacle avoidance operation includes the following: Step S501: Based on the map of the space where the self-propelled cleaning device is located, obtain the reachable area of ​​the self-propelled cleaning device. Step S502: Determine the rotation direction and rotation angle of the self-propelled cleaning device based on the reachable area, and control the self-propelled cleaning device to rotate according to the rotation direction and rotation angle, After performing a retraction operation to move the self-propelled cleaning device out of the confined area, a turning operation is performed.

[0089] 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.

[0090] 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. The control module 160 controls the drive unit 140 to rotate the self-propelled cleaning device 100 and then drive it to perform a reverse operation, moving the self-propelled cleaning device away from the confined area. At this time, the cleaning element 153 that previously came into contact with and collided with the obstacle is now away from the obstacle, meaning that the cleaning element 153 is separated from the obstacle, and a certain safety distance is ensured between the cleaning element 153 and the obstacle. This provides a certain amount of space for the self-propelled cleaning device 100 to perform its turning operation smoothly. Therefore, after the self-propelled cleaning device 100 leaves the confined area, the drive unit 140 of the self-propelled cleaning device 100 is controlled to drive the self-propelled cleaning device 100 to perform a turning operation. This reduces or avoids the possibility of the cleaning element 153 of the protruding body 110 colliding with an obstacle again or continuously interfering with it during the turning operation of the self-propelled cleaning device 100, thereby improving the smoothness of the turning operation of the self-propelled cleaning device 100.

[0091] In other embodiments, after the self-propelled cleaning device 100 rotates according to a rotation direction and rotation angle determined based on a map of reachable areas, the reversing distance during the reversing operation may be a fixed value or a fixed range, that is, the reversing operation stops after the self-propelled cleaning device 100 has reversed a fixed distance or a fixed range. Here, if the reversing distance is a fixed value, the fixed value of the reversing distance may be 4 cm, 5 cm, 6 cm, or other values, and if the reversing distance is a fixed range, the fixed range of the reversing distance may be 4 cm to 6 cm, 5 cm to 7 cm, 5 cm to 8 cm, or other ranges. Specifically, the reversing distance of the fixed value and the reversing distance of the fixed range may be set as needed, or may be set based on empirical values. For example, the retraction distance may be set to a fixed value based on the structure of the self-propelled cleaning device 100, or it may be set to a distance that the cleaning element 153 of the self-propelled cleaning device 100 protrudes from the main body 110. After the self-propelled cleaning device 100 rotates according to the rotation direction and rotation angle determined based on the map it can reach, and then retracts by the fixed retraction distance, the cleaning element 153 that previously interfered with the obstacle is already separated from the obstacle, and a certain safety distance is secured between the cleaning element 153 and the obstacle. This provides a certain working space for the turning operation of the self-propelled cleaning device 100, allowing the self-propelled cleaning device 100 to perform the turning operation smoothly.

[0092] Furthermore, as a further refinement 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 self-propelled cleaning device to perform an obstacle avoidance operation further includes the following: Step S503: Even if the self-propelled cleaning device performs a turning operation, the self-propelled cleaning device will not narrow again. If positioned within the area, the self-propelled cleaning device is controlled to repeatedly perform obstacle removal operations until it completes a turning operation. In this operation, the direction and angle of rotation of the self-propelled cleaning device are re-determined based on the reachable area, and the device is controlled to rotate according to the re-determined direction and angle of rotation. After that, a reverse operation is performed to move the self-propelled cleaning device out of the confined area again, and then a turning operation is performed again.

[0093] 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, then, after moving backward a certain distance, if the self-propelled cleaning device 100 is again positioned within the narrowed area during the process of the self-propelled cleaning device 100's turning operation, the cleaning element 153 may collide with the obstacle again, preventing the self-propelled cleaning device 100 from moving forward, or the distance it can move forward is too small, preventing the cleaning element 153 from disengaging from the obstacle, which affects the smoothness of the turning operation of the self-propelled cleaning device 100, meaning that the self-propelled cleaning device 100 may not be able to complete the turning operation.

