Control method, apparatus, automatic cleaning device, and storage medium for automatic cleaning device

Abstract

A control method, apparatus, automatic cleaning device (100), and storage medium for an automatic cleaning device (100) are provided. The automatic cleaning device (100) comprises a body (101) and a cleaning assembly (1031) provided at the rear of the body (101), with at least a portion of the cleaning assembly (1031) protruding from the edge of the body (101). The control method includes the steps of: detecting a second obstacle (302) in front of the automatic cleaning device (100) while the automatic cleaning device (100) is moving along a first obstacle (301) (S201); obtaining the length of the second obstacle (302) if the second obstacle (302) is present in front of the automatic cleaning device (100) (S202); and controlling the movement path of the automatic cleaning device (100) based on the length of the second obstacle (302) (S203). When the automatic cleaning device (100) rotates, interference between the cleaning assembly (1031) behind it and the first obstacle (301) and the second obstacle (302) can be effectively reduced, and a larger cleaning area can be secured.

Description

Technical Field

[0001] (Related Application) This disclosure claims the priority of Chinese Patent Application No. 202310477495.6 filed on April 27, 2023, and all the disclosure contents of the Chinese patent application are incorporated herein by reference as part of this disclosure.

[0002] This disclosure relates to the technical field of smart home appliances, and particularly to a control method and device for an automatic cleaning device, an automatic cleaning device, and a readable storage medium.

Background Art

[0003] Currently, when an automatic cleaning device receives a cleaning instruction, it can automatically execute the cleaning instruction to complete the cleaning operation, saving labor costs and improving cleaning efficiency. However, the automatic cleaning device in related technologies may collide with obstacles during movement, causing damage to the automatic cleaning device or the obstacles.

Summary of the Invention

[0004] In view of this, this disclosure provides a control method and device for an automatic cleaning device, an automatic cleaning device, and a readable storage medium that can effectively avoid the problem of collision between the automatic cleaning device and obstacles.

[0005] In a first aspect, an embodiment of this disclosure provides a control method for an automatic cleaning device. The automatic cleaning device includes a main body and a cleaning assembly provided at the rear of the main body, and at least a part of the cleaning assembly protrudes from the edge of the main body. The method includes detecting a second obstacle in front of the automatic cleaning device during the process of the automatic cleaning device moving along a first obstacle; when there is a second obstacle in front of the automatic cleaning device, obtaining the length of the second obstacle; and controlling the moving path of the automatic cleaning device based on the length of the second obstacle.

[0006] In one embodiment of the present disclosure, the step of controlling the movement path of an automatic cleaning device based on the length of a second obstacle includes controlling the automatic cleaning device to move along a tangential path if the length of the second obstacle is less than or equal to a predetermined length threshold, and controlling the automatic cleaning device to move along an arc path if the length of the second obstacle is greater than the predetermined length threshold.

[0007] In one embodiment of the present disclosure, the method further includes the steps of obtaining device dimensional parameters of an automatic cleaning device and determining a predetermined length threshold based on the device dimensional parameters.

[0008] In one embodiment of the present disclosure, controlling an automatic cleaning device to move along a tangential path includes obtaining device dimensional parameters of the automatic cleaning device, a first distance between the automatic cleaning device and a first obstacle, and a first distance threshold; obtaining a first rotation angle of the automatic cleaning device if the cleaning assembly and the first obstacle do not interfere with each other based on the device dimensional parameters, the first distance, and the first distance threshold; detecting a second distance between the automatic cleaning device and a second obstacle, and controlling the automatic cleaning device to rotate according to the first rotation angle and move along the tangential path to the second obstacle if the second distance is less than or equal to the first distance threshold.

[0009] In one embodiment of the present disclosure, the device dimensional parameters include the body radius, the body rear contour length, and the body rear contour width.

[0010] In one embodiment of the present disclosure, the method acquires a cleaning mode, determines a first distance threshold based on the cleaning mode, and / or adjusts a first rotation angle based on the cleaning mode, wherein different cleaning modes correspond to different degrees of obstacle protection and / or ground cleaning, with higher obstacle protection resulting in a larger first distance threshold and a smaller first rotation angle, and higher ground cleaning resulting in a smaller first distance threshold and a larger first rotation angle.

[0011] In one embodiment of the present disclosure, controlling an automatic cleaning device to move along an arc-shaped path involves obtaining the device dimensions of the automatic cleaning device, a first distance between the automatic cleaning device and a first obstacle, a second distance threshold, and a third distance threshold, where the third distance threshold is smaller than the second distance threshold, detecting a second distance between the automatic cleaning device and a second obstacle, and if the second distance is less than or equal to the second distance threshold, moving the automatic cleaning device along the arc-shaped path along the first obstacle and the second obstacle, respectively, and adjusting the second rotation angle between the automatic cleaning device and the first obstacle, the third rotation angle between the automatic cleaning device and the second obstacle, and the moving speed of the automatic cleaning device so that the cleaning assembly and the first obstacle do not interfere with each other during the process of the automatic cleaning device moving along the arc-shaped path, where the third rotation angle is less than or equal to a predetermined angle threshold if the second distance is less than or equal to the third distance threshold.

[0012] In one embodiment of the present disclosure, the method further includes the steps of acquiring a cleaning mode and determining a third distance threshold based on the cleaning mode, wherein different cleaning modes correspond to different degrees of obstacle protection and / or ground cleaning, with higher obstacle protection resulting in a larger third distance threshold and higher ground cleaning resulting in a smaller third distance threshold.

[0013] In one embodiment of the present disclosure, the step of obtaining the length of a second obstacle includes obtaining the time it takes for the automatic cleaning device to move along the first obstacle, obtaining a first distance between the automatic cleaning device and the first obstacle within the travel time, and obtaining the length of the second obstacle if the travel time is greater than or equal to a predetermined time threshold and the first distance within the travel time is within a predetermined distance range.

[0014] In a second aspect, embodiments of the present disclosure provide a control device for an automatic cleaning device, the automatic cleaning device comprising a main body and a cleaning assembly located at the rear of the main body, with at least a portion of the cleaning assembly protruding from the edge of the main body. The device is, A detection module is used to detect a second obstacle in front of the automatic cleaning device while the automatic cleaning device is moving along a first obstacle, and to obtain the length of the second obstacle if one exists in front of the automatic cleaning device. The system includes a control module used to control the movement path of the automatic cleaning device based on the length of a second obstacle.

[0015] In one embodiment of the present disclosure, the control module is specifically used to control the automatic cleaning device to move along a tangential path when the length of the second obstacle is less than or equal to a predetermined length threshold, and to control the automatic cleaning device to move along an arc path when the length of the second obstacle is greater than the predetermined length threshold.

[0016] In one embodiment of the present disclosure, the control module is further used to acquire device dimensional parameters of an automatic cleaning device and to determine a predetermined length threshold based on the device dimensional parameters.

