Control method for cleaning device, cleaning device, and readable storage medium

Abstract

The present application relates to a control method for a cleaning device, a cleaning device, and a readable storage medium. The method includes: obstacle information on a working surface can be accurately and timely acquired (S202, S302, S402, S502) through a detection system, and when a target obstacle is identified, a shielding member can be timely controlled to switch to a shielding state, thereby closing an opening of an accommodating cavity, preventing water from a rotary wet cleaning member rotatably disposed in the accommodating cavity from spilling onto the working surface, preventing cleaning effect from being affected, and improving cleaning quality; the shielding member of the cleaning device can include a shielding state and a retracted state, and can switch timely between the shielding state and the retracted state based on detected obstacle information, thereby expanding usage scenarios of the cleaning device.

Description

Control methods for cleaning equipment, cleaning equipment and readable storage media

[0001] This application claims priority to Chinese Patent Application No. 202510457678.0, filed on April 11, 2025, entitled "Control Method for Cleaning Equipment, Cleaning Equipment and Readable Storage Medium", the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application relates to the field of cleaning equipment technology, and in particular to a control method for cleaning equipment, cleaning equipment, and a readable storage medium. Background Technology

[0003] The cleaning equipment has a wet cleaning module at its bottom. This wet cleaning module can be a disc-type module, consisting of two disc-shaped cleaning cloths positioned at the bottom of the equipment. A gap exists between the two discs, which can create missed areas during cleaning, affecting the cleaning effect. To address this, linear roller-type and belt-type cleaning modules have emerged. Due to their linear design, they avoid the problem of missed areas. These roller-type and belt-type cleaning modules include linear cleaning components (cloths), allowing the cleaning equipment to clean the floor.

[0004] Traditional roller-type or tracked cleaning modules also include a clean water replenishment system and a wastewater collection system. The clean water replenishment system consists of a clean water tank and a clean water replenishment pipeline. The clean water tank is located inside the cleaning equipment. One end of the clean water replenishment pipeline is attached to the cleaning component, and the other end is connected to the clean water tank. Clean water from the tank is sprayed onto the cleaning component through the pipeline to clean it. The wastewater collection system consists of a wastewater tank and a wastewater collection pipeline. The wastewater tank is located inside the cleaning equipment. One end of the wastewater collection pipeline is attached to the cleaning component, and the other end is connected to the wastewater tank. The wastewater collection system scrapes wastewater off the cleaning component and then uses negative pressure to collect the wastewater back into the cleaning equipment through the collection pipeline.

[0005] However, although the aforementioned water replenishment system and wastewater collection system can clean the cleaning components and collect wastewater in real time during the operation of the cleaning equipment, the cleaning components will always have a high water content. Since the side of the cleaning component facing the ground is always located at the opening of the receiving cavity, when the water content of the cleaning component is high, the water in the cleaning component is easy to spill onto the working surface of the cleaning equipment, resulting in poor cleaning effect. Summary of the Invention

[0006] Therefore, it is necessary to provide a control method, cleaning device, and readable storage medium for cleaning equipment that can prevent water spillage in rotary wet cleaning components and improve cleaning effect, in order to address the above-mentioned technical problems.

[0007] In a first aspect, this application provides a control method for a cleaning device, which is applied to the cleaning device, the cleaning device including a body, a detection system, a rotary wet cleaning component and a shielding mechanism, the shielding mechanism including a shielding component, the bottom of the body being provided with a receiving cavity, the rotary wet cleaning component being rotatably disposed in the receiving cavity, and the shielding component being movably disposed at the opening of the receiving cavity;

[0008] The method includes:

[0009] During the movement of the cleaning equipment, obstacle information is acquired through the detection system;

[0010] If it is determined that the obstacle indicated by the obstacle information is the target obstacle, the blocking member of the cleaning equipment is controlled to be in a blocking state to close the opening of the receiving cavity;

[0011] If it is determined that the obstacle indicated by the obstacle information is not the target obstacle, the blocking member is controlled to be in an avoidance state to open the opening of the receiving cavity;

[0012] The target obstacle is a target carpet with a fine, hair-like structure on its surface. The maximum distance between the fine hair-like structure and the surface of the target carpet is greater than the minimum distance between the rotary wet cleaning component and the surface of the target carpet.

[0013] In one alternative embodiment, the side of the shielding member facing away from the rotary wet cleaning member is provided with a comb structure. The minimum distance between the comb structure and the surface of the target carpet is less than the maximum distance between the fine hair structure and the surface of the target carpet. During the movement of the cleaning device, the comb structure interferes with the fine hair structure to comb the fine hair structure on the target obstacle.

[0014] Secondly, this application provides a control method for a cleaning device, which is applied to the cleaning device, the cleaning device including a body, a detection system, a rotary wet cleaning component and a shielding mechanism, the shielding mechanism including a shielding component, the bottom of the body being provided with a receiving cavity, the rotary wet cleaning component being rotatably disposed in the receiving cavity, and the shielding component being movably disposed at the opening of the receiving cavity;

[0015] The method includes:

[0016] During the movement of the cleaning equipment, obstacle information is acquired through the detection system;

[0017] If it is determined that the obstacle indicated by the obstacle information is the target obstacle, the blocking member of the cleaning equipment is controlled to be in a blocking state to close the opening of the receiving cavity;

[0018] If it is determined that the obstacle indicated by the obstacle information is not the target obstacle, the blocking member is controlled to be in an avoidance state to open the opening of the receiving cavity;

[0019] The target obstacle protrudes from the working surface where the cleaning equipment is located, and the height of the target obstacle protruding from the working surface is less than or equal to the maximum obstacle-crossing height of the cleaning equipment.

[0020] Thirdly, this application provides a control method for a cleaning device, which is applied to the cleaning device, the cleaning device including a body, a detection system, a rotary wet cleaning component and a shielding mechanism, the shielding mechanism including a shielding component, the bottom of the body being provided with a receiving cavity, the rotary wet cleaning component being rotatably disposed in the receiving cavity, and the shielding component being movably disposed at the opening of the receiving cavity;

[0021] The method includes:

[0022] During the movement of the cleaning equipment, obstacle information is acquired through the detection system;

[0023] If it is determined that the obstacle indicated by the obstacle information is the target obstacle, the blocking member of the cleaning equipment is controlled to be in a blocking state to close the opening of the receiving cavity;

[0024] If it is determined that the obstacle indicated by the obstacle information is not the target obstacle, the blocking member is controlled to be in an avoidance state to open the opening of the receiving cavity;

[0025] The target obstacle is a flexible obstacle, which includes at least a flexible part, which is a flexible linear structure.

[0026] Fourthly, this application provides a control method for a cleaning device, which is applied to the cleaning device, the cleaning device including a body, a detection system, a rotary wet cleaning component and a shielding mechanism, the shielding mechanism including a shielding component, the bottom of the body being provided with a receiving cavity, the rotary wet cleaning component being rotatably disposed in the receiving cavity, and the shielding component being movably disposed at the opening of the receiving cavity;

[0027] The method includes:

[0028] During the movement of the cleaning equipment, obstacle information is acquired through the detection system;

[0029] If it is determined that the obstacle indicated by the obstacle information is the target obstacle, the blocking member of the cleaning equipment is controlled to be in a blocking state to close the opening of the receiving cavity;

[0030] If it is determined that the obstacle indicated by the obstacle information is not the target obstacle, the blocking member is controlled to be in an avoidance state to open the opening of the receiving cavity;

[0031] The target obstacle is a solid obstacle of a dangerous type, and the dangerous type includes one or more of paper, pollutants, hard objects, and sharp objects.

[0032] In one alternative embodiment, after determining that the obstacle indicated by the obstacle information is a target obstacle, the method further includes:

[0033] Control the cleaning equipment to perform obstacle avoidance actions, which include one or more of the following:

[0034] The cleaning equipment turns around at the edge of the target obstacle;

[0035] The cleaning equipment circumvents the edge of the target obstacle;

[0036] The cleaning equipment reverses and turns;

[0037] The cleaning equipment performs edge cleaning along the edge of the target obstacle.

[0038] In one alternative approach, the method further includes:

[0039] If the distance between the cleaning device and the target obstacle and / or the base station is less than or equal to a preset distance threshold, the cleaning device is controlled to decelerate during its movement toward the target obstacle.

[0040] Fifthly, this application provides a control method for a cleaning device, applied to a cleaning device that is communicatively connected to a base station. The base station has a receiving cavity for accommodating the cleaning device. The bottom of the receiving cavity is provided with a cleaning tray, and the cleaning tray has a cleaning groove. A guide plate is connected to the cleaning tray, and the guide plate extends in a direction away from the base station. The cleaning device can be moved into the receiving cavity via the guide plate. The cleaning device includes a body, a detection system, a rotary wet cleaning component, and a shielding mechanism. The shielding mechanism includes a shielding member. The bottom of the body is provided with a receiving cavity, the rotary wet cleaning component is rotatably disposed in the receiving cavity, and the shielding member is movably disposed at the opening of the receiving cavity.

[0041] The method includes:

[0042] During the movement of the cleaning equipment, if it is determined that the current cleaning equipment meets the conditions for returning to the base station, the base station information is obtained through the detection system, and the cleaning equipment is controlled to return to the base station based on the base station information;

[0043] During the process of the cleaning device moving through the guide plate to the receiving cavity, the blocking member of the cleaning device is controlled to be in a blocking state to close the opening of the receiving cavity;

[0044] When the cleaning equipment returns to the parking position of the base station, the shielding component is controlled to be in an avoidance state, and the opening of the receiving cavity is opened so that the rotary wet cleaning component corresponds to the cleaning tank.

[0045] In one alternative approach, the method further includes:

[0046] When the rotary wet cleaning component needs cleaning, or when the remaining power of the cleaning equipment is lower than a preset power threshold, or when the cleaning equipment completes the cleaning task, it is determined that the current cleaning equipment meets the conditions for returning to the base station.

[0047] In one alternative approach, the method further includes:

[0048] When the cleaning device departs from the base station, the blocking component of the cleaning device is controlled to be in a blocking state to close the opening of the receiving cavity;

[0049] When the cleaning equipment leaves the base station after passing the guide plate, the state of the obstruction is determined based on real-time cleaning demand information.

[0050] Sixthly, this application provides a control method for a cleaning device, which is applied to the cleaning device, the cleaning device including a body, a detection system, a rotary wet cleaning component and a shielding mechanism, the shielding mechanism including a shielding member, the bottom of the body being provided with a receiving cavity, the rotary wet cleaning component being rotatably disposed in the receiving cavity, and the shielding member being movably disposed at the opening of the receiving cavity;

[0051] The method includes:

[0052] If it is determined that the cleaning device is in sweeping mode during movement, the blocking component of the cleaning device is controlled to be in a blocking state to close the opening of the receiving cavity;

[0053] If it is determined that the cleaning device is in mopping mode or sweeping and mopping mode during movement, the blocking component is controlled to be in an avoidance state to open the opening of the receiving cavity.

[0054] The sweeping mode is where the cleaning equipment only sweeps and does not mop; the mopping mode is where the cleaning equipment only mops and does not sweep; and the sweeping and mopping mode is where the cleaning equipment sweeps and mops simultaneously.