[0094] Therefore, under these circumstances, the control module 160 can control the drive unit 140 to drive the self-propelled cleaning device 100 to perform an obstacle removal operation. Specifically, the obstacle removal operation determines the rotation direction and rotation angle of the self-propelled cleaning device 100 again based on the reachable area, the current position of the self-propelled cleaning device 100, the drive unit 140 by the control module 160 to drive the self-propelled cleaning device 100 to rotate according to the rotation direction and rotation angle re-determined based on the reachable area, and then controls the drive unit 140 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, smooth reverse movement 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 process can be reduced. The control module 160 controls the drive unit 140 to drive the self-propelled cleaning device 100 to move backward until the self-propelled cleaning device 1000 is once again away from the constricted area, that is, once the cleaning element 153 that previously contacted and collided with the obstacle has moved away from the obstacle and a certain safe distance has been secured between the cleaning element 153 and the obstacle, at which point the control module 160 controls the drive unit 140 to drive the self-propelled cleaning device 100 to perform a turning operation again, thereby further reducing or avoiding the possibility of the cleaning element 153 interfering with and colliding with the obstacle again or continuously.

[0095] Here, if the self-propelled cleaning device 100 performs a turning operation again and the self-propelled cleaning device 100 is again positioned within the constricted area, the control module 160 can control the drive unit 140 to drive the self-propelled cleaning device 100 to perform an obstacle removal operation again. If the self-propelled cleaning device 100 is again positioned within the constricted area due to a turning operation during the process of the self-propelled cleaning device 100 performing an obstacle removal operation again, the control module 160 can control the drive unit 140 to drive the self-propelled cleaning device 100 to perform an obstacle removal operation again. In this way, the self-propelled cleaning device 100 can be made to repeatedly perform the obstacle removal operation multiple times until the turning operation is completed.

[0096] The term "multiple repetitions" may refer to two, three, or any other number of times, and this disclosure does not specifically limit this. Furthermore, after the self-propelled cleaning device 100 rotates according to the rotation direction and rotation angle determined based on the reachable map, the reversal distance during the reversal operation may be a fixed value or a fixed range. For example, after the self-propelled cleaning device 100 rotates and reverses by a fixed distance, for example, 5 cm, a turning operation is performed, and when the self-propelled cleaning device 100 is again positioned within the narrowed area, it rotates according to the rotation direction and rotation angle determined based on the reachable area, then performs another reversal operation, reverses by another fixed distance, then performs a turning operation, for example, reversing by 5 cm, and repeats the same procedure.

[0097] 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 following steps are specifically included when controlling the self-propelled cleaning device according to its relative position to perform the corresponding obstacle avoidance operation: Step S504: If the self-propelled cleaning device is still located within the confined area after it has repeatedly performed obstacle removal operations, the rotation direction of the cleaning element is adjusted so that the rotation direction of the cleaning element matches the rotation direction of the swivel operation, or the rotation of the cleaning element is stopped and the self-propelled cleaning device is controlled to perform a swivel operation until it leaves the confined area.

[0098] In this embodiment, if the self-propelled cleaning device 100 is still located within a confined area after the control module 160 controls the drive unit 140 to drive the self-propelled cleaning device 100 to repeatedly perform obstacle removal operations, interference and collision between the cleaning element 153 protruding from the main body 110 of the self-propelled cleaning device 100 and the obstacle may hinder the turning operation of the self-propelled cleaning device 100. 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 the swivel operation. Specifically, the control module 160 adjusts the rotation direction of the cleaning element 153 by adjusting the working parameters of the motion mechanism. For example, if the swivel operation of the self-propelled cleaning device 100 rotates clockwise relative to the main body 110, and the cleaning element 153 rotates counterclockwise, the control module 160 can rotate the motor of the drive member in the opposite direction to adjust the rotation direction of the cleaning element 153 to clockwise, or the control module 160 can stop the operation of the motor of the drive member 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. In this way, 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 escape of the self-propelled cleaning device 100. Alternatively, since the cleaning element 153 does not rotate, the cleaning element 153 reduces the escape resistance of the self-propelled cleaning device 100, further enabling the self-propelled cleaning device 100 to escape from the confined area. Once the self-propelled cleaning device 100 has left the confined area, it can continue to perform the turning operation.

[0099] Furthermore, when the self-propelled cleaning device 100 rotates counterclockwise relative to the main body 110, the principle is the same as when the self-propelled cleaning device 100 rotates clockwise relative to the main body 110, so a detailed explanation is omitted here.

[0100] Furthermore, as shown in Figure 5, as a concrete implementation 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.

[0101] Here, the determination module 510 is used to determine whether the self-propelled cleaning device is in a confined area, and the control module 520 is used to control the self-propelled cleaning device to perform an obstacle avoidance operation if it is in a confined area.