[0017] In one embodiment of the present disclosure, the apparatus further comprises a first acquisition module used to acquire device dimensional parameters of an automatic cleaning device, a first distance between the automatic cleaning device and a first obstacle, and a first distance threshold; a calculation module used to calculate a first rotation angle of the automatic cleaning device if the cleaning assembly and the first obstacle do not interfere with each other, based on the device dimensional parameters, the first distance, and the first distance threshold; a detection module further used to detect a second distance between the automatic cleaning device and a second obstacle; and a control module specifically used to control the automatic cleaning device to rotate according to a first rotation angle and move along the second obstacle along a tangential path after rotation, if the second distance is less than or equal to the first distance threshold.

[0018] In one embodiment of the present disclosure, the device dimensional parameters include the body radius, the body rear contour length, and the body rear contour width.

[0019] In one embodiment of the present disclosure, a control module is further used to acquire a cleaning mode, determine a first distance threshold based on the cleaning mode, and / or adjust a first rotation angle based on the cleaning mode, where different cleaning modes correspond to different degrees of obstacle protection and / or ground cleaning, with higher obstacle protection resulting in a larger first distance threshold and a smaller first rotation angle, and higher ground cleaning resulting in a smaller first distance threshold and a larger first rotation angle.

[0020] In one embodiment of the present disclosure, the apparatus further comprises a second acquisition module used to acquire the apparatus dimensions parameters of the automatic cleaning device, a first distance between the automatic cleaning device and a first obstacle, a second distance threshold and a third distance threshold, wherein the third distance threshold is smaller than the second distance threshold, and a detection module is further used to detect a second distance between the automatic cleaning device and a second obstacle, and a control module is used to adjust a second rotation angle between the automatic cleaning device and the first obstacle, a third rotation angle between the automatic cleaning device and the second obstacle, and the moving speed of the automatic cleaning device, such that the cleaning assembly does not interfere with the first obstacle while the automatic cleaning device is moving along the arc path, provided that the second distance is less than or equal to the second distance threshold and the third rotation angle is less than or equal to a predetermined angle threshold.

[0021] In one embodiment of the present disclosure, a control module is further used to acquire a cleaning mode and determine a third distance threshold based on the cleaning mode, where different cleaning modes correspond to different degrees of obstacle protection and / or ground cleaning, with higher obstacle protection resulting in a larger third distance threshold and higher ground cleaning resulting in a smaller third distance threshold.

[0022] In one embodiment of the present disclosure, specifically, the detection module obtains the time for the automatic cleaning device to move along the first obstacle, obtains the first distance between the automatic cleaning device and the first obstacle within the moving time period, and is used to obtain the length of the second obstacle when the moving time period is greater than or equal to a predetermined time period threshold and the first distance within the moving time period is within a predetermined distance range.

[0023] In a third aspect, an embodiment of the present disclosure provides an automatic cleaning device, a main body, a cleaning assembly provided at the rear of the main body, at least a part of which protrudes from the edge of the main body, a memory provided on the main body and storing programs or instructions, a controller provided on the main body and realizing the steps of the control method of the automatic cleaning device on the first side when executing the program or instructions.

[0024] In one embodiment of the present disclosure, the cleaning assembly includes at least one cleaning element rotatable relative to the main body, and at least a part of the cleaning element protrudes from the edge of the main body.

[0025] In one embodiment of the present disclosure, there are two cleaning elements, and the two cleaning elements are arranged left and right along the forward direction of the main body.

[0026] In a fourth aspect, an embodiment of the present disclosure provides a readable storage medium, on which a program or instructions are stored, and when the program or instructions are executed by a controller, the steps of the method on the first side are realized.

[0027] In a fifth aspect, an embodiment of the present disclosure provides a chip, the chip includes a communication interface with a controller, the communication interface and the controller are coupled, and the controller is used to realize the method on the first side by executing a program or instructions.

[0028] In Aspect Six, embodiments of the present disclosure provide a computer program product which is stored in a storage medium and which is executed by at least one controller, thereby realizing the method of Aspect Six.

[0029] In the embodiments of this disclosure, before the automatic cleaning device rotates, it detects obstacle information at the location where rotation is required, then determines a dynamic rotation path based on the obstacle information, and completes the rotation operation according to the rotation path. Specifically, the automatic cleaning device moves along a first obstacle, and during this process, it detects in real time whether an obstacle is present ahead. If a second obstacle is present ahead of the automatic cleaning device, it then detects the length of the second obstacle. Furthermore, based on the acquired length of the second obstacle, it adopts a different movement path to enable the automatic cleaning device to detour from a state approaching the first obstacle to a state approaching the second obstacle.

[0030] The embodiments of this disclosure can effectively reduce interference between the cleaning assembly behind the automatic cleaning device and the first and second obstacles when the device rotates, while simultaneously securing a larger cleaning area.

[0031] The above description is merely an outline of the technical solutions of this disclosure. To better understand the technical means of this disclosure, they can be implemented according to the specifications. Specific embodiments of this disclosure are described below to make the above and other objectives, features, and benefits of this disclosure clearer and easier to understand.

[0032] The accompanying drawings described herein are provided for further understanding of the Disclosure and constitute part of the Disclosure. Exemplary embodiments and their descriptions are used to interpret the Disclosure and do not constitute an unreasonable limitation of the Disclosure. [Brief explanation of the drawing]

[0033] [Figure 1] Structural diagram of an automatic cleaning device according to an embodiment of the present disclosure [Figure 2]Schematic flowchart 1 of the control method for the automatic cleaning device according to the embodiment of this disclosure [Figure 3] Schematic diagram of the automatic cleaning device of the embodiment of this disclosure before it rotates. [Figure 4] Schematic flowchart of the control method for the automatic cleaning device according to the embodiment of this disclosure (part 2) [Figure 5] This is a schematic diagram of the device dimensions parameters of an automatic cleaning device according to an embodiment of the present disclosure. [Figure 6] Schematic diagram 1 illustrating the movement of the automatic cleaning device of the embodiment of this disclosure along a tangential path. [Figure 7] A schematic diagram illustrating the movement of the automatic cleaning device of the embodiment of this disclosure along an arc-shaped path. [Figure 8] Schematic diagram 2 illustrating the movement of the automatic cleaning device of the embodiment of this disclosure along a tangential path. [Figure 9] Structural block diagram of the control device for an automatic cleaning device according to an embodiment of the present disclosure. [Explanation of Symbols]

[0034] 100 Automatic cleaning device 101 Main Unit 102 Drive System 1021 Drive Wheel Assembly 1022 Driven wheel 103 Cleaning System 1031 Cleaning Assembly 1032 Roller Brush 1033 Side Brush 301 Obstacle 1 302 Obstacle 2 [Modes for carrying out the invention]

[0035] The following technical solutions in the embodiments of this disclosure will be clearly described with reference to the accompanying drawings of the embodiments of this disclosure, but obviously the embodiments described are only a selection of the embodiments of this disclosure, not all of them. Any other embodiments that a person skilled in the art could obtain based on the embodiments of this disclosure are all included within the scope of this disclosure.