[0055] In a seventh aspect, this application provides a control method for a cleaning device, which is applied to the cleaning device, the cleaning device including a body, a detection system, a rotary wet cleaning component and a shielding mechanism, the shielding mechanism including a shielding component, the bottom of the body being provided with a receiving cavity, the rotary wet cleaning component being rotatably disposed in the receiving cavity, and the shielding component being movably disposed at the opening of the receiving cavity;

[0056] The method includes:

[0057] During the movement of the cleaning equipment, if it is determined that the cleaning equipment is in a blocked area, the blocking component of the cleaning equipment is controlled to be in a blocked state to close the opening of the receiving cavity; and / or;

[0058] During the movement of the cleaning equipment, if it is determined that the cleaning equipment is in an unobstructed area, the obstructing component of the cleaning equipment is controlled to be in an avoidance state to open the opening of the receiving cavity;

[0059] The obscured area and / or the unobscured area are configured by the user via a mobile terminal.

[0060] In one alternative approach, the method further includes:

[0061] The display area configuration interface shows the working area of ​​the cleaning equipment.

[0062] In response to the user's division of the work area, the occluded area and / or unoccluded area corresponding to the work area are obtained.

[0063] Eighthly, this application also provides a cleaning device, comprising:

[0064] The fuselage has a receiving cavity at its bottom;

[0065] A detection system, mounted on the device, is used to acquire obstacle information and / or base station information;

[0066] A rotary wet cleaning component is rotatably disposed within the receiving cavity for cleaning the working surface of the cleaning equipment;

[0067] A shielding mechanism includes a shielding member and a driving assembly. The shielding member is movably disposed at the opening of the receiving cavity by the driving assembly. The shielding member includes a shielding state that closes the opening of the receiving cavity and an avoidance state that opens the opening of the receiving cavity.

[0068] A control module is used to perform the method described in any one of the first to seventh aspects above.

[0069] In one alternative embodiment, the detection system includes one or more of the following: monocular vision sensor, binocular vision sensor, trinocular vision sensor, lidar, line laser sensor, area laser sensor, Dtof sensor, Itof sensor, and ultrasonic sensor.

[0070] In one alternative embodiment, the shielding member has a comb-like structure on the side facing away from the rotary wet cleaning member. The comb-like structure is used to clean impurities in the carpet on the working surface, and / or to comb the fine hair-like structure on the surface of the carpet, and / or to enhance the strength of the shielding member.

[0071] Ninthly, this application also provides a control device for a cleaning equipment, which is applied to the cleaning equipment, the cleaning equipment including a body, a detection system, a rotary wet cleaning component and a shielding mechanism, the shielding mechanism including a shielding component, the bottom of the body being provided with a receiving cavity, the rotary wet cleaning component being rotatably disposed in the receiving cavity, and the shielding component being movably disposed at the opening of the receiving cavity;

[0072] The device includes:

[0073] The first acquisition module is used to acquire obstacle information through the detection system during the movement of the cleaning equipment;

[0074] The first control module is configured to, if it is determined that the obstacle indicated by the obstacle information is a target obstacle, control the shielding member of the cleaning equipment to be in a shielding state to close the opening of the receiving cavity;

[0075] The second control module is used to control the blocking member to be in an avoidance state so as to open the opening of the receiving cavity if it is determined that the obstacle indicated by the obstacle information is not the target obstacle.

[0076] The target obstacle is a target carpet with a fine, hair-like structure on its surface. The maximum distance between the fine hair-like structure and the surface of the target carpet is greater than the minimum distance between the rotary wet cleaning component and the surface of the target carpet.

[0077] In one alternative embodiment, the side of the shielding member facing away from the rotary wet cleaning member is provided with a comb structure. The minimum distance between the comb structure and the surface of the target carpet is less than the maximum distance between the fine hair structure and the surface of the target carpet. During the movement of the cleaning device, the comb structure interferes with the fine hair structure to comb the fine hair structure on the target obstacle.

[0078] In a tenth aspect, this application also provides a control device for a cleaning equipment, which is applied to the cleaning equipment, the cleaning equipment including a body, a detection system, a rotary wet cleaning component and a shielding mechanism, the shielding mechanism including a shielding component, a receiving cavity provided at the bottom of the body, the rotary wet cleaning component being rotatably disposed in the receiving cavity, and the shielding component being movably disposed at the opening of the receiving cavity;

[0079] The device includes:

[0080] The second acquisition module is used to acquire obstacle information through the detection system during the movement of the cleaning equipment;

[0081] The third control module is used to control the shielding member of the cleaning equipment to be in a shielding state to close the opening of the receiving cavity if it is determined that the obstacle indicated by the obstacle information is the target obstacle;

[0082] The fourth control module is used to control the blocking member to be in an avoidance state to open the opening of the receiving cavity if it is determined that the obstacle indicated by the obstacle information is not the target obstacle.

[0083] The target obstacle protrudes from the working surface where the cleaning equipment is located, and the height of the target obstacle protruding from the working surface is less than or equal to the maximum obstacle-crossing height of the cleaning equipment.

[0084] Eleventhly, this application also provides a control device for a cleaning equipment, which is applied to the cleaning equipment, the cleaning equipment including a body, a detection system, a rotary wet cleaning component and a shielding mechanism, the shielding mechanism including a shielding component, the bottom of the body being provided with a receiving cavity, the rotary wet cleaning component being rotatably disposed in the receiving cavity, and the shielding component being movably disposed at the opening of the receiving cavity;

[0085] The device includes:

[0086] The third acquisition module is used to acquire obstacle information through the detection system during the movement of the cleaning equipment;

[0087] The fifth control module is used to control the shielding member of the cleaning equipment to be in a shielding state to close the opening of the receiving cavity if it is determined that the obstacle indicated by the obstacle information is the target obstacle;

[0088] The sixth control module is used to control the blocking member to be in an avoidance state to open the opening of the receiving cavity if it is determined that the obstacle indicated by the obstacle information is not the target obstacle;

[0089] The target obstacle is a flexible obstacle, which includes at least a flexible part, which is a flexible linear structure.

[0090] In a twelfth aspect, this application also provides a control device for a cleaning equipment, which is applied to the cleaning equipment, the cleaning equipment including a body, a detection system, a rotary wet cleaning component and a shielding mechanism, the shielding mechanism including a shielding member, the bottom of the body being provided with a receiving cavity, the rotary wet cleaning component being rotatably disposed in the receiving cavity, and the shielding member being movably disposed at the opening of the receiving cavity;

[0091] The device includes:

[0092] The fourth acquisition module is used to acquire obstacle information through the detection system during the movement of the cleaning equipment;

[0093] The seventh control module is used to control the shielding member of the cleaning equipment to be in a shielding state to close the opening of the receiving cavity if it is determined that the obstacle indicated by the obstacle information is a target obstacle;

[0094] The eighth control module is used to control the blocking member to be in an avoidance state to open the opening of the receiving cavity if it is determined that the obstacle indicated by the obstacle information is not the target obstacle;

[0095] The target obstacle is a solid obstacle of a dangerous type, and the dangerous type includes one or more of paper, pollutants, hard objects, and sharp objects.

[0096] In an alternative embodiment, after determining that the obstacle indicated by the obstacle information is a target obstacle, the device further includes:

[0097] The obstacle avoidance module is used to control the cleaning equipment to perform obstacle avoidance actions, which include one or more of the following:

[0098] The cleaning equipment turns around at the edge of the target obstacle;

[0099] The cleaning equipment circumvents the edge of the target obstacle;

[0100] The cleaning equipment reverses and turns;

[0101] The cleaning equipment performs edge cleaning along the edge of the target obstacle.

[0102] In an alternative embodiment, the device further includes:

[0103] A deceleration module is used to control the cleaning device to decelerate during its movement toward the target obstacle if the distance between the cleaning device and the target obstacle and / or the base station is less than or equal to a preset distance threshold.

[0104] In a thirteenth aspect, this application also provides a control device for a cleaning device, applied to a cleaning device that is communicatively connected to a base station. The base station has a receiving cavity for accommodating the cleaning device. The bottom of the receiving cavity is provided with a cleaning tray, and the cleaning tray has a cleaning groove. A guide plate is connected to the cleaning tray, and the guide plate extends in a direction away from the base station. The cleaning device can be moved into the receiving cavity via the guide plate. The cleaning device includes a body, a detection system, a rotary wet cleaning component, and a shielding mechanism. The shielding mechanism includes a shielding member. The bottom of the body is provided with a receiving cavity, the rotary wet cleaning component is rotatably disposed in the receiving cavity, and the shielding member is movably disposed at the opening of the receiving cavity.

[0105] The device includes:

[0106] The first determining module is used to, during the movement of the cleaning equipment, if it is determined that the current cleaning equipment meets the conditions for returning to the base station, obtain base station information through the detection system, and control the cleaning equipment to return to the base station based on the base station information;

[0107] The ninth control module is used to control the shielding member of the cleaning device to be in a shielding state to close the opening of the receiving cavity when the cleaning device moves to the receiving cavity through the guide plate.

[0108] The tenth control module is used to control the shielding component to be in an avoidance state and open the opening of the receiving cavity when it is determined that the cleaning equipment has returned to the parking position of the base station, so that the rotary wet cleaning component corresponds to the cleaning tank.

[0109] In an alternative embodiment, the device further includes:

[0110] The condition determination module is used to determine that the cleaning device meets the conditions for returning to the base station when the rotary wet cleaning component needs to be cleaned, or when the remaining power of the cleaning device is lower than a preset power threshold, or when the cleaning device completes the cleaning task.

[0111] In an alternative embodiment, the device further includes:

[0112] The starting module is used to control the blocking component of the cleaning device to be in a blocking state when the cleaning device starts from the base station, so as to close the opening of the receiving cavity;

[0113] The status determination module is used to determine the status of the obstruction based on real-time cleaning demand information when the cleaning equipment leaves the base station after passing the guide plate.

[0114] In a fourteenth aspect, this application also provides a control device for a cleaning equipment, which is applied to the cleaning equipment, the cleaning equipment including a body, a detection system, a rotary wet cleaning component and a shielding mechanism, the shielding mechanism including a shielding member, the bottom of the body being provided with a receiving cavity, the rotary wet cleaning component being rotatably disposed in the receiving cavity, and the shielding member being movably disposed at the opening of the receiving cavity;

[0115] The device includes:

[0116] The second determining module is used to control the blocking member of the cleaning device to be in a blocking state to close the opening of the receiving cavity if it is determined that the cleaning device is in a sweeping working mode during movement.

[0117] The third determining module is used to control the blocking component to be in an avoidance state so as to open the opening of the receiving cavity if it is determined that the cleaning device is in a mopping working mode or a sweeping and mopping working mode during the movement.

[0118] The sweeping mode is where the cleaning equipment only sweeps and does not mop; the mopping mode is where the cleaning equipment only mops and does not sweep; and the sweeping and mopping mode is where the cleaning equipment sweeps and mops simultaneously.

