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

Abstract

This invention provides a control method, apparatus, cleaning device, and storage medium for a cleaning device. The cleaning device includes a device body, a first cleaning component, and / or a second cleaning component. The method includes: acquiring obstacle information along the travel path of the cleaning device, wherein the obstacle is a cylindrical obstacle; controlling the cleaning device to perform a column-circling motion based on the obstacle information; and causing the first cleaning component and / or the second cleaning component to form a motion trajectory around the obstacle through the column-circling motion. The motion trajectory includes one of the following: approximately a spiral shape composed of multiple blades radiating outward from the obstacle; or approximately a circle or circumscribed polygon with the outer contour of the obstacle as its edge. This invention enables column-circling cleaning.

Description

[Technical Field]

[0001] This invention relates to the field of self-propelled equipment technology, and more specifically, to a control method, device, cleaning equipment, and storage medium for a cleaning device. [Previous Technology]

[0002] In recent years, with the popularization of automatic cleaning equipment, the functions of automatic cleaning equipment have become more and more numerous. In particular, the application of automatic cleaning equipment that integrates multiple functions such as sweeping, vacuuming, mopping, dust removal, and mop cleaning is also increasing. [Summary of the Invention]

[0003] The purpose of this invention is to provide a control method, device, cleaning equipment, and storage medium for cleaning equipment, which can solve the technical problem of incomplete cleaning around columnar obstacles. Specifically:

[0004] Some embodiments of this invention provide a control method for a cleaning device, the cleaning device including a device body, a first cleaning component and / or a second cleaning component, the method including: acquiring obstacle information on the travel path of the cleaning device, the obstacle being a cylindrical obstacle; controlling the cleaning device to perform a column-like movement based on the obstacle information; causing the first cleaning component and / or the second cleaning component to form a motion trajectory around the obstacle through the column-like movement, wherein the motion trajectory includes one of the following: approximately a spiral shape composed of multiple blades radiating outward from the obstacle as the center; approximately a circle or circumscribed polygon with the outer contour of the obstacle as the edge.

[0005] In some embodiments, the spiral shape includes a plurality of rotationally symmetrical blades.

[0006] In some embodiments, the number of the plurality of blades is greater than or equal to 3.

[0007] In some embodiments, the number of the plurality of blades is greater than or equal to 3 and less than or equal to 10.

[0008] In some embodiments, the spiral shape is a circle or circumscribed polygon surrounding the outer contour of the obstacle on the side closest to the obstacle.

[0009] In some embodiments, the distance from the side of the blade closest to the obstacle to the side furthest from the obstacle is not greater than the width of the device body.

[0010] In some embodiments, the width of the blade does not exceed the width of the first cleaning component.

[0011] In some embodiments, the side of the blade away from the obstacle is arc-shaped.

[0012] In some embodiments, the end of the blade away from the obstacle tends to turn in a clockwise direction.

[0013] In some embodiments, controlling the cleaning device to perform a column-around action based on the obstacle information includes: controlling the cleaning device to perform at least one of the following actions based on the obstacle information: the device body moves toward the obstacle and moves to a position close to but not in contact with the obstacle; the cleaning device moves along a common tangent line tangent to the obstacle on its path of travel; the cleaning device rotates around the perimeter of the obstacle.

[0014] In some embodiments, the step of making the cleaning device travel along a common tangent line tangent to the obstacle on the travel path of the cleaning device includes: adjusting the travel direction of the cleaning device so that the side of the first cleaning component adjacent to the obstacle is tangent to the obstacle in the travel direction.

[0015] In some embodiments, adjusting the travel direction of the cleaning device so that the side of the first cleaning component near the obstacle is tangent to the obstacle in the travel direction includes: determining the common tangent line of the device body and the side of the first cleaning component near the obstacle, and adjusting the travel direction of the cleaning device so that the common tangent line is tangent to the obstacle.