[0102] Furthermore, the cleaning element is located at the rear of the main body, and the determination module 510 is specifically used to determine if the self-propelled cleaning device is in a confined area when the cleaning element is in a first position and the self-propelled cleaning device is in a first position in the space in which it is located, while the self-propelled cleaning device is performing a turning operation.

[0103] Furthermore, the self-propelled cleaning device is equipped with a sensing device, and the determination module 510 determines at least the following: The system also includes a first determination unit used to determine that the self-propelled cleaning device is in a first position in the space in which it is located: a trigger member located at the front of the main body of the sensing device is triggered, a first detection member on the main body of the sensing device detects that there is a cliff feature in front of the main body, and a second detection member on the main body of the sensing device detects that the distance between the main body and an obstacle in front of the main body is less than a preset threshold.

[0104] Furthermore, the determination module 510 includes a second determination unit used to determine whether the cleaning element is in a first position based on electrical signal information of the drive member of the cleaning element, where the electrical signal information of the drive member changes when the cleaning element comes into contact with an obstacle.

[0105] Furthermore, the body is circular, and the determination module 510 includes a third determination unit used to determine whether the cleaning element is in a first position, based on the body radius, 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, and the distance between the obstacle and the body.

[0106] Furthermore, the control module 520 includes an 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, 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, control the self-propelled cleaning device to rotate according to the rotation direction and rotation angle, then perform a reversing operation to move the self-propelled cleaning device out of the confined area, and then perform a turning operation.

[0107] Furthermore, the control module 520 further includes a second processing unit used to control the self-propelled cleaning device to repeatedly perform an obstacle removal operation until the self-propelled cleaning device completes a turning operation, provided that the self-propelled cleaning device is again located within the confined area after performing a turning operation, wherein the obstacle removal operation includes redetermining the direction and angle of rotation of the self-propelled cleaning device based on the reachable area, controlling the self-propelled cleaning device to rotate according to the redetermined direction and angle of rotation, then performing a reversing operation to remove the self-propelled cleaning device from the confined area again, and then performing a turning operation again.

[0108] Furthermore, the control module 520 further includes a third processing unit used to control the self-propelled cleaning device to perform a swivel operation until it is out of the confined area, if the self-propelled cleaning device is still located within the confined area after it has repeatedly performed obstacle removal operations, by adjusting the rotation direction of the cleaning element to match the rotation direction of the swivel operation, or by stopping the rotation of the cleaning element and causing the self-propelled cleaning device to perform a swivel operation.

[0109] 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.

[0110] 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.

[0111] 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 or keyboard. The user interface may include, and optionally further include, a USB interface, a card reader interface, etc. The network interface may optionally include a standard wired interface, a wireless interface (Bluetooth interface, Wi-Fi interface, etc.), etc.

[0112] 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. 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.

[0113] Corresponding to the method provided in the above embodiment, the embodiment of this 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.

[0114] 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.

[0115] 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.

[0116] 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.

[0117] 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 exchange data with other self-propelled robots via wireless or wired communication. 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.

[0118] In particular, according to the embodiments of this disclosure, the process described above with reference to the flowchart is, It can be implemented as a software program for a self-propelled robot. For example, an embodiment of the present disclosure includes 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 an embodiment, 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 unit 601, the functions defined in the manner of the embodiment of the present disclosure are performed.

[0119] Furthermore, as shown in Figures 1 and 2, an embodiment of the present disclosure provides a self-propelled cleaning device 100 comprising a main body 110 and a cleaning element 153 provided at the bottom of the main body 110, with at least a portion of which located outside the edge projection area of ​​the main body 110; a drive unit 140 used to move the self-propelled cleaning device 100; and a control module 160 used to determine whether the self-propelled cleaning device 100 is in a confined area. If the self-propelled cleaning device 100 is in a confined area, the drive unit 140 is controlled to drive the self-propelled cleaning device 100 to perform an obstacle avoidance operation.

[0120] Furthermore, when the self-propelled cleaning device 100 performs a turning operation, if the control module 160 determines that the cleaning element 153 is in a first position and the self-propelled cleaning device 100 is in a first position in the space in which it is located, it determines that the self-propelled cleaning device 100 is in a confined area.