[0119] In a fifteenth aspect, this application also provides a control device for a cleaning equipment, which is applied to the cleaning equipment, the cleaning equipment including a body, a detection system, a rotary wet cleaning component and a shielding mechanism, the shielding mechanism including a shielding component, the bottom of the body being provided with a receiving cavity, the rotary wet cleaning component being rotatably disposed in the receiving cavity, and the shielding component being movably disposed at the opening of the receiving cavity;

[0120] The device includes:

[0121] The fourth determining module is configured to, during the movement of the cleaning equipment, if it is determined that the cleaning equipment is in a blocked area, control the blocking member of the cleaning equipment to be in a blocked state to close the opening of the receiving cavity; and / or;

[0122] The fifth determining module is used to, during the movement of the cleaning equipment, if it is determined that the cleaning equipment is in an unobstructed area, control the obstructing component of the cleaning equipment to be in an avoidance state so as to open the opening of the receiving cavity;

[0123] The obscured area and / or the unobscured area are configured by the user via a mobile terminal.

[0124] In an alternative embodiment, the device further includes:

[0125] The display module is used to display the area configuration interface, which displays the working area of ​​the cleaning equipment; in response to the user's division operation of the working area, the occluded area and / or unoccluded area corresponding to the working area are obtained.

[0126] In a sixteenth aspect, this application also provides a cleaning device, including a memory and a processor, the memory storing a computer program, the processor executing the computer program to implement the steps of the method described in any one of the first to seventh aspects.

[0127] In a seventeenth aspect, this application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the method described in any one of the first to seventh aspects.

[0128] In an eighteenth aspect, this application also provides a computer program product, including a computer program that, when executed by a processor, implements the steps of the method described in any one of the first to seventh aspects.

[0129] The aforementioned cleaning equipment control method, cleaning equipment, and readable storage medium include the following steps: during the movement of the cleaning equipment, an obstacle information is acquired through a detection system; if it is determined that the obstacle indicated by the obstacle information is a target obstacle, the blocking component of the cleaning equipment is controlled to be in a blocking state to close the opening of the receiving cavity; if it is determined that the obstacle indicated by the obstacle information is not a target obstacle, the blocking component is controlled to be in an avoidance state to open the opening of the receiving cavity; wherein the target obstacle is a target carpet, the surface of the target carpet has a fine hair-like structure, and the maximum distance between the fine hair-like structure and the surface of the target carpet is greater than the minimum distance between the rotary wet cleaning component and the surface of the target carpet.

[0130] By employing the method of this application, the detection system can accurately and promptly acquire obstacle information on the work surface. Upon identifying a target obstacle, it can promptly control the blocking component to switch to a blocking state, closing the opening of the receiving cavity. This prevents water from the rotatably mounted rotary wet cleaning component within the receiving cavity from spilling onto the work surface, thus avoiding impact on cleaning effectiveness and improving cleaning quality. The blocking component of the cleaning equipment can include both blocking and avoidance states, switching between these states promptly based on detected obstacle information, expanding the application scenarios of the cleaning equipment. Furthermore, it can promptly close the opening of the receiving cavity when multiple types of target obstacles are detected, preventing flexible obstacles from entering the receiving cavity, isolating the work surface from the rotary wet cleaning component, preventing damage to the cleaning equipment and the user's belongings, and improving the user experience. Attached Figure Description

[0131] To more clearly illustrate the technical solutions in the embodiments of this application or related technologies, the drawings used in the description of the embodiments of this application or related technologies will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0132] Figure 1 is a schematic diagram of a cleaning device in one embodiment;

[0133] Figure 2 is a flowchart illustrating a control method for a cleaning device in one embodiment;

[0134] Figure 3 is a flowchart illustrating a control method for a cleaning device in one embodiment;

[0135] Figure 4 is a flowchart illustrating a control method for a cleaning device in one embodiment;

[0136] Figure 5 is a flowchart illustrating a control method for a cleaning device in one embodiment;

[0137] Figure 6 is a schematic diagram of the structure of a base station corresponding to a cleaning device in one embodiment;

[0138] Figure 7 is a flowchart illustrating a control method for a cleaning device in one embodiment;

[0139] Figure 8 is a flowchart illustrating the switching of the shielding module in the control method of the cleaning equipment in one embodiment;

[0140] Figure 9 is a flowchart illustrating a control method for a cleaning device in one embodiment;

[0141] Figure 10 is a schematic diagram of the cleaning equipment in a shielded state in one embodiment;

[0142] Figure 11 is a schematic diagram of a detection system in a cleaning device in one embodiment;

[0143] Figure 12 is a schematic diagram of the detection system in the cleaning equipment in another embodiment;

[0144] Figure 13 is an internal structure diagram of a computer device in one embodiment. Detailed Implementation

[0145] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0146] The control method for the cleaning equipment provided in this application embodiment can be applied to the cleaning equipment shown in Figure 1. The cleaning equipment includes a body, a detection system, a rotary wet cleaning component, and a shielding mechanism. The shielding mechanism includes a shielding member. A receiving cavity is provided at the bottom of the body. The rotary wet cleaning component is rotatably disposed within the receiving cavity, and the shielding member is movably disposed at the opening of the receiving cavity. The cleaning equipment can also be communicatively connected to a base station.

[0147] During the operation of cleaning equipment, such as when cleaning carpets, the carpet fibers extend upwards. When the cleaning equipment passes over the carpet, the cleaning components of the equipment will come into contact with the carpet fibers. Since the cleaning components are connected to the wastewater collection pipe and the clean water replenishment pipe, the cleaning components themselves have a high water content. When the cleaning components come into contact with the carpet fibers, they will contaminate the carpet, thus affecting the cleaning effect of the cleaning equipment.

[0148] Therefore, the cleaning device described in this application embodiment can be used to implement the control method of the cleaning device described in this application embodiment. The cleaning device includes a body, a detection system, a rotary wet cleaning component, and a blocking mechanism. A receiving cavity is provided at the bottom of the body, and the rotary wet cleaning component is rotatably disposed in the receiving cavity. The detection system is disposed on the body and is used to acquire obstacle information of obstacles on the working surface of the cleaning device, such as image information and / or three-dimensional information of the obstacles. The blocking mechanism includes a blocking member, which is movably disposed at the opening of the receiving cavity. The blocking member has a blocking state and an avoidance state in the working state. The blocking structure may also include a driving component, which can be used to drive the blocking component to move. Accordingly, when the blocking member is in the avoidance state, the opening of the receiving cavity is in the open state; when the blocking member is in the blocking state, the opening of the receiving cavity is in the closed state.

[0149] In an exemplary embodiment, a control method for a cleaning device is provided. Taking the cleaning device in FIG1 as an example, the cleaning device includes a body 1003, a detection system (not shown in the figure, but will be described later), a rotary wet cleaning component, a shielding mechanism 1001, and a dry cleaning module 1006. The shielding mechanism 1001 includes a shielding member. A receiving cavity 1004 is provided at the bottom of the body. The rotary wet cleaning component is rotatably disposed in the receiving cavity 1004, and the shielding member is movably disposed at the opening of the receiving cavity 1004. The cleaning device may also include a comb structure 1002.

[0150] As shown in Figure 2, the steps in this embodiment include steps 202 to 206. Wherein:

[0151] Step 202: Obstacle information is acquired through the detection system during the movement of the cleaning equipment.

[0152] The movement of the cleaning equipment can refer to its movement or travel within the work area (or work surface); obstacle information can be information about obstacles detected by the cleaning equipment through a detection system within the work area, such as image information and / or 3D information of the obstacles, where the 3D information can be the obstacle's position coordinates, location information, etc. The cleaning equipment can be a cleaning robot, etc.

[0153] Specifically, during the movement of the cleaning equipment, obstacle information can be collected by a detection system installed on the equipment. This obstacle information can be image and / or 3D information of obstacles within the working area of ​​the cleaning equipment. The detection system may include one or more of the following: monocular vision sensor, binocular vision sensor, trinocular vision sensor, LiDAR, line laser sensor, area laser sensor, DTOF sensor, ITOF sensor, and ultrasonic sensor. The specific type of detection system is not limited in this embodiment, and those skilled in the art can determine it based on the actual application scenario.

[0154] Step 204: If it is determined that the obstacle indicated by the obstacle information is the target obstacle, the blocking component of the cleaning equipment is controlled to be in a blocking state to close the opening of the receiving cavity.

[0155] The cleaning equipment includes a shielding mechanism comprising a shielding component and a drive assembly. The shielding component can have two states, such as a shielding state and an avoidance state, and can switch between these states. When the shielding component is in the avoidance state, the opening of the receiving cavity is open; when the shielding component is in the shielding state, the opening of the receiving cavity is closed.

[0156] Specifically, if the obstacle in the work area indicated by the obstacle information is determined to be the target obstacle, then the blocking component of the cleaning equipment can be controlled to be in a blocking state so that the opening of the receiving cavity is closed, that is, the opening of the receiving cavity is closed.

[0157] The target obstacle is a target carpet with a fine, hair-like surface. The maximum distance between the fine, hair-like surface and the target carpet surface is greater than the minimum distance between the rotary wet cleaning unit and the target carpet surface. The fine, hair-like surface of the target carpet can be composed of various types of fibers, such as pile, fine hair, long hair, cotton, soft hair, down, silk, and plush. The maximum distance between the fine, hair-like surface and the target carpet surface is the longest length of that fine, hair-like surface, such as the length of the pile on the carpet. The rotary wet cleaning unit is a structure rotatably housed within a receiving cavity. In other words, if the obstacle indicated by the obstacle information is a carpet with a fine, hair-like surface, and the maximum distance between the fine, hair-like surface and the target carpet surface is greater than the minimum distance between the rotary wet cleaning unit and the target carpet surface, then the obstacle indicated by the obstacle information can be identified as the target carpet.

[0158] In one example, a detection system detects or acquires obstacle information of the cleaning equipment within its working area. This obstacle information can be image information and / or three-dimensional information of the obstacle. Based on this obstacle information, the type of obstacle indicated by the obstacle information is determined, i.e., the obstacle within the current working area of ​​the cleaning equipment is identified. If the obstacle indicated by the obstacle information is determined to be a target obstacle, then the blocking component of the cleaning equipment can be controlled to be in a blocking state to close the opening of the receiving cavity. For example, a first command can be sent to a blocking mechanism, which, upon receiving the first command, can drive the blocking component to be in a blocking state.

[0159] Optionally, if the blocking component of the cleaning equipment is currently in a blocking state, then when it is determined to be a target obstacle, the blocking component can be controlled to remain in the blocking state. For example, the first instruction sent to the blocking component can be a blocking state maintenance instruction. After receiving the blocking state maintenance instruction, the blocking component can continue to maintain the blocking state unchanged.

[0160] Optionally, if the shielding component of the cleaning equipment is currently in an avoidance state, then when it is determined to be a target obstacle, the shielding component can be controlled to switch from the avoidance state to the shielding state; for example, the first instruction that can be sent to the shielding mechanism can be a state switching instruction, which can be an instruction to switch to the shielding state; after receiving the state switching instruction, the shielding mechanism can switch the state of the shielding component from the avoidance state to the shielding state to close the opening of the receiving cavity.