[0036] The terms “first,” “second,” etc., in the specification and claims of this disclosure are used to distinguish similar subjects and do not describe a specific order or sequence. The data used in this manner can be interchanged as needed, the embodiments of this disclosure can be implemented in an order other than that illustrated or described herein, and subjects distinguished as “first,” “second,” etc., usually belong to the same category and do not limit the number of subjects; for example, there may be one first subject or more. Furthermore, “and / or” in the specification and claims indicates at least one connected subject, and the symbol “ / ” generally indicates that the preceding and succeeding related subjects are in an “or” relationship.

[0037] The control method, apparatus, automatic cleaning apparatus, and readable storage medium provided by the embodiments of this disclosure will be described in detail below with reference to the attached drawings, through specific embodiments and their application scenes.

[0038] Embodiments of this disclosure provide an automatic cleaning device, which may be a sweeping robot, a mopping robot, a sweeping and mopping vacuum cleaner, etc. For convenience of explanation, this embodiment will describe the technical solution of this disclosure using a sweeping and mopping vacuum cleaner as an example. Figure 1 shows a structural diagram of an automatic cleaning device according to an embodiment of this disclosure. The automatic cleaning device 100 comprises a main body 101, which is a mobile platform, which may be an autonomous mobile platform or a non-autonomous mobile platform. An autonomous mobile platform is one 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 operate according to a certain logic.

[0039] The main body 101 is equipped with a drive system 102, which includes a drive wheel assembly 1021 and a driven wheel 1022. The drive system 102 operates the drive wheel assembly 1021 and the driven wheel 1022 based on specific distance and angle information to enable the automatic cleaning device to travel and turn.

[0040] A cleaning system 103 is provided on the main body 101, and the cleaning system 103 includes a cleaning assembly 1031. At least a portion of the cleaning assembly 1031 is located outside the edge projection area of ​​the main body 101, that is, at least a portion of the cleaning assembly 1031 protrudes from the main body 101. As a result, the cleaning range of the cleaning assembly 1031 extends beyond the edge of the travel range of the main body 101, allowing for complete cleaning of corners that the main body cannot reach, thereby expanding the cleaning range and improving the cleaning effect of the automatic cleaning device.

[0041] The cleaning system 103 further includes a liquid storage tank (not shown), and a cleaning assembly 1031 is located below the liquid storage tank. The cleaning fluid inside the liquid storage tank is transported to the cleaning assembly 1031, which can then clean the surface to be cleaned. The cleaning fluid inside the liquid storage tank can also be sprayed directly onto the surface to be cleaned, and the cleaning assembly 1031 achieves cleaning of the surface by uniformly applying the cleaning fluid.

[0042] In some embodiments, the cleaning assembly 1031 is at least one cleaning element rotatable relative to the main body 101, the cleaning element being a flexible, absorbent material such as a cloth or sponge provided on the turntable and the bottom of the turntable, the flexible material rotating with the turntable to uniformly apply the cleaning solution to the surface to be cleaned. Specifically, as shown in Figure 1, the cleaning elements are provided symmetrically on the bottom of the main body of the automatic cleaning device.

[0043] Furthermore, the cleaning system 103 includes a motion mechanism, and the entire cleaning assembly 1031 is attached to the main body via the motion mechanism. The cleaning assembly 1031 moves with the movement of the main body, realizing sweeping and mopping functions. Here, the motion mechanism is used to drive the movement of the cleaning element. For example, the motion mechanism can drive the cleaning element to move up and down, or to rotate, thereby enabling the motion mechanism to perform the up and down and rotational operations of the cleaning element depending on whether the cleaning element needs to contact the surface to be cleaned, and satisfying the different functional requirements of the cleaning element. Note that when the cleaning element interferes with the surface to be cleaned to perform a mopping operation, the motion mechanism drives the rotational operation of the cleaning element.

[0044] In some embodiments, the cleaning system 103 further includes a roller brush 1032 having constant contact with the ground to sweep up debris from the ground and suck it into a dust box, and the cleaning system 103 further includes a side brush 1033 having a rotating shaft, the rotating shaft being at a constant angle with respect to the ground and used to move debris to the roller brush area.

[0045] In some embodiments, the automatic cleaning device further includes a controller used to control a drive system 102, a cleaning system 103, etc., and to enable the automatic cleaning device to perform cleaning tasks.

[0046] When the cleaning element is located at the rear of the automatic cleaning device body, at least a portion of the cleaning element is located outside the edge projection area of ​​the main body 101. As a result, during the process of the automatic cleaning device turning along an inner corner, the cleaning element may interfere with obstacles on the inner corner side, affecting the driving posture of the automatic cleaning device and potentially causing scratches on the surface of the obstacles.

[0047] Therefore, embodiments of the present disclosure provide a method for controlling an automatic cleaning device, which, as shown in Figure 2, includes the following steps. In step 201, while the automatic cleaning device is moving along the first obstacle, it detects a second obstacle in front of it.

[0048] In step 202, if a second obstacle exists in front of the automatic cleaning device, the length of the second obstacle is obtained.

[0049] In step 203, the movement path of the automatic cleaning device is controlled based on the length of the second obstacle.

[0050] In this embodiment, before the automatic cleaning device rotates, the detection device of the automatic cleaning device detects obstacle information at the position where rotation is required. The controller then determines a dynamic rotation path based on the obstacle information, controls the drive system, and the main unit completes the rotation operation along the rotation path.

[0051] Specifically, the automatic cleaning device moves along the first obstacle, and during this process, the detection device detects in real time whether an obstacle is present ahead. If a second obstacle is present ahead of the automatic cleaning device, the length of the second obstacle is then detected. Exemplarily, as shown in Figure 3, the right side of the automatic cleaning device 100 moves forward along the first obstacle 301, and during the movement process, if it detects that a second obstacle 302 is ahead, the length LB of the second obstacle is detected.

[0052] Here, the first and second obstacles include walls, furniture, or pillars.

[0053] Furthermore, based on the acquired length of the second obstacle, the controller enables the automatic cleaning device to detour along a different travel path, moving from a state where it is approaching the first obstacle to a state where it is approaching the second obstacle.

[0054] In the embodiments of this disclosure, when the automatic cleaning device rotates, interference between the cleaning assembly behind it and the first and second obstacles is effectively reduced, while simultaneously ensuring a larger cleaning area.