[0016] In some embodiments, based on the obstacle information, the cleaning device is also controlled to perform the following actions: control the cleaning device to travel a preset distance, the preset distance being configured to at least cause the first cleaning component to clean along the edge of the obstacle.

[0017] In some embodiments, controlling the cleaning device to travel a preset distance, the preset distance being configured to at least cause the first cleaning component to clean along the edge of the obstacle, includes: controlling the cleaning device to travel a preset distance, the preset distance being configured to at least cause the first cleaning component to travel along the edge of the obstacle beyond a position tangent to the obstacle.

[0018] In some embodiments, the cleaning device rotates around the periphery of the obstacle, including: controlling the cleaning device to rotate in a clockwise or counterclockwise direction.

[0019] In some embodiments, the first cleaning component includes a rotating mop located at the right rear of the device body.

[0020] In some embodiments, when the rotary mop is in operation, its outer edge is at the same tangent position as the right edge of the device body.

[0021] In some embodiments, the first cleaning component is a mopping component.

[0022] In some embodiments, the maximum outer diameter of the cylindrical obstacle is less than 1 meter.

[0023] In some embodiments, obtaining obstacle information on the path of the cleaning equipment includes: obtaining obstacle information on the path of the cleaning equipment based on sensors and / or image acquisition devices.

[0024] In some embodiments, the second cleaning component is a brush component.

[0025] Some embodiments of this invention also provide a control device for a cleaning device, the cleaning device including a device body, a first cleaning component and / or a second cleaning component, the device including: an acquisition unit configured to acquire obstacle information on the travel path of the cleaning device, the obstacle being a cylindrical obstacle; a control unit configured to control the cleaning device to perform a column-shaped movement based on the obstacle information; and a forming unit configured to cause the first cleaning component and / or the second cleaning component to form a motion trajectory around the obstacle through the column-shaped movement, wherein the motion trajectory includes one of the following: a spiral shape approximately composed of multiple blades radiating outward from the obstacle; or a circle or circumscribed polygon approximately with the outer contour of the obstacle as its edge.

[0026] Some embodiments of the present invention provide a cleaning device, including a processor and a memory, wherein the memory stores computer program instructions that can be executed by the processor, and when the processor executes the computer program instructions, it implements the method steps described in any of the above embodiments.

[0027] Some embodiments of the present invention provide a non-transitory computer-readable storage medium storing computer program instructions, which, when called and executed by a processor, implement the steps of the method described in any of the above embodiments.

[0028] The above-mentioned solution of this invention embodiment can have the following beneficial effects: The control method of the cleaning equipment provided in this invention embodiment can, based on the obstacle information, control the movement of the cleaning equipment around the column to make the cleaning equipment form a spiral-shaped movement trajectory around the column obstacle, thereby enabling the cleaning equipment to clean around the edge of the column obstacle and clean the dead corners of the edge of the column obstacle.

Implementation Method

[0041] To make the technical solution and effects of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this invention, and not all embodiments. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without making progressive efforts are within the scope of protection of this invention.

[0042] The terminology used in this invention is for the purpose of describing particular embodiments only and is not intended to limit the invention. The singular forms “a,” “said,” and “the” used in this invention and the appended claims are also intended to include the plural forms, and “multiple” generally includes at least two unless the context clearly indicates otherwise.

[0043] It should be understood that the term "and / or" used in this document is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. In addition, the character " / " in this document generally indicates that the preceding and following related objects have an "or" relationship.

[0044] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that an article or device comprising a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such an article or device. Without further limitation, an element defined by the phrase "comprising one" does not exclude the presence of other identical elements in the article or device comprising said element.

[0045] During the cleaning process, cleaning equipment often fails to thoroughly clean elongated obstacles, especially for sweepers with extended mops. When moving along elongated obstacles, the mop is located on the right rear side of the machine, causing some areas around the edges of the obstacles to be missed when turning. Examples of elongated obstacles include table legs and chair legs.