[0161] In one example, the cleaning equipment may also include a control module. The control module can detect or acquire obstacle information within the working area of ​​the cleaning equipment via a detection system. This obstacle information may be image information and / or three-dimensional information of the obstacle. Based on this obstacle information, the control module can determine the type of obstacle indicated by the obstacle information, i.e., determine the obstacle within the current working area of ​​the cleaning equipment. If it is determined that the obstacle indicated by the obstacle information is a target obstacle, the control module can control the blocking component of the cleaning equipment to be in a blocking state to close the opening of the receiving cavity. Correspondingly, the control module can send a first command to the blocking mechanism.

[0162] Step 206: If it is determined that the obstacle indicated by the obstacle information is not the target obstacle, the blocking component is controlled to enter an avoidance state to open the opening of the receiving cavity. The target obstacle is the target carpet.

[0163] Specifically, the detection system detects or acquires obstacle information within the working area of ​​the cleaning equipment. This obstacle information can be image information and / or three-dimensional information of the obstacle. Based on this obstacle information, the type of obstacle indicated by the obstacle information is determined, i.e., the obstacle within the current working area of ​​the cleaning equipment is identified. If it is determined that the obstacle indicated by the obstacle information is not the target obstacle, then the blocking component of the cleaning equipment can be controlled to enter an avoidance state to open the opening of the receiving cavity. For example, a second command can be sent to the blocking component, which can then enter an avoidance state upon receiving the second command.

[0164] Optionally, if the blocking component of the cleaning equipment is currently in an avoidance state, then when it is determined to be a target obstacle, the blocking component can be controlled to remain in the avoidance state. For example, the second instruction that can be sent to the blocking mechanism can be an avoidance state maintenance instruction. After receiving the avoidance state maintenance instruction, the blocking mechanism can continue to maintain the avoidance state unchanged.

[0165] Optionally, the blocking component of the cleaning equipment can currently be in a blocking state. If it is determined to be a target obstacle, the blocking component can be controlled to switch from the blocking state to the avoidance state. For example, the second instruction that can be sent to the blocking mechanism can be a state switching instruction, which can be an instruction to switch to the avoidance state. After receiving the state switching instruction, the blocking mechanism can switch the state of the blocking component from the blocking state to the avoidance state to open the opening of the receiving cavity.

[0166] In one example, the cleaning equipment may also include a control module. The control module can detect or acquire obstacle information within the working area of ​​the cleaning equipment via a detection system. This obstacle information may be image information and / or three-dimensional information of the obstacle. Based on this obstacle information, the control module can determine the type of obstacle indicated by the obstacle information, i.e., determine the obstacle within the current working area of ​​the cleaning equipment. If it is determined that the obstacle indicated by the obstacle information is a target obstacle, the control module can control the blocking component of the cleaning equipment to be in an avoidance state to close the opening of the receiving cavity. Thus, the control module can send a second command to the blocking mechanism, and the blocking mechanism, upon receiving the second command, can drive the blocking component to the avoidance state.

[0167] In the control method of the above-mentioned cleaning equipment, the detection system can accurately and timely obtain obstacle information on the working surface, and when the target obstacle is identified, it can control the blocking component to switch to the blocking state in a timely manner to close the opening of the receiving cavity, so as to prevent water from the rotatably set rotary wet cleaning component in the receiving cavity from spilling onto the working surface, thus avoiding affecting the cleaning effect and improving the cleaning quality. The blocking component of the cleaning equipment can include a blocking state and an avoidance state, and can switch between the blocking state and the avoidance state in a timely manner based on the detected obstacle information, thus expanding the application scenarios of the cleaning equipment.

[0168] In an exemplary embodiment, the side of the shielding member facing away from the rotary wet cleaning member is provided with a comb structure. The minimum distance between the comb structure and the surface of the target carpet is less than the maximum distance between the fine hair structure and the surface of the target carpet. During the movement of the cleaning device, the comb structure and the fine hair structure interfere with each other, so as to use the comb structure to comb the fine hair structure on the target obstacle.

[0169] Specifically, the shielding component is movably disposed at the opening of the receiving cavity; the rotary wet cleaning component is rotatably disposed within the receiving cavity; a comb-like structure is provided on the side of the shielding component facing away from the rotary wet cleaning component; the minimum distance between this comb-like structure and the surface of the target carpet is the distance between the farthest end of the comb-like structure away from the shielding component and the surface of the target carpet when the cleaning equipment moves to the target obstacle; this minimum distance is less than the maximum distance between the fine hair-like structure of the target carpet and the surface of the target carpet, and the comb-like structure on the cleaning equipment interferes with the fine hair-like structure. Thus, during the movement / journey of the cleaning equipment, the comb-like structure on the cleaning equipment can comb through the fine hair-like structure on the target obstacle.

[0170] In this embodiment, the comb structure on the cleaning component can be used to comb the carpet with pile. By setting the minimum distance between the comb structure and the surface of the target carpet and the maximum distance between the pile on the carpet and the surface of the carpet, the comb structure can be used to comb the pile on the carpet thoroughly and ensure deep cleaning of the carpet. This can remove dirt hidden deep in the carpet fibers, achieve efficient cleaning, and further improve the combing and cleaning effect of the cleaning equipment on the target carpet.

[0171] In an exemplary embodiment, a control method for a cleaning device is provided. Taking the application of this method to the cleaning device in FIG1 as an example, the cleaning device includes a body, a detection system, a rotary wet cleaning component, and a shielding mechanism. The shielding mechanism includes a shielding member. A receiving cavity is provided at the bottom of the body. The rotary wet cleaning component is rotatably disposed in the receiving cavity, and the shielding member is movably disposed at the opening of the receiving cavity.

[0172] As shown in Figure 3, the control method of this cleaning equipment includes:

[0173] Step 302: Obstacle information is acquired through the detection system during the movement of the cleaning equipment.

[0174] Specifically, the process of obtaining obstacle information in this embodiment is similar to that in the above embodiments, and will not be described again here.

[0175] Step 304: If it is determined that the obstacle indicated by the obstacle information is the target obstacle, the blocking component of the cleaning equipment is controlled to be in a blocking state to close the opening of the receiving cavity.

[0176] The target obstacle protrudes from the working surface of the cleaning equipment, and the height of the target obstacle protruding from the working surface is less than or equal to the maximum obstacle-crossing height of the cleaning equipment. The cleaning equipment is equipped with a blocking mechanism, which includes a blocking component and a drive assembly. The blocking component can include two states, such as a blocking state and an avoidance state, and can switch between these two states. When the blocking component is in the avoidance state, the opening of the receiving cavity is open; when the blocking component is in the blocking state, the opening of the receiving cavity is closed.

[0177] Specifically, the target obstacle is located within the working area of ​​the cleaning equipment, and the target obstacle protrudes from the working surface of the cleaning equipment. For example, the working surface of the cleaning equipment can be the ground, and the target obstacle can be an obstacle protruding from the ground. The maximum protrusion height of the obstacle protruding from the ground is less than or equal to the maximum obstacle clearance height of the cleaning equipment. The obstacle protruding from the ground can be, for example, a threshold or step on the working surface, or a board placed on the working surface of the cleaning equipment. The maximum obstacle clearance height of the cleaning equipment can be used to describe the maximum height at which the cleaning equipment can pass through the obstacle without obstruction.

[0178] Optionally, the bottom of the cleaning equipment is also equipped with an obstacle-crossing structure. The maximum obstacle-crossing height of the cleaning equipment is determined by the obstacle-crossing structure. For example, the obstacle-crossing structure can be a traveling component, which can include a drive wheel, a support unit, and an obstacle-crossing wheel. The obstacle-crossing wheel is mounted on the support unit, which can rotate around the drive wheel to switch the traveling component between a traveling state and an obstacle-crossing state. In the traveling state, the drive wheel abuts against the ground to propel the machine body forward. In the obstacle-crossing state, the support unit drives the obstacle-crossing wheel to contact the ground and removes the drive wheel from the ground, so that the obstacle-crossing wheel propels the machine body forward to complete the obstacle crossing.

[0179] If it is determined that the obstacle in the work area indicated by the obstacle information is an obstacle that protrudes from the work surface where the cleaning equipment is located, then the blocking component of the cleaning equipment can be controlled to be in a blocking state so that the opening of the receiving cavity is closed, that is, the opening of the receiving cavity is closed.

[0180] Optionally, if the blocking component of the cleaning equipment is currently in a blocking state, then when it is determined to be a target obstacle, the blocking component can be controlled to remain in a blocking state. For example, the first instruction sent to the blocking mechanism can be a blocking state maintenance instruction. After receiving the blocking state maintenance instruction, the blocking mechanism can continue to maintain the blocking state unchanged.

[0181] Optionally, if the shielding component of the cleaning equipment is currently in an avoidance state, then when it is determined to be a target obstacle, the shielding component can be controlled to switch from the avoidance state to the shielding state; for example, the first instruction that can be sent to the shielding mechanism can be a state switching instruction, which can be an instruction to switch to the shielding state; after receiving the state switching instruction, the shielding mechanism can switch the state of the shielding component from the avoidance state to the shielding state to close the opening of the receiving cavity.

[0182] Step 306: If it is determined that the obstacle indicated by the obstacle information is not the target obstacle, the blocking component is controlled to be in an avoidance state to open the opening of the receiving cavity. The target obstacle protrudes from the working surface where the cleaning equipment is located, and the height of the target obstacle protruding from the working surface is less than or equal to the maximum obstacle-crossing height of the cleaning equipment.

[0183] Specifically, the detection system detects or acquires obstacle information within the working area of ​​the cleaning equipment; based on this obstacle information, it determines the type of obstacle indicated by the obstacle information, i.e., identifies the obstacles within the current working area of ​​the cleaning equipment; if it is determined that the obstacle indicated by the obstacle information is not the target obstacle, the blocking component of the cleaning equipment can be controlled to enter an avoidance state to open the opening of the receiving cavity. For example, a second command can be sent to the blocking mechanism, which, upon receiving the second command, can drive the blocking component to enter an avoidance state.

[0184] Optionally, if the blocking component of the cleaning equipment is currently in an avoidance state, then when it is determined to be a target obstacle, the blocking component can be controlled to remain in the avoidance state. For example, the second instruction that can be sent to the blocking mechanism can be an avoidance state maintenance instruction. After receiving the avoidance state maintenance instruction, the blocking mechanism can continue to maintain the avoidance state unchanged.

[0185] Optionally, the blocking component of the cleaning equipment can currently be in a blocking state. If it is determined to be a target obstacle, the blocking component can be controlled to switch from the blocking state to the avoidance state. For example, the second instruction that can be sent to the blocking mechanism can be a state switching instruction, which can be an instruction to switch to the avoidance state. After receiving the state switching instruction, the blocking mechanism can switch the state of the blocking component from the blocking state to the avoidance state to open the opening of the receiving cavity.

[0186] In this embodiment, the detection system can comprehensively acquire obstacle information on the working surface, promptly identify obstacles protruding from the ground, and control the blocking component to switch to the blocking state during obstacle crossing, thereby closing the opening of the receiving cavity. This prevents the rotary wet cleaning component from being scratched by obstacles protruding from the ground during obstacle crossing, thus avoiding wastewater from the rotary wet cleaning component spilling onto the obstacles. Wastewater spilled onto the obstacles would then flow down their surface to the ground, affecting the cleaning effect.