[0055] In one embodiment of the present disclosure, the step of obtaining the length of a second obstacle includes obtaining the time it takes for the automatic cleaning device to move along the first obstacle, and a first distance between the automatic cleaning device and the first obstacle within the travel time length, and obtaining the length of the second obstacle if the travel time length is greater than or equal to a predetermined time length threshold and the first distance within the travel time length is within a predetermined distance range.

[0056] In this embodiment, when the automatic cleaning device moves forward toward the first obstacle, a detection device is used to acquire a first distance from the first obstacle, thereby ensuring that the automatic cleaning device cleans the edge of the first obstacle.

[0057] The above detection device is a wall-following sensor, which may be, for example, an infrared sensor provided on the side of the main unit, or a laser docking sensor (LDS) provided on the top or side of the main unit. By using the above detection device, as shown in Figure 3, a first distance dA is determined between the center O of the automatic cleaning device and the first obstacle, and the actual distance between the automatic cleaning device and the second obstacle is determined based on the first distance dA and the dimensions of the main unit of the automatic cleaning device.

[0058] As the automatic cleaning device moves forward along the first obstacle and approaches the second obstacle ahead, that is, at the junction of the first and second obstacles, the controller statistically calculates the travel time tA of the automatic cleaning device 100 moving forward along the first obstacle, and the travel time tA and the first distance dA are used as starting conditions for obtaining the length of the second obstacle.

[0059] If the travel time length tA is greater than or equal to a predetermined time length threshold, and the first distance dA within the travel time length tA is always maintained within the predetermined distance range, this indicates that the automatic cleaning device and the first obstacle are in a stable parallel state within the travel time length tA. To avoid subsequent operations failing to achieve the expected effect, the length of the second obstacle is further obtained.

[0060] As a subdivision and extension of the above embodiment, an embodiment of the present invention provides a method for controlling another automatic cleaning device, which, as shown in Figure 4, includes the following steps. In step 401, while the automatic cleaning device is moving along the first obstacle, the detection device detects a second obstacle in front of the automatic cleaning device.

[0061] In step 402, if a second obstacle exists in front of the automatic cleaning device, the length of the second obstacle is obtained.

[0062] In step 403, it is determined whether the length of the second obstacle is less than or equal to a predetermined length threshold. If the length of the second obstacle is less than or equal to the predetermined length threshold, the process proceeds to step 404; otherwise, the process proceeds to step 405.

[0063] In step 404, the main body of the automatic cleaning device is controlled to move along the tangential path.

[0064] In step 405, the main body of the automatic cleaning device is controlled to move along an arc-shaped path.

[0065] Steps 401 and 402 are identical or similar to steps 201 and 202 described above and will not be repeated here.

[0066] In this embodiment, after obtaining the length LB of the second obstacle, the controller selects the mode of the subsequent turning operation based on the magnitude relationship between the length LB of the second obstacle and a predetermined length threshold.

[0067] Specifically, for example, if the length LB of the second obstacle is less than or equal to a predetermined length threshold, the second obstacle is short and may be a short plate or column, and the tangential mode is selected as the pivoting motion, meaning the second obstacle is short, the area of ​​the pivoting interior angle region formed by the second obstacle and the first obstacle is small, and the automatic cleaning device passes along close to its edge. This method avoids interference between the automatic cleaning device and the obstacle, the area of ​​the pivoting interior angle region is small, i.e., the area to be cleaned is small, the automatic cleaning device does not significantly affect the cleaning range of the pivoting interior angle region in tangential mode, and high-speed cleaning can be achieved at the same time.

[0068] If the length LB of the second obstacle is greater than a predetermined length threshold, turning in tangential mode may result in collision with the edge of the second obstacle, creating a large area of ​​missed cleaning within the turning angle region. Therefore, by selecting arc mode as the turning operation, interference between the automatic cleaning device and the obstacle can be avoided, and the cleaning coverage area can be expanded.

[0069] In any of the above technical solutions, the method optionally further includes the step of obtaining device dimensional parameters of an automatic cleaning device and determining a predetermined length threshold based on the device dimensional parameters.

[0070] In this embodiment, for example, if the length LB of the second obstacle is excessively short, the wall-side sensor of the automatic cleaning device may not be able to detect the second obstacle after the automatic cleaning device has turned. The controller sets the length of the position where the wall-side sensor cannot detect the second obstacle after the automatic cleaning device has turned as a predetermined length threshold. Here, the wall-side sensor is usually provided on the side of the automatic cleaning device. For example, if the right side of the automatic cleaning device is along a wall, the wall-side sensor is provided on the right side of the main body. For example, if the left side of the automatic cleaning device is along a wall, the wall-side sensor is provided on the left side of the main body.

[0071] In one embodiment, the controller sets the total length of the automatic cleaning device as a predetermined length threshold. As shown in Figure 5, the device dimension parameters of the automatic cleaning device include the total length L1 of the automatic cleaning device, the rear contour length L2 of the main body, the radius R1 of the main body, the radius R2 of the cleaning element, the total width D1 of the automatic cleaning device, the rear contour width D2 of the main body, etc., where the rear contour length L2 is the difference between the total length L1 and the radius R1 of the automatic cleaning device, and the rear contour width D2 corresponds to half of the total width D1 of the automatic cleaning device.

[0072] Since the dimensions of different automatic cleaning devices vary, determining a corresponding predetermined length threshold based on the dimensions of the current automatic cleaning device allows for more accurate determination of the turning mode and further prevents collisions between the automatic cleaning device and obstacles.

[0073] In any of the above technical solutions, the step of controlling the automatic cleaning device to move along a tangential path optionally includes obtaining the device dimensions parameters of the automatic cleaning device, a first distance between the automatic cleaning device and a first obstacle, and a first distance threshold; calculating a first rotation angle of the automatic cleaning device if the cleaning assembly and the first obstacle do not interfere with each other based on the device dimensions parameters, the first distance, and the first distance threshold; detecting a second distance between the automatic cleaning device and a second obstacle, and controlling the automatic cleaning device to rotate according to the first rotation angle and move along the tangential path to the second obstacle if the second distance is less than or equal to the first distance threshold.

[0074] In this embodiment, if the length LB of the second obstacle is less than or equal to a predetermined length threshold, the controller obtains the device dimension parameters of the automatic cleaning device, the first distance dA between the automatic cleaning device and the first obstacle, and the first distance threshold dQ, where the first distance threshold dQ is the minimum distance threshold for tangential turning, and the device dimension parameters include the body radius R1, the body rear contour length L2, and the body rear contour width D2. Based on the device dimension parameters, the first distance, and the first distance threshold, the maximum angle at which the automatic cleaning device can rotate, i.e., the first rotation angle θ1, can be calculated in real time, assuming that the cleaning assembly and the first obstacle do not interfere with each other.