[0046] As a result, due to the special structure of slender obstacles, cleaning equipment cannot thoroughly clean the area around them, often leaving cleaning dead spots and giving users a bad experience.

[0047] To solve the problem of missed cleaning, this invention provides a control method for a cleaning device, the cleaning device including a device body, a first cleaning component and / or a second cleaning component, the method including: acquiring obstacle information on the travel path of the cleaning device, the obstacle being a cylindrical obstacle; based on the obstacle information, controlling the cleaning device to perform a column-circling action; through the column-circling action, causing the first cleaning component and / or the second cleaning component to form a motion trajectory around the obstacle, wherein the motion trajectory includes one of the following: approximately a spiral shape composed of multiple blades radiating outward from the obstacle as the center; approximately a circle or circumscribed polygon with the outer contour of the obstacle as the edge.

[0048] The control method for the cleaning equipment provided in this embodiment can, based on the obstacle information, control the movement of the cleaning equipment around the column to make the cleaning equipment form a spiral-shaped motion trajectory around the column obstacle, thereby enabling the cleaning equipment to clean around the edge of the column obstacle and clean the dead corners of the edge of the column obstacle.

[0049] The optional embodiments of this invention will be described in detail below with reference to the accompanying drawings.

[0050] As shown in Figure 1, some embodiments of this invention provide a control method for a cleaning device. The cleaning device includes a device body, a first cleaning component, and / or a second cleaning component. The method includes: Step S102: Obtaining obstacle information on the travel path of the cleaning device, wherein the obstacle is a cylindrical obstacle; Step S104: Based on the obstacle information, controlling the cleaning device to perform a column-circling action; Step S106: Using the column-circling action, causing the first cleaning component and / or the second cleaning component to form a motion trajectory around the obstacle, wherein the motion trajectory includes: a spiral shape composed of multiple blades approximately radiating outward from the obstacle.

[0051] The cleaning device described in this invention can be a mopping robot, or a sweeping and mopping robot, etc. The cleaning device includes at least a device body and cleaning components disposed on the device body. The device body can be configured to automatically move along a target direction on the operating surface, or it can rotate in place clockwise or counterclockwise. The operating surface can be the surface to be cleaned by the cleaning device. In some embodiments, the cleaning device can be a mopping robot, in which case the automatic cleaning device works on the ground, and the ground is the operating surface; the cleaning device can also be a window cleaning robot, in which case the cleaning device works on the outer surface of the glass of a building, and the glass is the operating surface; the cleaning device can also be a pipe cleaning robot, in which case the cleaning device works on the inner surface of the pipe, and the inner surface of the pipe is the operating surface. The following description in this invention uses a sweeping and mopping robot as an example.

[0052] As shown in Figure 2, to more clearly describe the behavior of the cleaning equipment, the following directions are defined with reference to the cleaning equipment: horizontal axis Y, front-back axis X, and central vertical axis Z. The direction opposite to the arrow on the front-back axis X is labeled "backward," and the direction along the arrow on the front-back axis X is labeled "forward." The horizontal axis Y is along the width of the cleaning equipment; the direction opposite to the arrow on the horizontal axis Y is labeled "rightward," and the direction along the arrow on the horizontal axis Y is labeled "leftward." The vertical axis Z extends vertically along the cleaning equipment; the direction opposite to the arrow on the vertical axis Z is labeled "downward," and the direction along the arrow on the vertical axis Z is labeled "upward." Specifically, in the cleaning equipment, AB represents the front-back direction, A represents forward, B represents backward, CD represents the left-right direction, C represents left, and D represents right.

[0053] In some embodiments, the cleaning device includes a device body and a first cleaning component. The first cleaning component is, for example, a rotary circular mop, which extends out of the device body when working and retracts into the device body when not working. After extending out of the device body, the rotary circular mop is located approximately to the right rear of the device body, roughly within the area BD shown in Figure 2, and rotates to mop the floor as the cleaning device moves. Optionally, when the rotary mop is in working condition, its outer edge is at the same tangent position as the right edge (point D) of the device body.