[0187] In an exemplary embodiment, a control method for a cleaning device is provided. Taking the cleaning device in FIG1 as an example, the method is applied to the cleaning device, which includes a body, a detection system, a rotary wet cleaning component, and a shielding mechanism. The shielding mechanism includes a shielding member. A receiving cavity is provided at the bottom of the body. The rotary wet cleaning component is rotatably disposed in the receiving cavity, and the shielding member is movably disposed at the opening of the receiving cavity.

[0188] As shown in Figure 4, the control method of this cleaning equipment includes:

[0189] Step 402: Obstacle information is obtained through the detection system during the movement of the cleaning equipment.

[0190] Specifically, the process of obtaining obstacle information in this embodiment is similar to that in the above embodiments, and will not be described again here.

[0191] Step 404: If it is determined that the obstacle indicated by the obstacle information is the target obstacle, the blocking component of the cleaning equipment is controlled to be in a blocking state to close the opening of the receiving cavity.

[0192] The target obstacle is a flexible obstacle, which includes at least a flexible part, which is a flexible linear structure. For example, it can be shoelaces, electrical wires and cables, charging cables, ropes, optical fibers, hoses, chains, fiber filaments, spring wires, flexible wire bundles, tissues, the drooping part of plants, etc., and so on. The examples are too numerous to list, and this embodiment will not enumerate them all.

[0193] Specifically, if it is determined that the obstacle indicated by the obstacle information is a flexible obstacle, that is, a flexible obstacle with a flexible linear structure, then it can be determined that the obstacle indicated by the obstacle information is the target obstacle. In this way, the shielding component of the cleaning equipment can be controlled to be in a shielding state to close the opening of the receiving cavity.

[0194] In one example, an obstacle information of the cleaning equipment within its working area is acquired through a detection system. This obstacle information can be image information and / or three-dimensional information of the obstacle. Based on this obstacle information, if it is determined that the obstacle indicated by the obstacle information is a flexible obstacle with a flexible linear structure, then the blocking component of the cleaning equipment can be controlled to be in a blocking state to close the opening of the receiving cavity. For example, a first command can be sent to the blocking mechanism, which can then be in a blocking state upon receiving the first command.

[0195] Optionally, if the blocking component of the cleaning equipment is currently in a blocking state, then when it is determined to be a target obstacle, the blocking component can be controlled to remain in a blocking state. For example, the first instruction sent to the blocking mechanism can be a blocking state maintenance instruction. After receiving the blocking state maintenance instruction, the blocking mechanism can continue to maintain the blocking state unchanged.

[0196] Optionally, if the shielding component of the cleaning equipment is currently in an avoidance state, then when it is determined to be a target obstacle, the shielding component can be controlled to switch from the avoidance state to the shielding state; for example, the first instruction that can be sent to the shielding mechanism can be a state switching instruction, which can be an instruction to switch to the shielding state; after receiving the state switching instruction, the shielding mechanism can switch the state of the shielding component from the avoidance state to the shielding state to close the opening of the receiving cavity.

[0197] Step 406: If it is determined that the obstacle indicated by the obstacle information is not the target obstacle, the blocking component is controlled to be in an avoidance state to open the opening of the receiving cavity. The target obstacle is a flexible obstacle, which includes at least a flexible part, which is a flexible linear structure.

[0198] Specifically, if it is determined that the obstacle indicated by the obstacle information is not a flexible obstacle, then it can be determined that the obstacle indicated by the obstacle information is not the target obstacle. In this way, the blocking part of the cleaning equipment can be controlled to be in an avoidance state so as to open the opening of the receiving cavity.

[0199] In one example, an obstacle information of the cleaning equipment within its working area is acquired by a detection system. This obstacle information can be image information and / or three-dimensional information of the obstacle. Based on this obstacle information, if it is determined that the obstacle indicated by the obstacle information is not a flexible obstacle with a flexible linear structure, then the blocking component of the cleaning equipment can be controlled to be in an avoidance state to open the opening of the receiving cavity. For example, a second command can be sent to the blocking mechanism, which, upon receiving the second command, can drive the blocking component to the avoidance state.

[0200] Optionally, if the blocking component of the cleaning equipment is currently in an avoidance state, then when it is determined to be a target obstacle, the blocking component can be controlled to remain in the avoidance state. For example, the second instruction that can be sent to the blocking mechanism can be an avoidance state maintenance instruction. After receiving the avoidance state maintenance instruction, the blocking mechanism can continue to maintain the avoidance state unchanged.

[0201] Optionally, the blocking component of the cleaning equipment can currently be in a blocking state. If it is determined to be a target obstacle, the blocking component can be controlled to switch from the blocking state to the avoidance state. For example, the second instruction that can be sent to the blocking mechanism can be a state switching instruction, which can be an instruction to switch to the avoidance state. After receiving the state switching instruction, the blocking mechanism can switch the state of the blocking component from the blocking state to the avoidance state to open the opening of the receiving cavity.

[0202] In this embodiment, the detection system can accurately and timely obtain information about obstacles on the working surface, and when a flexible obstacle is identified, it can promptly control the shielding component to switch to the shielding state to close the opening of the receiving cavity. This prevents the flexible obstacle from getting tangled on the rotary wet cleaning component, on the cleaning equipment, or into the receiving cavity of the cleaning equipment, ensuring the normal operation and safety of the equipment and protecting the internal components of the cleaning equipment.

[0203] In an exemplary embodiment, a control method for a cleaning device is provided. Taking the application of this method to the cleaning device in FIG1 as an example, the cleaning device includes a body, a detection system, a rotary wet cleaning component, and a shielding mechanism. The shielding mechanism includes a shielding member. A receiving cavity is provided at the bottom of the body. The rotary wet cleaning component is rotatably disposed in the receiving cavity, and the shielding member is movably disposed at the opening of the receiving cavity.

[0204] As shown in Figure 5, the control method of this cleaning equipment includes:

[0205] Step 502: During the movement of the cleaning equipment, obstacle information is obtained through the detection system.

[0206] Specifically, the process of obtaining obstacle information in this embodiment is similar to that in the above embodiments, and will not be described again here.

[0207] Step 504: If it is determined that the obstacle indicated by the obstacle information is the target obstacle, the blocking component of the cleaning equipment is controlled to be in a blocking state to close the opening of the receiving cavity.

[0208] Step 506: If it is determined that the obstacle indicated by the obstacle information is not the target obstacle, the blocking component is controlled to be in an avoidance state to open the opening of the receiving cavity; wherein, the target obstacle is a dangerous type obstacle, and the dangerous type includes one or more of paper, contaminants, hard objects, and sharp objects.

[0209] Pollutants can include pet feces, vomit, etc.; hard objects can be objects with a hard outer shell, and sharp objects can be items with sharp edges or points that can easily pierce, cut, or scratch other objects. Examples include scissors and awls.

[0210] Specifically, the cleaning equipment can identify the obstacle indicated by the obstacle information. If the obstacle indicated by the obstacle information is determined to be a dangerous solid obstacle, the equipment can control the blocking component to be in a blocking state to close the opening of the cleaning equipment's receiving cavity. If the obstacle indicated by the obstacle information is not a dangerous obstacle, the equipment can control the blocking component to be in an avoidance state to open the opening of the cleaning equipment's receiving cavity.

[0211] In one example, a detection system detects or acquires obstacle information of the cleaning equipment within its working area. This obstacle information can be image information and / or three-dimensional information of the obstacle. Based on this obstacle information, the type of obstacle indicated by the obstacle information is determined, i.e., the obstacles within the current working area of ​​the cleaning equipment are identified. If the obstacle indicated by the obstacle information is determined to be a hazardous solid obstacle, a first instruction can be sent to a blocking mechanism, which, upon receiving the first instruction, can enter a blocking state. If the obstacle indicated by the obstacle information is determined not to be a hazardous solid obstacle, a second instruction can be sent to the blocking mechanism, which, upon receiving the second instruction, can drive the blocking component into an avoidance state.

[0212] In this embodiment, the detection system can accurately and timely obtain obstacle information on the working surface, and when a dangerous type of solid obstacle is identified, it can promptly control the shielding component to switch to the shielding state to close the opening of the receiving cavity. This prevents dangerous type obstacles from contaminating the rotary wet cleaning component or other parts of the cleaning equipment, or from getting entangled in the rotary wet cleaning component, the cleaning equipment, or entering the receiving cavity of the cleaning equipment, thus ensuring the normal operation and safety of the equipment and protecting the internal components of the cleaning equipment.

[0213] In one exemplary embodiment, after determining that the obstacle indicated by the obstacle information is a target obstacle, the control method of the cleaning device further includes:

[0214] Control the cleaning equipment to perform obstacle avoidance actions, which include one or more of the following:

[0215] The cleaning equipment turned around at the edge of the target obstacle;

[0216] The cleaning equipment circles around the edge of the target obstacle;

[0217] The cleaning equipment reverses and turns;

[0218] The cleaning equipment performs edge cleaning along the edge of the target obstacle.

[0219] The target obstacle can be one or more of the various target obstacles described in the above embodiments. For example, the target obstacle can include one or more of the following: obstacles protruding from the working surface where the cleaning equipment is located, flexible obstacles, and solid obstacles of dangerous type.

[0220] Specifically, after the cleaning equipment obtains obstacle information through the detection system, if it determines that the obstacle indicated by the obstacle information is the target obstacle, it controls the blocking component of the cleaning equipment to be in a blocking state, and also controls the cleaning equipment to perform obstacle avoidance actions. For example, it can control the cleaning equipment to turn around or go around the edge of the target obstacle, or it can control the cleaning equipment to reverse and then turn, or it can control the cleaning equipment to clean along the edge of the target obstacle, etc.

[0221] Optionally, the cleaning equipment can determine the edge information of the target obstacle based on the acquired obstacle information, and perform obstacle avoidance actions such as turning around, detouring, and cleaning along the edge. For example, based on the needs of the actual application scenario, the cleaning equipment can be controlled to perform a backward operation and then a turning operation.

[0222] In this embodiment, by employing various obstacle avoidance actions, the risk of collisions between the cleaning equipment and obstacles can be minimized while ensuring cleaning effectiveness. This protects the cleaning equipment itself and surrounding objects from damage, controls the equipment to avoid or move away from dangerous solid or flexible obstacles in a timely manner, and prevents target obstacles from entering the cleaning equipment, thus ensuring the stability and safety of the equipment's operation. Furthermore, it enhances the adaptability of the cleaning equipment to various complex obstacle environments, allowing it to operate flexibly in diverse scenarios and automatically avoid obstacles in a timely manner. It also reduces the need for frequent user operation, improving user convenience and ultimately increasing user satisfaction with the cleaning equipment.

[0223] In one exemplary embodiment, the control method for the cleaning device further includes:

[0224] If the distance between the cleaning equipment and the target obstacle and / or base station is less than or equal to a preset distance threshold, the cleaning equipment will be controlled to decelerate as it moves toward the target obstacle.

[0225] The target obstacle can be any one or more of the target obstacles described in the above embodiments. For example, the target obstacle can be a target carpet, a target obstacle protruding from the working surface of the cleaning equipment, a flexible obstacle, a dangerous type of solid obstacle, etc. The cleaning system can include cleaning equipment and a base station. The cleaning equipment can be a cleaning robot, and the base station can communicate with the cleaning equipment. The preset distance threshold can be a pre-configured distance threshold, for example, a distance threshold set based on requirements (e.g., obstacle avoidance requirements).