[0075] The detection device acquires the second distance dB (shown in Figure 3) between the center O of the automatic cleaning device and the second obstacle in front of it in real time, and the controller continuously monitors the magnitude relationship between the second distance dB and the length LB of the second obstacle. If the second distance dB is less than or equal to the first distance threshold dQ, the controller rotates the main body and, as shown in Figure 6, rotates it by a first rotation angle θ1 and then moves it towards the second obstacle along a tangential path, and when the automatic cleaning device reaches the second obstacle, it passes just past the outer edge of the second obstacle.

[0076] The above method ensures that the automatic cleaning device avoids interference with the first obstacle when it turns, and that it can smoothly pass through the second obstacle.

[0077] After passing the second obstacle, the system uses wall-mounted sensors to acquire new distance information and resumes movement along the obstacle.

[0078] In any of the above technical solutions, the method optionally further includes the steps of acquiring a cleaning mode, determining a first distance threshold based on the cleaning mode, and / or adjusting a first rotation angle based on the cleaning mode, where different obstacle protection and / or ground cleaning degrees corresponding to different cleaning modes are different, the higher the obstacle protection degree, the larger the first distance threshold and the smaller the first rotation angle, and the higher the ground cleaning degree, the smaller the first distance threshold and the larger the first rotation angle.

[0079] In this embodiment, the user can set a cleaning mode, and the degree of obstacle protection and / or ground cleaning will differ for each cleaning mode, where the degree of obstacle protection refers to the tolerance for scratches on obstacles, and the degree of ground cleaning refers to the tolerance for the cleaning cover area.

[0080] The controller can obtain the cleaning mode set by the user before cleaning, determine a first distance threshold based on the degree of obstacle protection and / or ground cleaning corresponding to the cleaning mode, and adjust the first rotation angle based on the degree of obstacle protection and / or ground cleaning corresponding to the cleaning mode. Specifically, for example, if the user prioritizes obstacle protection, the value of the first distance threshold dQ can be increased so that the automatic cleaning device rotates at a position away from the second obstacle, and the value of the first rotation angle θ1 can be decreased, i.e., the rotation angle of the first obstacle can be set smaller, thereby maintaining a certain distance margin between the first and second obstacles when the automatic cleaning device performs a tangential rotation motion.

[0081] If the user prioritizes reducing the area that is missed during cleaning, the value of the first distance threshold dQ is reduced, bringing the first rotation angle θ1 closer to the calculated theoretical value, thereby minimizing the tangential rotational motion and bringing it closer to the first and second obstacles.

[0082] The methods by which the user sets the cleaning mode are not specifically limited to those described in the embodiments of this disclosure. For example, the user can set the cleaning mode through an app installed on their device, the device can transmit the set cleaning mode information to the automatic cleaning device, and the user can set it by clicking or voice input in the app; or the user can select or input the cleaning mode through the user-interactive interface of the automatic cleaning device; or the automatic cleaning device may have a voice recognition function and can determine the cleaning mode by directly analyzing the user's voice.

[0083] According to the above method, when the automatic cleaning device performs a tangential rotational movement, the distance between the first obstacle and the second obstacle is determined according to the user's needs, thereby satisfying the user's cleaning requirements.

[0084] In any of the above technical solutions, optionally, controlling the automatic cleaning device to move along an arc-shaped path includes obtaining the device dimensional parameters of the automatic cleaning device, a first distance between the automatic cleaning device and a first obstacle, a second distance threshold and a third distance threshold, and detecting that the third distance threshold is less than the second distance threshold, detecting the second distance between the automatic cleaning device and a second obstacle, and if the second distance is less than or equal to the second distance threshold, moving the automatic cleaning device along the arc-shaped path along the first and second obstacles respectively, and adjusting the second rotation angle between the automatic cleaning device and the first obstacle, the third rotation angle between the automatic cleaning device and the second obstacle, and the moving speed of the automatic cleaning device so that the cleaning assembly and the first obstacle do not interfere with each other during the process of the automatic cleaning device moving along the arc-shaped path, provided that the second distance is less than or equal to the third distance threshold and the third rotation angle is less than or equal to a predetermined angle threshold.

[0085] In this embodiment, if the length LB of the second obstacle is greater than a predetermined length threshold, the controller uses the data information collected when acquiring the length LB of the second obstacle to fit the linear coordinates of the second obstacle under the coordinate system of the automatic cleaning device. Combining this with the position coordinates and orientation information of the automatic cleaning device under the navigation coordinate system at the current time, the controller obtains the second rotation angle θ2 with respect to the first obstacle in the direction of movement of the automatic cleaning device, and the third rotation angle θ3 with respect to the second obstacle in the direction of movement of the automatic cleaning device.

[0086] As shown in Figure 7, the controller obtains a first distance dA between the automatic cleaning device and the first obstacle, and a second distance dB between the automatic cleaning device and the second obstacle in front of it. If the second distance dB is smaller than the minimum distance threshold for arc turning, i.e., the second distance threshold dH1, the controller switches the automatic cleaning device from moving in a straight line to moving in an arc along the first obstacle. During the arc-shaped movement, the controller dynamically adjusts the turning speed and moving speed of the automatic cleaning device by detecting the changes in the first distance dA, the second distance dB, and the third rotation angle θ3 in real time, thereby achieving the following two objectives. (1) The first distance dA is always greater than the maximum width of the rear contour of the main body after the automatic cleaning device has been converted by the second rotation angle θ2, so that the cleaning assembly does not interfere with the first obstacle. (2) If the second distance dB and the third rotation angle θ3 continuously decrease, and the second distance dB is less than or equal to the third distance threshold, the third rotation angle θ3 decreases to exactly a predetermined angle threshold (e.g., 0°).

[0087] By simultaneously achieving the two objectives described above, the automatic cleaning device significantly improves its cleaning coverage area throughout the entire arc rotation phase compared to tangential rotation, and when the automatic cleaning device reaches the vicinity of the second obstacle, it can transition to a new parallel movement towards the second obstacle without the front and sides of the automatic cleaning device colliding with the obstacle.

[0088] In one embodiment of the present disclosure, the method further includes the steps of acquiring a cleaning mode and determining a third distance threshold based on the cleaning mode, wherein different cleaning modes have different degrees of obstacle protection and / or ground cleaning, with a higher degree of obstacle protection resulting in a larger third distance threshold and a higher degree of ground cleaning resulting in a smaller third distance threshold.

[0089] In this embodiment, a corresponding third distance threshold is selected based on the cleaning mode set by the user. Here, the obstacle protection degree and / or ground cleaning degree corresponding to different cleaning modes are different, where the obstacle protection degree refers to the tolerance for scratches on obstacles, and the ground cleaning degree refers to the tolerance for the cleaning cover area.

[0090] The controller obtains the cleaning mode set by the user before cleaning and determines a third distance threshold based on the degree of obstacle protection and / or ground cleaning corresponding to the cleaning mode. Specifically, for example, if the user prioritizes obstacle protection, the value of the third distance threshold is increased to ensure a certain distance margin from the second obstacle when the automatic cleaning device performs its arc-shaped rotational motion.