[0054] In some embodiments, the cleaning device further includes a second cleaning component, such as a brush assembly, which is disposed on the right front side of the device body, approximately within the range AD in Figure 2, and is configured to clean the edge of the obstacle when the cleaning device is moving or rotating.

[0055] In some embodiments, in step S102, obtaining obstacle information on the path of the cleaning equipment, wherein the obstacle is a cylindrical obstacle, includes: obtaining obstacle information on the path of the cleaning equipment based on sensors and / or image acquisition devices.

[0056] The cleaning equipment has various sensors and image acquisition devices, such as stress sensors, laser radar, and TOF elements installed on the buffer structure of the cleaning equipment. The cleaning equipment detects obstacles and their positions in its travel path through these sensors and image acquisition devices. Once the cleaning equipment obtains the position information of the obstacle, it can determine its own position coordinates and the obstacle's position coordinates through a cleaning map, thereby determining their positional relationship. This positional relationship includes, but is not limited to, the closest distance between the two and the direction of travel of the cleaning equipment. When the sensors determine that the current obstacle is a cylindrical obstacle, including but not limited to a cylindrical obstacle, the control method described in this invention can be executed.

[0057] In some embodiments, the obstacle described in this invention is a cylindrical obstacle, such as a prismatic obstacle, a square prism, a hexagonal prism, etc. Optionally, the diameter of the cylindrical obstacle is less than 1 meter and greater than 2 centimeters. For obstacles with a diameter greater than 1 meter, since they far exceed the size of the cleaning device body, their corners can be cleaned using a wall-mounted cleaning mode. For cylindrical obstacles with a diameter less than 2 centimeters, the corners are too small to be ignored. Cylindrical obstacles include, but are not limited to, table legs, sofa legs, chair legs, etc.

[0058] In some embodiments, as shown in FIG3, in step S104, based on the obstacle information, controlling the cleaning device to perform a column-circling action includes: based on the obstacle information, controlling the cleaning device to perform at least one of the following actions: Step S1041: The main body of the device moves toward the obstacle and moves to a position close to but not in contact with the obstacle; Step S1043: On the travel path of the cleaning device, the cleaning device moves along a common tangent line tangent to the obstacle; Step S1045: The cleaning device rotates around the perimeter of the obstacle.

[0059] It is understood that the above steps S1041, S1043 and S1045 do not have a necessary sequential relationship. Any one or more steps can be executed according to the control logic, or one or more steps can be executed repeatedly. This work does not limit this.

[0060] In some embodiments, in step S1041, the main body of the device moves toward the obstacle and moves to a position that is almost in contact with the obstacle but not completely in contact (i.e., close to but not in contact with the obstacle). At this time, the main body of the device and the obstacle have a preset small gap, for example, 1 to 5 mm, so that the cleaning device can clean the area around the obstacle as much as possible.

[0061] In some embodiments, step S1043, in the travel path of the cleaning device, making the cleaning device travel along a common tangent line tangent to the obstacle includes: adjusting the travel direction of the cleaning device so that the side of the first cleaning component adjacent to the obstacle is tangent to the obstacle in the travel direction.

[0062] In some embodiments, adjusting the travel direction of the cleaning device so that the side of the first cleaning component near the obstacle is tangent to the obstacle in the travel direction includes: determining the common tangent line of the device body and the side of the first cleaning component near the obstacle, and adjusting the travel direction of the cleaning device so that the common tangent line is tangent to the obstacle.