[0121] Furthermore, the self-propelled cleaning device 100 is equipped with a sensing device 120 used to determine that the self-propelled cleaning device 100 is in a first position in the space in which it is located, and includes at least one of the following methods: a trigger member located on the front of the body 110 of the sensing device 120 is triggered, a first detection member on the body 110 of the sensing device 120 detects that there is a cliff feature in front of the body 110, and a second detection member on the body 110 of the sensing device 120 detects that the distance between the body 110 and the obstacle in front of the body 110 is less than a preset threshold.

[0122] Furthermore, the self-propelled cleaning device 100 further includes a drive member used to rotate the cleaning element 153 and a sensing device 120 used to detect electrical signal information of the drive member, and the control module 160 is further used to determine whether the cleaning element 153 is in a first position based on the detection information of the sensing device 120, where the electrical signal information of the drive member changes when the cleaning element 153 comes into contact with an obstacle.

[0123] Furthermore, the main body 110 is circular, and the self-propelled cleaning device 100 further includes a sensing device 120 used to detect the distance between an obstacle and the main body 110, and the control module 160 is further used to determine whether the cleaning element 153 is in a first position based on the radius of the main body 110, the maximum distance between the outer edge of the cleaning element 153 that is outside the projection area of ​​the edge of the main body 110 and the center of rotation of the main body 110, and the detection information of the sensing device 120.

[0124] Furthermore, the control module 160 is used to obtain the reachable area of ​​the self-propelled cleaning device 100 based on a map of the space in which the self-propelled cleaning device 100 is located, determine the rotation direction and rotation angle of the self-propelled cleaning device 100 based on the reachable area, control the drive unit 140 to drive the self-propelled cleaning device 100 to rotate according to the rotation direction and rotation angle, then perform a reverse operation to move the self-propelled cleaning device 100 out of the confined area, and then perform a turning operation.

[0125] Furthermore, the control module 160 also controls the drive unit 140 to perform an obstacle removal operation on the self-propelled cleaning device 100 until the self-propelled cleaning device 100 completes its turning operation and is again positioned within the narrowed area. Used to drive the device to be executed repeatedly, the obstacle removal operation determines the rotation direction and angle of the self-propelled cleaning device 100 again based on the reachable area, rotates the self-propelled cleaning device 100 according to the re-determined rotation direction and angle, then performs a reverse operation, and after the self-propelled cleaning device 100 has once again moved out of the confined area, performs a swivel operation again.

[0126] Furthermore, the control module 160 is also used to control the drive member of the cleaning element 153 to adjust the rotation direction of the cleaning element 153 so that the rotation direction of the cleaning element 153 matches the rotation direction of the cleaning element 153, or to control the drive member of the cleaning element 153 to stop the rotation of the cleaning element 153, and to control the drive unit 140 to drive the self-propelled cleaning device 100 to perform a turning operation until the self-propelled cleaning device 100 leaves the confined area.

[0127] 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.

[0128] 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.

[0129] 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 projection area of ​​the edge of the main body, The steps include determining whether the self-propelled cleaning device is in a confined area, A method for controlling a self-propelled cleaning device, comprising the step of controlling the self-propelled cleaning device to perform an obstacle avoidance operation when the self-propelled cleaning device is in the constricted area.

2. The cleaning element is located at the rear of the main body, and the step of determining whether the self-propelled cleaning device is in a confined area is: A method for controlling a self-propelled cleaning device according to claim 1, comprising the step of determining that the self-propelled cleaning device is in the constricted region when the self-propelled cleaning device performs a turning operation and it is determined that the cleaning element is in a first position and the self-propelled cleaning device is in a first position in the space in which it is located.

3. The self-propelled cleaning device is equipped with a sensing device, and it is determined that the self-propelled cleaning device is in a first position in the space in which it is located when a trigger member located at the front of the main body of the sensing device is triggered. The first detection member on the main body of the sensing device detects that there is a cliff feature in front of the main body. A control method for a self-propelled cleaning device according to claim 2, wherein the second detection member on the main body of the sensing device detects that the distance between the main body and an obstacle in front of the main body is less than a preset threshold.

4. The step of determining that the cleaning element is in a first position is: A control method for a self-propelled cleaning device according to claim 2, comprising the step of determining whether the cleaning element is in the first position based on electrical signal information of a drive member of the cleaning element, wherein the electrical signal information of the drive member changes when the cleaning element comes into contact with an obstacle.