[0091] If the user prioritizes reducing the area missed during cleaning, the value of the third distance threshold is reduced, bringing the arc-shaped rotation motion closer to its limit and closer to the second obstacle.

[0092] The methods by which the user sets the cleaning mode are not specifically limited to those described in the embodiments of this disclosure. For example, the user can set the cleaning mode using an app installed on their device, the device can transmit the information of the set cleaning mode to the automatic cleaning device, and the user can set it by clicking or voice input in the app; or the user can select or input the cleaning mode using the user-interactive interface of the automatic cleaning device; or the automatic cleaning device may have a voice recognition function and directly analyze the user's voice to determine the cleaning mode.

[0093] According to the above method, the distance to the second obstacle when the automatic cleaning device performs an arc-shaped rotational motion is determined according to the user's needs, thereby satisfying the user's cleaning requirements.

[0094] In one embodiment of the present disclosure, the method selects the tangential mode as a swiveling motion when the sensor is unable to accurately measure the length of the second obstacle due to factors such as sensor failure or the material or shape of the second obstacle, and can only vaguely sense the distance to the second obstacle.

[0095] As shown in Figure 8, if the length LB of the second obstacle cannot be detected, the controller dynamically selects a corresponding trigger distance threshold dQ' based on the cleaning mode set by the user and performs a tangential turn using a pre-set tangential angle θ4. In this scheme, when the automatic cleaning device reaches the second obstacle by tangential movement, for example, if the actual length of the second obstacle exceeds dA + dQ' × tan(θ4) and dA is the first distance between the automatic cleaning device and the first obstacle, the front of the automatic cleaning device will interfere with the second obstacle. At this time, additional sensors such as collision sensors, vision sensors, or line laser sensors are required to sense the second distance to the second obstacle upon approach, and control the automatic cleaning device to immediately turn in place at an appropriate distance, return to an angle parallel to the second obstacle, and resume movement along the obstacle.

[0096] As a specific implementation of the control method for the automatic cleaning device described above, an embodiment of the present disclosure provides a control device for an automatic cleaning device, the automatic cleaning device comprising a main body and a cleaning assembly provided at the rear of the main body, with at least a portion of the cleaning assembly protruding from the edge of the main body. As shown in Figure 9, the control device 900 of the automatic cleaning device comprises a detection module 901 and a control module 902.

[0097] Here, the detection module 901 is used to detect a second obstacle in front of the automatic cleaning device while the automatic cleaning device is moving along the first obstacle, and to obtain the length of the second obstacle if one exists in front of the automatic cleaning device. The control module 902 is used to control the movement path of the automatic cleaning device based on the length of the second obstacle.

[0098] In this embodiment, before the automatic cleaning device turns, it detects obstacle information at the turning position, then determines a dynamic turning path based on the obstacle information, and completes the turning operation along the turning path. Specifically, the automatic cleaning device moves along the first obstacle, and during this process, it detects in real time whether there is an obstacle ahead. If a second obstacle is present in front of the automatic cleaning device, it then detects the length of the second obstacle. Furthermore, based on the acquired length of the second obstacle, it performs a detour operation to move the automatic cleaning device from a state approaching the first obstacle to a state approaching the second obstacle via a different movement path.

[0099] In the embodiments of this disclosure, when the automatic cleaning device rotates, interference between the cleaning assembly behind it and the first and second obstacles is effectively reduced, while simultaneously ensuring a larger cleaning area.

[0100] Furthermore, the control module 902 is specifically used to control the automatic cleaning device to move along a tangential path when the length of the second obstacle is less than or equal to a predetermined length threshold, and to control the automatic cleaning device to move along an arc path when the length of the second obstacle is greater than the predetermined length threshold.

[0101] Furthermore, the control module 902 is used to acquire the device dimension parameters of the automatic cleaning device and to determine a predetermined length threshold based on the device dimension parameters.

[0102] Furthermore, the device further comprises a first acquisition module used to acquire the device dimensions parameters of the automatic cleaning device, a first distance between the automatic cleaning device and a first obstacle, and a first distance threshold; a calculation module used to calculate a first rotation angle of the automatic cleaning device if the cleaning assembly and the first obstacle do not interfere with each other, based on the device dimensions parameters, the first distance, and the first distance threshold; a detection module 901 is further used to detect a second distance between the automatic cleaning device and a second obstacle; and a control module 902 is specifically used to control the automatic cleaning device to rotate according to a first rotation angle and move along the second obstacle along a tangential path after rotation if the second distance is less than or equal to the first distance threshold.

[0103] Furthermore, the device dimension parameters include the body radius, body rear contour length, and body rear contour width.

[0104] Furthermore, the control module 902 is used to acquire the cleaning mode, determine a first distance threshold based on the cleaning mode, and / or adjust a first rotation angle based on the cleaning mode, where different obstacle protection and / or ground cleaning degrees correspond to different cleaning modes, with higher obstacle protection resulting in a larger first distance threshold and a smaller first rotation angle, and higher ground cleaning results in a smaller first distance threshold and a larger first rotation angle.

[0105] Furthermore, the device further comprises a second acquisition module used to acquire the device dimensions parameters of the automatic cleaning device, a first distance between the automatic cleaning device and a first obstacle, a second distance threshold, and a third distance threshold, where the third distance threshold is smaller than the second distance threshold. A detection module 901 is further used to detect a second distance between the automatic cleaning device and a second obstacle. A control module 902 is specifically used to move the automatic cleaning device along an arc path along the first and second obstacles, respectively, when the second distance is less than or equal to the second distance threshold, and to adjust the second rotation angle between the automatic cleaning device and the first obstacle, the third rotation angle between the automatic cleaning device and the second obstacle, and the moving speed of the automatic cleaning device so that the cleaning assembly does not interfere with the first obstacle while the automatic cleaning device is moving along the arc path. If the second distance is less than or equal to the third distance threshold, the third rotation angle is less than or equal to a predetermined angle threshold.

[0106] Furthermore, the control module 902 is used to acquire the cleaning mode and determine a third distance threshold based on the cleaning mode, where different cleaning modes correspond to different degrees of obstacle protection and / or ground cleaning, with higher obstacle protection resulting in a larger third distance threshold and higher ground cleaning resulting in a smaller third distance threshold.

[0107] Furthermore, the detection module 901 is specifically used to obtain the time it takes for the automatic cleaning device to move along the first obstacle, and the first distance between the automatic cleaning device and the first obstacle within the travel time. If the travel time is greater than or equal to a predetermined time threshold, and the first distance within the travel time is within a predetermined distance range, the module is used to obtain the length of the second obstacle.

[0108] The control device 900 for the automatic cleaning device provided in the embodiments of this disclosure can implement each of the processes realized by the control method embodiments for the automatic cleaning device shown in Figures 2 and 4, and will not be described again here to avoid duplication.