[0063] As shown in Figure 4, when the cleaning device performs a cleaning task through the first cleaning component 110, the first cleaning component 110 is in an extended state. At this time, the rightmost edge of the first cleaning component 110 and the rightmost edge of the device body 100 are on the same common tangent line MN. After determining the positional relationship with the obstacle 200, the cleaning device dynamically adjusts the positional relationship between the device body 100 and the obstacle 200 based on the positional relationship, and adjusts the position of the cleaning device based on the common tangent line MN so that the tangent line MN is also tangent to the obstacle 200. At this time, the obstacle 200 is approximately located to the right of the device body 100. As the cleaning device moves forward, the obstacle 200 moves relative to the cleaning device along the tangent line MN. That is to say, as the cleaning device moves, the first cleaning component 110 will clean one side edge of the obstacle 200 along the tangent line MN. Because this invention controls the movement of the obstacle 200 and the tangent MN of the cleaning device, the cleaning device can accurately clean the root edge of the obstacle 200, avoiding missed cleaning of the root edge of the obstacle 200. The root edge generally refers to the area around the intersection of the obstacle and the ground, such as the area around the table leg where the table leg contacts the ground.

[0064] In some embodiments, in step S104, based on the obstacle information, the cleaning device is controlled to perform the following action: control the cleaning device to travel a preset distance, the preset distance being configured to at least make the first cleaning component clean along the edge of the obstacle.

[0065] In some embodiments, controlling the cleaning device to travel a preset distance, the preset distance being configured to at least cause the first cleaning component to clean along the edge of the obstacle, includes: controlling the cleaning device to travel a preset distance, the preset distance being configured to at least cause the first cleaning component to travel along the edge of the obstacle beyond a position tangent to the obstacle.

[0066] As shown in Figure 4, after determining the positions of the cleaning device and the obstacle 200, the cleaning device is controlled to move forward along the tangent MN direction until the first cleaning component 110 moves along the root edge of the obstacle 200 and cleans its edge corners, until it exceeds the tangent point between the first cleaning component 110 and the obstacle 200. At this point, the cleaning device continues to move forward. Since the cleaning position of the first cleaning component 110 has exceeded the root edge of the obstacle 200, a conventional cleaning strategy can be used for cleaning. At this time, in order to continue cleaning the root edge of the obstacle 200, the cleaning device is controlled to stop moving forward and execute subsequent actions. It can be understood that this step can at least clean one side of the root edge of the cylindrical obstacle. If it is necessary to clean the entire area around the cylindrical obstacle, this action can be repeated.

[0067] In some embodiments, in step S1045, the cleaning device rotates around the periphery of the obstacle, including controlling the cleaning device to rotate clockwise or counterclockwise. This again brings the first cleaning component tangent to the obstacle along its path of travel. The rotation described herein includes rotation within a range around the device body, such as rotation, self-rotation, or twisting within a range exceeding 30% of the device body size.

[0068] As shown in Figure 5, the cleaning device advances until the first cleaning component 110 exceeds the tangent point with the obstacle 200, then stops advancing and controls the cleaning device to rotate clockwise. At this time, the first cleaning component 110 also rotates clockwise. After rotation, the cleaning device and the first cleaning component 110 have left the position tangent to the obstacle. In order to clean the root of the obstacle 200, it is necessary to re-determine the positional relationship between the cleaning device and the obstacle 200, so that the first cleaning component, the cleaning device, and the obstacle are once again located on a common tangent line MN, as shown in Figure 4. After determining the tangent relationship between the first cleaning component, the cleaning device, and the obstacle, the cleaning device is controlled to advance along the tangent direction, so that the edge on the other side of the obstacle can be cleaned again. By repeating the above steps, the cleaning device can complete the cylinder-like movement and achieve complete cleaning around the cylindrical obstacle.

[0069] In some embodiments, in step S106, the first cleaning component forms a motion trajectory around the obstacle through the column-circling action, wherein the motion trajectory includes a spiral shape composed of multiple blades that approximately radiate outward from the obstacle. The spiral shape includes multiple rotationally symmetrical blades.