5. The main body is circular, and the step of determining that the cleaning element is in a first position is: A control method for a self-propelled cleaning device according to claim 2, comprising the step of determining whether the cleaning element is in a first posture based on the radius of the main body, 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 center of rotation of the main body, and the distance between an obstacle and the main body.

6. The step of controlling the self-propelled cleaning device to perform an obstacle avoidance operation is: A step of obtaining the reachable area of ​​the self-propelled cleaning device based on a map of the location of the self-propelled cleaning device. A method for controlling a self-propelled cleaning device according to claim 2, comprising the steps of: 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; performing a reversing operation to move the self-propelled cleaning device away from the constricted area; and then performing a turning operation.

7. The step of controlling the self-propelled cleaning device to perform an obstacle avoidance operation is: If the self-propelled cleaning device performs the turning operation and the self-propelled cleaning device is again positioned in the narrowed area, the method further includes the step of controlling the self-propelled cleaning device to repeatedly perform the obstacle removal operation multiple times until the self-propelled cleaning device completes the turning operation. The aforementioned obstacle removal operation involves re-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 re-determined rotation direction and rotation angle, and then performing a reversal operation to move the self-propelled cleaning device away from the constricted area again. A control method for a self-propelled cleaning device according to claim 6, comprising performing the rotation operation again after detaching the device.

8. The step of controlling the self-propelled cleaning device to perform an obstacle avoidance operation is: A method for controlling a self-propelled cleaning device according to claim 7, further comprising the step of, if the self-propelled cleaning device has repeatedly performed the obstacle removal operation multiple times and the self-propelled cleaning device is still within the confined area, adjusting 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 stopping the rotation of the cleaning element and controlling the self-propelled cleaning device to perform the turning operation until the self-propelled cleaning device leaves the confined area.

9. A control device for a self-propelled cleaning device, wherein the self-propelled cleaning device comprises a main body and a cleaning element provided at the bottom of the main body, at least a portion of the cleaning element is located outside the edge projection area of ​​the main body, and the control device for the self-propelled cleaning device is, A determination module configured to determine whether the self-propelled cleaning device is in a confined area, A control device for a self-propelled cleaning device, comprising: a control module configured to control the self-propelled cleaning device to perform an obstacle avoidance operation when the self-propelled cleaning device is in the constricted area; and a control device for a self-propelled cleaning device.

10. The cleaning element is located at the rear of the main body, and the determination module is A control device for a self-propelled cleaning device according to claim 9, wherein when the self-propelled cleaning device performs a turning operation, the device is configured to determine that the cleaning element is in a first position and the self-propelled cleaning device is in a first position in the space in which it is located, and then determines that the self-propelled cleaning device is in the constricted region.

11. The self-propelled cleaning device is equipped with a sensing device, and the determination module is, It includes a first determination unit, and the first determination unit is The trigger member located at the front of the main body of the sensing device is triggered. The first detection member on the main body of the sensing device detects that there is a cliff feature in front of the main body. The control device for a self-propelled cleaning device according to claim 10, wherein the second detection member on the main body of the sensing device is configured to determine that the self-propelled cleaning device is in a first position in the space in which it is located by at least one of the following methods: detecting that the distance between the main body and an obstacle in front of the main body is less than a preset threshold.

12. The aforementioned determination module is A control device for a self-propelled cleaning device according to claim 10, comprising a second determination unit configured to determine whether the cleaning element is in the first position based on electrical signal information of the drive member of the cleaning element, wherein the electrical signal information of the drive member changes when the cleaning element comes into contact with an obstacle.

13. The main body is circular, and the determination module is A control device for a self-propelled cleaning device according to claim 10, comprising a third determination unit configured to determine whether the cleaning element is in the first posture based on the radius of the main body, 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 center of rotation of the main body, and the distance between the obstacle and the main body.

14. The control module is Based on the map of the location of the self-propelled cleaning device, the reachable area of ​​the self-propelled cleaning device An acquisition unit configured to acquire a region, A control device for a self-propelled cleaning device according to claim 10, 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, rotate the self-propelled cleaning device according to the rotation direction and rotation angle, then perform a reversing operation to move the self-propelled cleaning device out of the constricted area, and then perform a turning operation.

15. The control module is The system further includes a second processing unit configured to cause the self-propelled cleaning device to repeatedly perform an obstacle removal operation multiple times until the self-propelled cleaning device completes the turning operation when the self-propelled cleaning device has performed the turning operation and is again inside the constricted area. The control device for a self-propelled cleaning device according to claim 14, wherein the obstacle removal operation includes redetermining 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 redetermined rotation direction and rotation angle, then performing a reversing operation to remove the self-propelled cleaning device from the constricted area again, and then performing the turning operation again.