[0109] Embodiments of the present disclosure further provide an automatic cleaning device, as shown in Figure 1, the automatic cleaning device is Main unit 101, A cleaning assembly 1031 is provided at the rear of the main body 101, with at least a portion of it protruding from the edge of the main body 101, The main unit 101 includes a memory (not shown) in which a program or command is stored, The main unit 101 is equipped with a controller (not shown) which, when a program or command is executed, realizes each step of the above-described embodiment of the control method for the automatic cleaning device. This controller achieves similar technical effects and will not be described again here to avoid duplication.

[0110] Here, memory is used to store software programs and various types of data. Memory mainly includes a first storage area for storing programs or instructions and a second storage area for storing data, where the first storage area stores the operating system, application programs or instructions necessary for at least one function (such as audio playback function, image playback function, etc.), etc. Furthermore, memory includes volatile memory or non-volatile memory, or memory includes both volatile and non-volatile memory. Here, non-volatile memory may be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (Erasable PROM, EPROM), electrically erasable programmable read-only memory (Electrically EPROM, EEPROM), or flash memory. Volatile memory can be Random Access Memory (RAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), Synchronous Dynamic Random Access Memory (SDRAM), Double Data Rate Synchronous Dynamic Random Access Memory (DDRSDRAM), Enhanced Synchronous Dynamic Random Access Memory (ESDRAM), Synch-linked Dynamic Random Access Memory (SLDRAM), and Direct Rambus Random Access Memory (DRRAM). The memories in the embodiments of this disclosure include, but are not limited to, these and any other suitable types of memory.

[0111] The controller includes one or more processing units, and optionally, the controller integrates an application controller and a modem controller, where the application controller mainly handles operations related to the operating system, user interface, and application programs, and the modem controller mainly handles wireless communication signals, such as baseband controllers. Note that the above modem controller does not necessarily have to be integrated into the controller.

[0112] Furthermore, the cleaning assembly 1031 includes at least one cleaning element that is rotatable relative to the body, with at least a portion of the cleaning element protruding from the edge of the body.

[0113] Furthermore, there are two cleaning elements, which are positioned left and right along the forward direction of the main unit.

[0114] Embodiments of this disclosure further provide a readable storage medium on which a program or command is stored, and when the program or command is executed by a controller, each process of the above-described embodiment of the control method for the automatic cleaning device is realized and achieves similar technical effects, and to avoid duplication, they will not be described again here.

[0115] Embodiments of this disclosure further provide a chip which includes a controller and a communication interface, the communication interface and the controller being coupled, the controller being used to execute a program or command to realize each process of the above-described embodiment of the control method for the automatic cleaning device, and achieving similar technical effects, which will not be repeated here to avoid duplication.

[0116] It should be noted that the chips referred to in the embodiments of this disclosure are also called system-level chips, system chips, chip systems, or system-on-a-chip.

[0117] Embodiments of this disclosure further provide a computer program product stored on a storage medium, which, when executed by at least one controller, realizes each process of the above-described embodiment of the control method for the automatic cleaning device and achieves similar technical effects, and will not be described again here to avoid duplication.

[0118] In this specification, the terms “equipped with,” “including,” or any other variation are intended to cover non-exclusive inclusion, and a process, method, article, or apparatus comprising a set of elements includes, in addition to those elements, other elements not explicitly listed, or elements specific to that process, method, article, or apparatus. Unless more restrictive, an element defined in the expression “including one…” does not preclude the presence of other similar elements in a process, method, article, or apparatus comprising that element. Furthermore, the scope of methods and apparatus in embodiments of this disclosure is not limited to performing functions in the order shown or discussed, and depending on such functions, they may be performed essentially simultaneously or in reverse order, for example, methods described in a different order than described, and various steps may be added, omitted, or combined. Also, features described by reference to some examples may be combined with other examples.

[0119] While embodiments of the present disclosure have been described above with reference to the attached drawings, the present disclosure is not limited to the above-described specific embodiments. The above-described specific embodiments are merely illustrative and not restrictive. Any various forms that a person skilled in the art could obtain based on the teachings of the present disclosure without departing from the spirit of the present disclosure and the scope of the claims are all included within the scope of the present disclosure.

Claims

1. A control method for an automatic cleaning device, The automatic cleaning device comprises a main body and a cleaning assembly provided at the rear of the main body, wherein at least a portion of the cleaning assembly protrudes from the edge of the main body. The control method for the automatic cleaning device is as follows: In the process of the automatic cleaning device moving along the first obstacle, the steps include detecting a second obstacle in front of the automatic cleaning device, If the second obstacle is located in front of the automatic cleaning device, the steps include obtaining the length of the second obstacle, A method for controlling an automatic cleaning device, comprising the step of controlling the movement path of the automatic cleaning device based on the length of the second obstacle.

2. The step of controlling the movement path of the automatic cleaning device based on the length of the second obstacle is: If the length of the second obstacle is less than or equal to a predetermined length threshold, the automatic cleaning device is controlled to move along the tangential path. A method for controlling an automatic cleaning device according to claim 1, comprising the step of controlling the automatic cleaning device to move along an arc path if the length of the second obstacle is greater than the predetermined length threshold.

3. The control method for an automatic cleaning device according to claim 2, further comprising the steps of acquiring the device dimension parameters of the automatic cleaning device and determining the predetermined length threshold based on the device dimension parameters.

4. The step of controlling the automatic cleaning device to move along the tangential path is: Steps include obtaining the device dimensions parameters of the automatic cleaning device, the first distance between the automatic cleaning device and the first obstacle, and the first distance threshold, A step of calculating the first rotation angle of the automatic cleaning device when the cleaning assembly and the first obstacle do not interfere with each other, based on the device dimension parameters, the first distance, and the first distance threshold, A method for controlling an automatic cleaning device according to claim 2, comprising the step of detecting a second distance between the automatic cleaning device and the second obstacle, and if the second distance is less than or equal to the first distance threshold, controlling the automatic cleaning device to rotate according to the first rotation angle and, after rotating, to move along the second obstacle according to the tangential path.

5. The control method for an automatic cleaning device according to claim 4, characterized in that the device dimension parameters include the main body radius, the main body rear contour length, and the main body rear contour width.

6. The steps further include acquiring a cleaning mode, determining a first distance threshold based on the cleaning mode, and / or adjusting a first rotation angle based on the cleaning mode, Control method for an automatic cleaning device according to claim 4, characterized in that the degree of obstacle protection and / or ground cleaning corresponding to different cleaning modes are different, the higher the degree of obstacle protection, the larger the first distance threshold and the smaller the first rotation angle, and the higher the degree of ground cleaning, the smaller the first distance threshold and the larger the first rotation angle.