[0226] Specifically, based on obstacle information, the coordinates of the target obstacle are determined. Based on these coordinates and the location information of the cleaning device, the distance between the cleaning device and the target obstacle, and the distance between the cleaning device and the base station are obtained. These distances are then compared with preset distance thresholds. If the distance between the cleaning device and the target obstacle is determined to be less than the preset distance threshold, the cleaning device can be controlled to decelerate while moving towards the target obstacle. And / or, if the distance between the cleaning device and the base station is determined to be less than the preset distance threshold, the cleaning device can be controlled to decelerate while moving towards the base station.

[0227] The specific deceleration process can be determined based on the actual application scenario, and this embodiment does not limit it.

[0228] In this embodiment, by determining the distance between the cleaning equipment and the target obstacle and / or base station, the cleaning equipment can perceive its relative state to the return position in real time. Pre-controlling the deceleration of the cleaning equipment can reduce the risk of collision between the cleaning equipment and the target obstacle and / or base station, protect the cleaning equipment, base station, and obstacle from damage, extend the service life of the equipment, and also precisely control the movement of the cleaning equipment to accurately reach the base station. Pre-deceleration can also make the cleaning equipment operate in a more energy-efficient manner, reducing equipment energy consumption. Timely control of the deceleration of the cleaning equipment can also extend the time for the cleaning equipment to obtain obstacle information through the detection system, thereby obtaining more accurate and comprehensive obstacle information.

[0229] In an exemplary embodiment, a control method for a cleaning device is provided. Taking the cleaning device in FIG1 as an example, the cleaning device is communicatively connected to a base station 600. FIG6 can be a schematic diagram of the base station 600. The base station 600 is provided with a receiving cavity 602 for accommodating the cleaning device. A cleaning tray 603 is provided at the bottom of the receiving cavity 602. The cleaning tray 603 has a cleaning groove 601. A guide plate 604 is connected to the cleaning tray 603. The guide plate 604 extends away from the base station 600. The cleaning device can be moved into the receiving cavity 602 by the guide plate 604. The cleaning device includes a body, a detection system, a rotary wet cleaning component, and a shielding mechanism. The shielding mechanism includes a shielding component. A receiving cavity is provided at the bottom of the body. The rotary wet cleaning component is rotatably disposed in the receiving cavity. The shielding component is movably disposed at the opening of the receiving cavity.

[0230] As shown in Figure 7, the control method of this cleaning equipment includes:

[0231] Step 702: During the movement of the cleaning equipment, if it is determined that the current cleaning equipment meets the conditions for returning to the base station, the base station information is obtained through the detection system, and the cleaning equipment is controlled to return to the base station based on the base station information.

[0232] Specifically, during the movement of the cleaning equipment within the work area, or while traveling within the work area, the cleaning equipment can determine in real time whether the conditions for returning to the base station are met. This can be based on one or more factors, such as the remaining battery power, the completion status of the current cleaning task, and the degree of dirtiness of the cleaning components within the equipment. The base station can be the cleaning equipment's own base station, such as a base station connected to the cleaning equipment for communication purposes, providing functions such as charging, cleaning, and storage. The base station information can include the current location information of the base station.

[0233] In one example, after determining that the conditions for returning to the base station are met, the cleaning equipment can obtain base station information through the detection system and obtain the current location of the base station represented by the base station information. Based on the current location of the base station, the cleaning equipment can perform the action of returning to the base station, that is, based on the base station information, control the cleaning equipment to return to the base station.

[0234] Step 704: During the process of the cleaning equipment moving through the guide plate to the receiving cavity, the blocking component of the cleaning equipment is controlled to be in a blocking state to close the opening of the receiving cavity.

[0235] The base station includes a cavity for accommodating cleaning equipment. A cleaning tray with a cleaning groove is located at the bottom of the cavity. A guide plate is connected to the cleaning tray and extends away from the base station, allowing the cleaning equipment to move into the cavity. This guide plate can be a ramp-like structure.

[0236] Specifically, when the cleaning equipment returns to the base station, that is, moves to the receiving cavity via the guide plate connected to the base station, the shielding component of the cleaning equipment can be controlled to be in a shielding state to close the opening of the receiving cavity.

[0237] Step 706: When the cleaning equipment returns to the parking position of the base station, control the shielding component to be in an avoidance state and open the opening of the receiving cavity so that the rotary wet cleaning component corresponds to the cleaning tank.

[0238] Specifically, the cleaning equipment returns to the base station's receiving cavity via a guide plate. After confirming that the cleaning equipment has returned to its parking position in the base station's receiving cavity, the shielding component of the cleaning equipment can be controlled to be in an avoidance state to open the opening of the receiving cavity, so that the rotary wet cleaning station inside the receiving cavity corresponds to the cleaning tank in the base station. In this way, the cleaning tank can clean the rotary wet cleaning component.

[0239] In this embodiment, by promptly closing the opening of the receiving cavity of the cleaning equipment during the return process to the base station, it is possible to prevent the rotary wet cleaning component from being scratched by the guide plate, which would cause wastewater on the rotary wet cleaning component to spill onto the guide plate. The wastewater spilled onto the guide plate would then flow down the slope of the guide plate to the ground, affecting the cleaning effect. Upon reaching the receiving cavity of the base station, the opening of the receiving cavity is promptly opened, allowing it to align with the cleaning tank in the base station in a timely manner, improving the cleaning efficiency of the rotary wet cleaning component in the cleaning equipment. The entire process is automated, eliminating the need for user operation and enhancing the user experience and the intelligence of the equipment.

[0240] In one exemplary embodiment, the control method for the cleaning device includes:

[0241] When the rotary wet cleaning component needs cleaning, or when the remaining power of the cleaning equipment is lower than the preset power threshold, or when the cleaning equipment completes the cleaning task, it is determined that the current cleaning equipment meets the conditions for returning to the base station.

[0242] Specifically, the degree of dirtiness of the rotary wet cleaning component can be obtained. If it is determined that the degree of dirtiness is sufficient for cleaning, then it can be determined that the rotary wet cleaning component needs cleaning, meaning that the current cleaning equipment meets the conditions for returning to the base station. The real-time remaining power of the cleaning equipment can be obtained and compared with a pre-configured preset power threshold. If the real-time remaining power is less than or equal to the preset power threshold, it can be determined that the current cleaning equipment meets the conditions for returning to the base station. The completion status of the cleaning task of the current cleaning equipment can be obtained. If it is determined that the cleaning task is completed, then it can be determined that the current cleaning equipment meets the conditions for returning to the base station.

[0243] In this embodiment, determining whether the device meets the conditions for returning to the base station is achieved through multiple methods. This can save the cleaning equipment's power and improve the overall cleaning efficiency. Using one or more of these methods to determine whether the conditions for returning to the base station are met can corroborate each other and improve the accuracy of the determination. It can also prevent excessive wear or malfunctions caused by the device failing to return to the base station in a timely manner, thereby improving the device's lifespan and reliability.

[0244] In one exemplary embodiment, the control method for the cleaning device includes:

[0245] When the cleaning equipment departs from the base station, the blocking component of the cleaning equipment is controlled to be in a blocking state to close the opening of the receiving cavity; when the cleaning equipment leaves the base station after passing the guide plate, the state of the blocking component is determined based on real-time cleaning demand information.

[0246] Specifically, the cleaning equipment can depart from the base station when a cleaning task needs to be performed. Thus, when the cleaning equipment departs from the base station, that is, when it leaves the base station through the guide plate from the base station's receiving cavity, the blocking component of the cleaning equipment can be controlled to be in a blocking state to close the opening of the receiving cavity. After the cleaning equipment leaves the base station, it can be determined whether to control the blocking state of the cleaning component to switch to an avoidance state based on real-time cleaning demand information. The real-time cleaning demand information can be user demand or the real-time working scenario demand of the cleaning equipment.

[0247] In this embodiment, by promptly closing the opening of the receiving cavity of the cleaning equipment when leaving the base station, the rotary wet cleaning component can be prevented from being scratched by the guide plate, thus avoiding the wastewater on the rotary wet cleaning component from spilling onto the guide plate. The wastewater spilled onto the guide plate will flow down the slope of the guide plate to the ground, affecting the cleaning effect. By promptly opening the opening of the receiving cavity based on real-time cleaning needs after leaving the base station, the speed of responding to user cleaning needs can be improved, the entire process can be automated, user operation can be avoided, and the user experience and the intelligence of the equipment can be improved.

[0248] In an exemplary embodiment, a control method for a cleaning device is provided. Taking the cleaning device in FIG1 as an example, the cleaning device includes a body, a detection system, a rotary wet cleaning component, and a shielding mechanism. The shielding mechanism includes a shielding member. A receiving cavity is provided at the bottom of the body. The rotary wet cleaning component is rotatably disposed in the receiving cavity. The shielding member is movably disposed at the opening of the receiving cavity.

[0249] As shown in Figure 8, the control method of this cleaning equipment includes:

[0250] Step 802: If it is determined that the cleaning equipment is in sweeping mode during movement, the blocking component of the cleaning equipment is controlled to be in a blocking state to close the opening of the receiving cavity.

[0251] Specifically, during the operation or movement of the cleaning equipment, if it is determined that the working mode of the cleaning equipment is the sweeping mode, the shielding part of the cleaning equipment can be controlled to be in a shielding state to close the opening of the receiving cavity and prevent water from the rotary wet cleaning part of the cleaning equipment from spilling onto the working surface.

[0252] Step 804: If it is determined that the cleaning equipment is in mopping mode or sweeping and mopping mode during movement, the blocking part is controlled to be in an avoidance state to open the opening of the receiving cavity.

[0253] Among them, the sweeping mode is when the cleaning equipment only sweeps and does not mop; the mopping mode is when the cleaning equipment only mops and does not sweep; and the sweeping and mopping mode is when the cleaning equipment sweeps and mops simultaneously.

[0254] Specifically, if it is determined that the cleaning equipment is in mopping mode or sweeping and mopping mode while moving, the blocking part can be controlled to avoid the opening of the receiving cavity. In this way, the rotary wet cleaning part in the receiving cavity can clean the working surface.

[0255] In this embodiment, the opening state of the receiving cavity is flexibly adjusted according to the working mode of the cleaning equipment, and the opening of the receiving cavity is adapted to the working mode of the cleaning equipment. Closing the opening in time can keep the work area dry after cleaning and prevent wastewater from the rotary wet cleaning component from spilling onto the ground, ensuring the cleanliness of the floor. Opening the opening in time can improve the cleaning effect of the mopping mode.

[0256] In an exemplary embodiment, a control method for a cleaning device is provided. Taking the application of this method to the cleaning device in FIG1 as an example, the cleaning device includes a body, a detection system, a rotary wet cleaning component, and a shielding mechanism. The shielding mechanism includes a shielding member. A receiving cavity is provided at the bottom of the body. The rotary wet cleaning component is rotatably disposed in the receiving cavity, and the shielding member is movably disposed at the opening of the receiving cavity.