16. The control module is A control device for a self-propelled cleaning device according to claim 15, further comprising a third processing unit that, if the self-propelled cleaning device has repeatedly performed the obstacle removal operation multiple times and the self-propelled cleaning device is still within the confined area, adjusts 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 stops the rotation of the cleaning element and controls the self-propelled cleaning device to perform the turning operation until the self-propelled cleaning device leaves the confined area.

17. A readable storage medium in which a program or instruction is stored, wherein when the program or instruction is executed by a processor, steps of the control method for a self-propelled cleaning device according to any one of claims 1 to 8 are realized.

18. 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, wherein when the processor executes the program, the control method for the self-propelled cleaning device according to any one of claims 1 to 8 is implemented.

19. A self-propelled cleaning device, 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 projection area of ​​the edge of the main body, A drive unit configured to drive the aforementioned self-propelled cleaning device, A self-propelled cleaning device comprising: a control module configured to determine whether the self-propelled cleaning device is in a confined area, and if the self-propelled cleaning device is in the confined area, to control the drive device to drive the self-propelled cleaning device to perform an obstacle avoidance operation.

20. The control module further, The self-propelled cleaning device according to claim 19, wherein when the self-propelled cleaning device performs a turning operation, it is determined that the cleaning element is in a first position and the self-propelled cleaning device is in a first position in the space in which it is located, and the self-propelled cleaning device is configured to determine that it is in the constricted region.

21. The self-propelled cleaning device is equipped with a sensing device, and the self-propelled cleaning device is the first in the space where it is located. To determine that it is in place, The trigger member located at the front of the main body of the sensing device is triggered. The first detection member on the main body of the sensing device detects that there is a cliff feature in front of the main body. The self-propelled cleaning device according to claim 20, wherein the second detection member on the main body of the sensing device includes at least one of the following methods: detecting that the distance between the main body and an obstacle in front of the main body is less than a preset threshold.

22. A drive member configured to drive the cleaning element to rotate, The system further comprises a sensing device configured to detect electrical signal information of the drive member, The self-propelled cleaning device according to claim 20, wherein the control module is configured to determine whether the cleaning element is in the first position based on detection information from the sensing device, and the electrical signal information of the drive member changes when the cleaning element comes into contact with an obstacle.

23. The main body is circular, and the self-propelled cleaning device is The system further includes a sensing device configured to detect the distance between an obstacle and the main body, The self-propelled cleaning device according to claim 20, wherein the control module is further configured to determine whether the cleaning element is in a first position based on the radius of the main body, 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, and the detection information of the sensing device.

24. The control module further, Based on a map of the location of the self-propelled cleaning device, the reachable area of ​​the self-propelled cleaning device is obtained. The self-propelled cleaning device according to claim 20, configured to determine the rotation direction and rotation angle of the self-propelled cleaning device based on the reachable area, control the drive device to drive the self-propelled cleaning device to rotate according to the rotation direction and rotation angle, then perform a reversing operation to move the self-propelled cleaning device away from the constricted area, and then perform a turning operation.

25. The control module further, When the self-propelled cleaning device performs the turning operation and the self-propelled cleaning device is again positioned within the narrowed area, the drive unit is controlled to drive the self-propelled cleaning device to repeatedly perform the obstacle removal operation multiple times until the self-propelled cleaning device completes the turning operation. The self-propelled cleaning device according to claim 24, wherein the obstacle removal operation includes redetermining 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 redetermined rotation direction and rotation angle, performing a reversal operation to remove the self-propelled cleaning device from the constricted area again, and then performing the turning operation again.

26. The control module further, The self-propelled cleaning device according to claim 25, wherein if the self-propelled cleaning device has repeatedly performed the obstacle removal operation multiple times and the self-propelled cleaning device is still within the confined area, the drive member of the cleaning element is controlled to adjust the rotation direction of the cleaning element so that the rotation direction of the cleaning element matches the rotation direction of the turning operation, or the drive member of the cleaning element is controlled to stop the rotation of the cleaning element, and the drive unit is controlled to drive the self-propelled cleaning device to perform the turning operation until the self-propelled cleaning device leaves the confined area.

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