7. The step of controlling the automatic cleaning device to move along an arc-shaped path is: A step of obtaining the device dimensions parameters of the automatic cleaning device, the first distance between the automatic cleaning device and the first obstacle, a second distance threshold, and a third distance threshold, wherein the third distance threshold is smaller than the second distance threshold, A method for controlling an automatic cleaning device according to claim 2, comprising the steps of: detecting a second distance between the automatic cleaning device and the second obstacle; controlling the automatic cleaning device to move along the first obstacle and the second obstacle, respectively, according to an arc path, if the second distance is less than or equal to the second distance threshold; and adjusting the second rotation angle between the automatic cleaning device and the first obstacle, the third rotation angle between the automatic cleaning device and the second obstacle, and the moving speed of the automatic cleaning device, such that the cleaning assembly and the first obstacle do not interfere with each other during the process of the automatic cleaning device moving along the arc path, and the third rotation angle is less than or equal to a predetermined angle threshold when the second distance is less than or equal to the third distance threshold.

8. The process further includes the steps of obtaining a cleaning mode and determining the third distance threshold based on the cleaning mode, A control method for an automatic cleaning device according to claim 7, characterized in that the degree of obstacle protection and / or ground cleaning corresponding to different cleaning modes are different, the higher the degree of obstacle protection, the larger the third distance threshold, and the higher the degree of ground cleaning, the smaller the third distance threshold.

9. The step of obtaining the length of the second obstacle is: The steps include obtaining the travel time length during which the automatic cleaning device moves along the first obstacle, and obtaining a first distance between the automatic cleaning device and the first obstacle within the travel time length, A control method for an automatic cleaning device according to any one of claims 1 to 8, comprising the step of obtaining the length of the second obstacle if the travel time is greater than or equal to a predetermined time threshold and all of the first distances within the travel time are within a predetermined distance range.

10. A control device for an automatic cleaning device comprising a main body and a cleaning assembly provided at the rear of the main body, wherein at least a portion of the cleaning assembly protrudes from the edge of the main body, the control device for the automatic cleaning device is A detection module is configured to detect a second obstacle in front of the automatic cleaning device during the process in which the automatic cleaning device moves along a first obstacle, and to obtain the length of the second obstacle if the second obstacle is present in front of the automatic cleaning device. A control device for an automatic cleaning device, comprising: a control module configured to control the movement path of the automatic cleaning device based on the length of the second obstacle; and

11. The control module, specifically, If the length of the second obstacle is less than or equal to a predetermined length threshold, the automatic cleaning device is controlled to move along the tangential path. The control device for the automatic cleaning device according to claim 10, characterized in that it is configured to control the automatic cleaning device to move along an arc path when the length of the second obstacle is greater than the predetermined length threshold.

12. The control device for an automatic cleaning device according to claim 11, further comprising the control module configured to acquire the device dimension parameters of the automatic cleaning device and to determine the predetermined length threshold based on the device dimension parameters.

13. A first acquisition module configured to acquire the device dimension parameters of the automatic cleaning device, a first distance between the automatic cleaning device and the first obstacle, and a first distance threshold, The system further comprises a calculation module configured to calculate a first rotation angle of the automatic cleaning device when the cleaning assembly and the first obstacle do not interfere with each other, based on the device dimension parameters, the first distance, and the first distance threshold. The detection module is further configured to detect a second distance between the automatic cleaning device and the second obstacle. The control device for an automatic cleaning device according to claim 11, wherein the control module is configured to control the automatic cleaning device to rotate according to a first rotation angle and move along the second obstacle along a tangential path after the rotation when the second distance is less than or equal to the first distance threshold.

14. The control device for an automatic cleaning device according to claim 13, characterized in that the device dimension parameters include the main body radius, the main body rear contour length, and the main body rear contour width.

15. The control module is further configured to acquire a cleaning mode, determine the first distance threshold based on the cleaning mode, and / or adjust the first rotation angle based on the cleaning mode. The control device for an automatic cleaning device according to claim 13, characterized in that the degree of obstacle protection and / or ground cleaning corresponding to different cleaning modes are different, the higher the degree of obstacle protection, the larger the first distance threshold and the smaller the first rotation angle, and the higher the degree of ground cleaning, the smaller the first distance threshold and the larger the first rotation angle.

16. A second acquisition module configured to acquire the device dimension parameters of the automatic cleaning device, a first distance between the automatic cleaning device and the first obstacle, a second distance threshold, and a third distance threshold, further comprising a second acquisition module in which the third distance threshold is smaller than the second distance threshold, The detection module is further configured to detect a second distance between the automatic cleaning device and the second obstacle. The control module for an automatic cleaning device according to claim 11 is configured to control the automatic cleaning device to move along the first and second obstacles in an arc-shaped path, respectively, when the second distance is less than or equal to the second distance threshold, and to adjust the second rotation angle between the automatic cleaning device and the first obstacle, the third rotation angle between the automatic cleaning device and the second obstacle, and the moving speed of the automatic cleaning device, such that the cleaning assembly and the first obstacle do not interfere with each other in the process of the automatic cleaning device moving along the arc-shaped path, and the third rotation angle is less than or equal to a predetermined angle threshold when the second distance is less than or equal to the third distance threshold.

17. The control module is further configured to acquire a cleaning mode and to determine the third distance threshold based on the cleaning mode. The control device for an automatic cleaning device according to claim 16, characterized in that the degree of obstacle protection and / or ground cleaning corresponding to different cleaning modes are different, the higher the degree of obstacle protection, the larger the third distance threshold, and the higher the degree of ground cleaning, the smaller the third distance threshold.

18. The aforementioned detection module specifically, The travel time length of the automatic cleaning device as it moves along the first obstacle is obtained, and the first distance between the automatic cleaning device and the first obstacle within the travel time length is obtained. A control device for an automatic cleaning device according to any one of claims 10 to 17, characterized in that it is configured to acquire the length of the second obstacle when the travel time is greater than or equal to a predetermined time threshold and all of the first distances within the travel time are within a predetermined distance range.

19. The main unit and A cleaning assembly is provided at the rear of the main body, with at least a portion of it protruding from the edge of the main body, The main body is provided with a memory in which a program or command is stored, An automatic cleaning device comprising: a controller provided on the main body, which, when executing the program or command, realizes a step of the control method for the automatic cleaning device described in any one of claims 1 to 9.

20. The automatic cleaning device according to claim 19, wherein the cleaning assembly includes at least one cleaning element that is rotatable relative to the main body, and at least a portion of the cleaning element protrudes from the edge of the main body.

21. The automatic cleaning device according to claim 20, characterized in that there are two cleaning elements, and the two cleaning elements are arranged left and right along the forward direction of the main body.

22. A readable storage medium in which a program or command is stored, wherein when the program or command is executed by a controller, it realizes a step of the control method for an automatic cleaning device described in any one of claims 1 to 9.

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