[0257] As shown in Figure 9, the control method of this cleaning equipment includes:

[0258] Step 902: During the movement of the cleaning equipment, if it is determined that the cleaning equipment is in an obstructed area, control the obstruction component of the cleaning equipment to be in an obstructed state to close the opening of the receiving cavity. And / or;

[0259] Step 904: During the movement of the cleaning equipment, if it is determined that the cleaning equipment is in an unobstructed area, the obstruction of the cleaning equipment is controlled to be in an avoidance state so as to open the opening of the receiving cavity.

[0260] The obscured area and / or unobscured area are configured by the user through the mobile terminal.

[0261] Specifically, during the operation or movement of the cleaning equipment, the current location of the cleaning equipment can be determined. If it is determined that the cleaning equipment is currently within a pre-configured shielding area, the shielding component of the cleaning equipment can be controlled to be in a shielding state to close the opening of the receiving cavity. Optionally, the control process can be that the control module of the cleaning equipment sends a first command to the shielding mechanism, and the shielding mechanism can be in a shielding state after receiving the first command. If it is determined that the current location of the cleaning equipment is a pre-configured non-shielded area, the shielding component of the cleaning equipment can be controlled to be in an avoidance state to open the opening of the receiving cavity. Optionally, the control process can be that the control module of the cleaning equipment sends a second command to the shielding mechanism, and the shielding mechanism can be in an avoidance state after receiving the second command.

[0262] It should be noted that one or more of steps 802 and 804 can be executed based on the actual application scenario. This embodiment does not limit the execution order or execution scope.

[0263] In this embodiment, by switching or controlling the state of the shielding component based on the area where the cleaning equipment is located in real time, the adaptability of the shielding component to the actual application scenario can be improved, adapting to the needs of different scenarios and diverse cleaning tasks, and improving the cleaning effect.

[0264] In an exemplary embodiment, the control method of the cleaning device includes: displaying a region configuration interface, the region configuration interface displaying the working area of ​​the cleaning device; and in response to a user's division operation of the working area, obtaining the occluded area and / or unoccluded area corresponding to the working area.

[0265] Specifically, the terminal device's display module can show a region configuration interface, which displays the working area obtained by the cleaning equipment through the detection system. The user of the cleaning equipment can divide the area on this interface, and the terminal device responds to the user's division and region identification operations to determine the obstructed and unobstructed areas within the working area. The terminal device can be a mobile phone, computer, tablet, or other device with the corresponding cleaning equipment application installed.

[0266] Optionally, the region configuration interface displays both occluded and unoccluded interface options. In response to a user's trigger action to occlude the interface, the terminal device can determine that the currently selected region is an occluded region. Thus, in response to the user's region selection operation, the region corresponding to that selection operation is determined to be an occluded region, and correspondingly, the area within the working region excluding the occluded region is considered an unoccluded region. The working region division operation can be a user's region selection operation.

[0267] Optionally, the area configuration interface displays a prompt message, such as "Please configure the occluded interface." This allows the user to select an area based on this prompt. The terminal device responds to the user's area selection, determining the selected area as the occluded area, and declaring the area outside the occluded area as the unoccluded area within the working area. The working area division operation can be the user's area selection operation.

[0268] In other words, users can customize and set the obstructed and unobstructed areas on the terminal. In the obstructed area, the cleaning robot controls the obstruction to the obstruction state to close the opening of the receiving cavity. In the unobstructed area, the cleaning robot controls the obstruction to the avoidance state to open the opening of the receiving cavity.

[0269] In this embodiment, multiple configuration operations for occlusion areas are provided to ensure the ease with which users can configure occlusion areas and / or non-occlusion areas.

[0270] In the control method for the cleaning equipment provided in this embodiment, the cleaning equipment can be a cleaning robot. The cleaning equipment has a shielding component inside its receiving cavity for a rotary wet cleaning component. This shielding component allows the opening of the receiving cavity to have two states: open and closed. When the cleaning robot is not in a mopping state, when it is passing over a carpet, when it is passing over an obstacle protruding from the ground (the working surface of the cleaning robot), when it is passing over a flexible obstacle, or when it is passing over a dangerous obstacle, the shielding component closes the opening of the receiving cavity. This isolates the rotary wet cleaning component from the working surface of the cleaning robot, preventing water from the high-moisture cleaning component from spilling and affecting the cleaning effect of the cleaning equipment. It also prevents the cleaning equipment from rolling objects from the ground into the receiving cavity during its rotational operation, extending the service life of the cleaning robot, preventing damage to the user's belongings, improving the user experience, and increasing user satisfaction with the cleaning equipment.

[0271] In this embodiment, when the cleaning device passes over the target carpet, i.e., a carpet with pile, the blocking component can be promptly controlled to be in a blocking state, closing the opening of the receiving cavity to prevent the rotary wet cleaning component from contacting the pile on the carpet, thus preventing carpet contamination and improving cleaning efficiency. When the cleaning robot passes over a flexible obstacle, the blocking component is promptly controlled to be in a blocking state, closing the opening of the receiving cavity to prevent the rotary cleaning component from winding the flexible obstacle into the machine body during rotation, which would damage the cleaning robot, extend the service life of the cleaning robot, prevent damage to the user's belongings, and improve the user experience and satisfaction with the cleaning device. When the cleaning robot needs to return to the base station for charging or cleaning, the blocking component is promptly controlled to be in a blocking state to prevent the cleaning component from contacting the base station's guide plate, preventing water on the cleaning component from being scraped off by the guide plate and spilling onto the base station's guide plate, thus improving cleaning efficiency.

[0272] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0273] Based on the same inventive concept, as shown in Figure 1, this application provides a cleaning device, which includes:

[0274] The fuselage has a receiving cavity at its bottom.

[0275] The detection system, mounted on the device, is used to acquire obstacle information and / or base station information.

[0276] A rotary wet cleaning component is rotatably disposed within a receiving cavity for cleaning the working surface of a cleaning device. The rotary wet cleaning component includes a fixed end and a rotatable end; the fixed end can be fixed at a fixed position on the inner wall of the receiving cavity.

[0277] The shielding mechanism includes a shielding member and a drive assembly. The shielding member is movably disposed at the opening of the receiving cavity by being driven by the drive assembly. The shielding member includes a shielding state in which the opening of the receiving cavity is closed and a clearance state in which the opening of the receiving cavity is opened.

[0278] The control module is used to execute any of the methods described in the following embodiments. The specific execution process of the method will be described in detail in the subsequent embodiments and will not be repeated here.

[0279] Optionally, as shown in Figure 1, this can be a structural schematic diagram of the shielding component in the cleaning device in a shielded state. Figure 1 can be a structural schematic diagram viewed from the bottom of the cleaning device upwards, i.e., a bottom view. The cleaning device includes a shielding mechanism 1001, a comb structure 1002, a body 1003, and a receiving cavity 1004. At this time, the shielding component in the shielding mechanism 1001 is in a shielded state, and the opening of the receiving cavity 1004 is in a closed state. The rotary wet cleaning component is located inside the receiving cavity 1004 and is not shown in the figure.

[0280] Optionally, as shown in Figure 10, this can be a structural schematic diagram of the cleaning device with the blocking component in an avoidance state. Figure 10 can be a structural schematic diagram viewed from the bottom of the cleaning device upwards, i.e., a bottom view. The cleaning device includes a body 1003, a receiving cavity 1004, a rotary wet cleaning component 1005, and a dry cleaning module 1006. At this time, the blocking component in the blocking mechanism 1001 is in a blocking state, and the opening of the receiving cavity 1004 is in an open state; the rotary wet cleaning component 1005 is located inside the receiving cavity 1004. The dry cleaning module 1006 includes a roller brush, and a roller brush cavity is provided at the bottom of the body 1003, with the roller brush rotatably disposed within the roller brush cavity.

[0281] In one exemplary embodiment, the detection system includes one or more of the following: monocular vision sensor, binocular vision sensor, trinocular vision sensor, lidar, line laser sensor, area laser sensor, Dtof sensor, Itof sensor, and ultrasonic sensor.

[0282] Optionally, as shown in Figure 11, it can be a schematic diagram of a cleaning device, in which the detection system can be a lidar 1101 and a line laser 1102.

[0283] Alternatively, as shown in Figure 12, this could be a schematic diagram of another cleaning device, in which the detection system could be a laser radar 1201 and a camera 1202.

[0284] In this embodiment, obstacle information is acquired through multiple detection systems to ensure the comprehensiveness of the obstacle information acquisition, providing a reliable and accurate data foundation for subsequent determination of whether the obstacle indicates a target obstacle.

[0285] In an exemplary embodiment, the side of the shielding member facing away from the rotary wet cleaning member is provided with a comb structure, which is used to clean impurities in the carpet on the working surface, and / or to comb the fine hair-like structure on the carpet surface, and / or to enhance the strength of the shielding member.

[0286] In this embodiment, a comb structure can be provided on the side of the shielding member facing away from the rotary wet cleaning member. The comb structure can comb out the garbage in the carpet so that the dry cleaning module can clean it. On the other hand, it can comb the pile on the carpet surface to smooth the pile. It also acts as a reinforcing rib to increase the strength of the shielding member and improve its service life.

[0287] A control device for cleaning equipment is also provided for implementing the control method for the cleaning equipment described above. The solution provided by this device is similar to the solution described in the above method; therefore, the specific limitations in one or more embodiments of the control device for cleaning equipment provided below can be found in the limitations of the control method for cleaning equipment described above, and will not be repeated here.

[0288] In an exemplary embodiment, a state switching device for a cleaning device is provided, which is applied to the cleaning device. The cleaning device includes a body, a detection system, a rotary wet cleaning component, and a shielding mechanism. The shielding mechanism includes a shielding member. A receiving cavity is provided at the bottom of the body. The rotary wet cleaning component is rotatably disposed in the receiving cavity. The shielding member is movably disposed at the opening of the receiving cavity.

[0289] The device includes:

[0290] The first acquisition module is used to acquire obstacle information through the detection system during the movement of the cleaning equipment;

[0291] The first control module is configured to, if it is determined that the obstacle indicated by the obstacle information is a target obstacle, control the shielding member of the cleaning equipment to be in a shielding state to close the opening of the receiving cavity;

[0292] The second control module is used to control the blocking member to be in an avoidance state so as to open the opening of the receiving cavity if it is determined that the obstacle indicated by the obstacle information is not the target obstacle.

[0293] The target obstacle is a target carpet with a fine, hair-like structure on its surface. The maximum distance between the fine hair-like structure and the surface of the target carpet is greater than the minimum distance between the rotary wet cleaning component and the surface of the target carpet.

[0294] In one embodiment, the shielding member has a comb-like structure on the side facing away from the rotary wet cleaning member. The minimum distance between the comb-like structure and the surface of the target carpet is less than the maximum distance between the fine hair-like structure and the surface of the target carpet. During the movement of the cleaning device, the comb-like structure interferes with the fine hair-like structure to comb the fine hair-like structure on the target obstacle.

[0295] Each module in the control device of the aforementioned cleaning equipment can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device, or stored in the memory of a computer device as software, so that the processor can call and execute the operations corresponding to each module.

[0296] In an exemplary embodiment, a computer device is provided. This computer device can be a terminal or a device executing a method performed by a control module within the cleaning equipment. Its internal structure is shown in Figure 13. The computer device includes a processor, memory, input / output interface, communication interface, display unit, and input device. The processor, memory, and input / output interface are connected via a system bus, and the communication interface, display unit, and input device are also connected to the system bus via the input / output interface. The processor provides computing and control capabilities. The memory includes a non-volatile storage medium and internal memory. The non-volatile storage medium stores an operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage medium. The input / output interface is used for exchanging information between the processor and external devices. The communication interface is used for wired or wireless communication with external terminals. Wireless communication can be achieved through Wi-Fi, mobile cellular networks, Near Field Communication (NFC), or other technologies. When the computer program is executed by the processor, it implements a control method for the cleaning equipment. The display unit of this computer device is used to form a visually visible image and can be a display screen, a projection device, or a virtual reality imaging device. The display screen can be an LCD screen or an e-ink screen. The input device of this computer device can be a touch layer covering the display screen, or buttons, a trackball, or a touchpad set on the casing of the computer device, or an external keyboard, touchpad, or mouse, etc.

[0297] Those skilled in the art will understand that the structure shown in Figure 13 is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0298] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps in the embodiments of this application.

[0299] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of the relevant data must comply with relevant regulations.

[0300] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, artificial intelligence (AI) processors, etc., and are not limited to these.

[0301] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0302] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A control method for cleaning equipment, characterized in that, The cleaning equipment includes a body, a detection system, a rotary wet cleaning component, and a shielding mechanism. The shielding mechanism includes a shielding component. The bottom of the body is provided with a receiving cavity. The rotary wet cleaning component is rotatably disposed in the receiving cavity. The shielding component is movably disposed at the opening of the receiving cavity. The method includes: During the movement of the cleaning equipment, obstacle information is acquired through the detection system; If it is determined that the obstacle indicated by the obstacle information is the target obstacle, the blocking member of the cleaning equipment is controlled to be in a blocking state to close the opening of the receiving cavity; If it is determined that the obstacle indicated by the obstacle information is not the target obstacle, the blocking member is controlled to be in an avoidance state to open the opening of the receiving cavity; The target obstacle is a target carpet with a fine, hair-like structure on its surface. The maximum distance between the fine hair-like structure and the surface of the target carpet is greater than the minimum distance between the rotary wet cleaning component and the surface of the target carpet.

2. The method according to claim 1, characterized in that, The shielding member has a comb structure on the side facing away from the rotary wet cleaning member. The minimum distance between the comb structure and the surface of the target carpet is less than the maximum distance between the fine hair structure and the surface of the target carpet. During the movement of the cleaning device, the comb structure interferes with the fine hair structure, so as to use the comb structure to comb the fine hair structure on the target obstacle.

3. A control method for cleaning equipment, characterized in that, The cleaning equipment includes a body, a detection system, a rotary wet cleaning component, and a shielding mechanism. The shielding mechanism includes a shielding component. The bottom of the body is provided with a receiving cavity. The rotary wet cleaning component is rotatably disposed in the receiving cavity. The shielding component is movably disposed at the opening of the receiving cavity. The method includes: During the movement of the cleaning equipment, obstacle information is acquired through the detection system; If it is determined that the obstacle indicated by the obstacle information is the target obstacle, the blocking member of the cleaning equipment is controlled to be in a blocking state to close the opening of the receiving cavity; If it is determined that the obstacle indicated by the obstacle information is not the target obstacle, the blocking member is controlled to be in an avoidance state to open the opening of the receiving cavity; The target obstacle protrudes from the working surface where the cleaning equipment is located, and the height of the target obstacle protruding from the working surface is less than or equal to the maximum obstacle-crossing height of the cleaning equipment.

4. A control method for a cleaning device, characterized in that, The cleaning equipment includes a body, a detection system, a rotary wet cleaning component, and a shielding mechanism. The shielding mechanism includes a shielding component. The bottom of the body is provided with a receiving cavity. The rotary wet cleaning component is rotatably disposed in the receiving cavity. The shielding component is movably disposed at the opening of the receiving cavity. The method includes: During the movement of the cleaning equipment, obstacle information is acquired through the detection system; If it is determined that the obstacle indicated by the obstacle information is the target obstacle, the blocking member of the cleaning equipment is controlled to be in a blocking state to close the opening of the receiving cavity; If it is determined that the obstacle indicated by the obstacle information is not the target obstacle, the blocking member is controlled to be in an avoidance state to open the opening of the receiving cavity; The target obstacle is a flexible obstacle, which includes at least a flexible part, which is a flexible linear structure.

5. A control method for a cleaning device, characterized in that, The cleaning equipment includes a body, a detection system, a rotary wet cleaning component, and a shielding mechanism. The shielding mechanism includes a shielding component. The bottom of the body is provided with a receiving cavity. The rotary wet cleaning component is rotatably disposed in the receiving cavity. The shielding component is movably disposed at the opening of the receiving cavity. The method includes: During the movement of the cleaning equipment, obstacle information is acquired through the detection system; If it is determined that the obstacle indicated by the obstacle information is the target obstacle, the blocking member of the cleaning equipment is controlled to be in a blocking state to close the opening of the receiving cavity; If it is determined that the obstacle indicated by the obstacle information is not the target obstacle, the blocking member is controlled to be in an avoidance state to open the opening of the receiving cavity; The target obstacle is a dangerous type of obstacle, which includes one or more of the following: paper, pollutants, hard objects, and sharp objects.

6. The method according to any one of claims 1-5, characterized in that, If it is determined that the obstacle indicated by the obstacle information is a target obstacle, the method further includes: Control the cleaning equipment to perform obstacle avoidance actions, which include one or more of the following: The cleaning equipment turns around at the edge of the target obstacle; The cleaning equipment circumvents the edge of the target obstacle; The cleaning equipment reverses and turns; The cleaning equipment performs edge cleaning along the edge of the target obstacle.

7. The method according to any one of claims 1-6, characterized in that, The method further includes: If the distance between the cleaning device and the target obstacle and / or base station is less than or equal to a preset distance threshold, the cleaning device is controlled to decelerate during its movement toward the target obstacle.

8. A control method for a cleaning device, characterized in that, This invention relates to a cleaning device that is communicatively connected to a base station. The base station has a receiving cavity for accommodating the cleaning device. A cleaning tray with a cleaning groove is located at the bottom of the receiving cavity. A guide plate is connected to the cleaning tray and extends away from the base station. The cleaning device can move into the receiving cavity via the guide plate. The cleaning device includes a body, a detection system, a rotary wet cleaning component, and a shielding mechanism. The shielding mechanism includes a shielding member. A receiving cavity is located at the bottom of the body. The rotary wet cleaning component is rotatably disposed within the receiving cavity. The shielding member is movably disposed at the opening of the receiving cavity. The method includes: During the movement of the cleaning equipment, if it is determined that the current cleaning equipment meets the conditions for returning to the base station, the base station information is obtained through the detection system, and the cleaning equipment is controlled to return to the base station based on the base station information; During the process of the cleaning device moving through the guide plate to the receiving cavity, the blocking member of the cleaning device is controlled to be in a blocking state to close the opening of the receiving cavity; When the cleaning equipment returns to the parking position of the base station, the shielding component is controlled to be in an avoidance state, and the opening of the receiving cavity is opened so that the rotary wet cleaning component corresponds to the cleaning tank.

9. The method according to claim 8, characterized in that, The method further includes: When the rotary wet cleaning component needs cleaning, or when the remaining power of the cleaning equipment is lower than a preset power threshold, or when the cleaning equipment completes the cleaning task, it is determined that the current cleaning equipment meets the conditions for returning to the base station.

10. The method according to claim 8 or 9, characterized in that, The method further includes: When the cleaning device departs from the base station, the blocking component of the cleaning device is controlled to be in a blocking state to close the opening of the receiving cavity; When the cleaning equipment leaves the base station after passing the guide plate, the state of the obstruction is determined based on real-time cleaning demand information.

11. A control method for a cleaning device, characterized in that, The cleaning equipment includes a body, a detection system, a rotary wet cleaning component, and a shielding mechanism. The shielding mechanism includes a shielding component. The bottom of the body is provided with a receiving cavity. The rotary wet cleaning component is rotatably disposed in the receiving cavity. The shielding component is movably disposed at the opening of the receiving cavity. The method includes: If it is determined that the cleaning device is in sweeping mode during movement, the blocking component of the cleaning device is controlled to be in a blocking state to close the opening of the receiving cavity; If it is determined that the cleaning device is in mopping mode or sweeping and mopping mode during movement, the blocking component is controlled to be in an avoidance state to open the opening of the receiving cavity. The sweeping mode is where the cleaning equipment only sweeps and does not mop; the mopping mode is where the cleaning equipment only mops and does not sweep; and the sweeping and mopping mode is where the cleaning equipment sweeps and mops simultaneously.

12. A control method for cleaning equipment, characterized in that, The cleaning equipment includes a body, a detection system, a rotary wet cleaning component, and a shielding mechanism. The shielding mechanism includes a shielding component. The bottom of the body is provided with a receiving cavity. The rotary wet cleaning component is rotatably disposed in the receiving cavity. The shielding component is movably disposed at the opening of the receiving cavity. The method includes: During the movement of the cleaning equipment, if it is determined that the cleaning equipment is in a blocked area, the blocking component of the cleaning equipment is controlled to be in a blocked state to close the opening of the receiving cavity; and / or; During the movement of the cleaning equipment, if it is determined that the cleaning equipment is in an unobstructed area, the obstructing component of the cleaning equipment is controlled to be in an avoidance state to open the opening of the receiving cavity; The obscured area and / or the unobscured area are configured by the user via a mobile terminal.

13. The method according to claim 12, characterized in that, The method further includes: The display area configuration interface shows the working area of ​​the cleaning equipment. In response to the user's division of the work area, the occluded area and / or unoccluded area corresponding to the work area are obtained.

14. A cleaning device, characterized in that, include: The fuselage has a receiving cavity at its bottom; A detection system, mounted on the device, is used to acquire obstacle information and / or base station information; A rotary wet cleaning component is rotatably disposed within the receiving cavity for cleaning the working surface of the cleaning equipment; A shielding mechanism includes a shielding member and a driving assembly. The shielding member is movably disposed at the opening of the receiving cavity by the driving assembly. The shielding member includes a shielding state that closes the opening of the receiving cavity and an avoidance state that opens the opening of the receiving cavity. A control module is used to execute the method described in any one of claims 1-13.

15. The cleaning equipment according to claim 14, characterized in that, The detection system includes one or more of the following: monocular vision sensor, binocular vision sensor, trinocular vision sensor, lidar, line laser sensor, area laser sensor, Dtof sensor, Itof sensor, and ultrasonic sensor.

16. The cleaning equipment according to claim 14 or 15, characterized in that, The shielding member has a comb-like structure on the side facing away from the rotary wet cleaning member. The comb-like structure is used to clean impurities in the carpet on the working surface, and / or to comb the fine hair-like structure on the surface of the carpet, and / or to enhance the strength of the shielding member.

17. A cleaning device, comprising a memory and a processor, the memory storing a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 13.

18. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 13.

19. A computer program product, characterized in that, Includes a computer program that, when executed by a processor, implements the steps of the method according to any one of claims 1 to 13.