[0070] As shown in Figure 6, during the execution of step S104, the first cleaning component 110 forms a motion trajectory around the obstacle 200. This motion trajectory is approximately a spiral shape 300 centered on the obstacle 200. This spiral shape 300 essentially covers the area around the root of the cylindrical obstacle 200, thus ensuring thorough cleaning of the obstacle's root edge area. The spiral-shaped motion trajectory allows the first cleaning component to complete thorough cleaning of the obstacle's root edge with the shortest travel distance. Simultaneously, it also allows the cleaning equipment to complete cleaning around the obstacle with the shortest travel distance, saving energy and improving cleaning efficiency.

[0071] In some embodiments, the spiral shape 300 described herein includes a plurality of rotationally symmetrical blades 310, each blade 310 having a first end 311 on the side closer to the obstacle 200 and a second end 312 on the side farther from the obstacle 200. The direction of the blade 310 from the first end 311 to the second end 312 can be straight, curved, or a combination of straight and curved shapes, and is not limited thereto. Optionally, the multiple blades are spirally symmetrical to save control resources of the cleaning equipment and achieve efficient cleaning.

[0072] In some embodiments, the number of blades is greater than or equal to 3. Optionally, the number of blades is greater than or equal to 3 and less than or equal to 10. Fewer than 3 blades will not be sufficient to cover the entire edge of the obstacle root, failing to form a closed cleaning loop and resulting in missed areas. Too many blades increase the workload of the cleaning equipment, increase power consumption and control resources, and reduce cleaning efficiency.

[0073] In some embodiments, the spiral-shaped motion trajectory is a circle or polygon surrounding the outer contour of the obstacle on the side closest to the obstacle, so that the cleaning device can clean as close as possible to the root of the obstacle and reduce missed areas.

[0074] In some embodiments, the distance from the side of the spiral shape 300 closest to the obstacle 200 to the side furthest from the obstacle 200 is no greater than the width of the device body. That is, the distance from the first end 311 to the second end 312 of the blade 310 is no greater than the width of the device body, thereby allowing the cleaning device to perform minimal rotational movements while cleaning the root edge of the obstacle 200, reducing power consumption, minimizing control resources, and improving cleaning efficiency. Optionally, the distance from the side of the spiral shape 300 closest to the obstacle 200 to the side furthest from the obstacle 200 is more than 50% of the width of the device body to further reduce power consumption, minimize control resources, and improve cleaning efficiency.

[0075] In some embodiments, the width of the blade 310 does not exceed the width of the first cleaning component. The blade 310 is the trajectory formed by the movement of the first cleaning component. Therefore, typically, the width of the trajectory formed by the first cleaning component during one movement does not exceed the width of the first cleaning component, thereby ensuring that the cleaning position can be cleaned after one movement of the first cleaning component. In addition, it also allows the cleaning device to complete the preparation action around the column by executing a rotation control strategy once, avoiding repeated movement and posture adjustment of the cleaning device, which wastes control resources and reduces cleaning efficiency.

[0076] In some embodiments, the side of the blade furthest from the obstacle is arc-shaped. The curvature of this arc is less than the curvature of the cleaning device body, so that the cleaning device can adjust its posture by rotating to perform cleaning around the column, further saving control resources and improving cleaning efficiency.

[0077] The control method of the cleaning equipment provided in the above embodiments of the present invention, since the first cleaning component is located on the right rear side of the cleaning equipment, when cleaning the edge of the cylindrical obstacle, it performs related circumferential actions to form a spiral-shaped motion trajectory, thereby enabling the cleaning equipment to complete circumferential cleaning while saving control resources, improving cleaning efficiency, and efficiently cleaning the dead corners of the edge of the cylindrical obstacle.

[0078] In some embodiments, as shown in FIG7, the present invention provides a control method for a cleaning device, the cleaning device including a device body, a first cleaning component and / or a second cleaning component, the method including: Step S102': acquiring obstacle information on the travel path of the cleaning device, the obstacle being a cylindrical obstacle; Step S104': based on the obstacle information, controlling the cleaning device to perform a column-around movement; Step S106': through the column-around movement, causing the first cleaning component and / or the second cleaning component to form a motion trajectory around the obstacle, wherein the motion trajectory includes: approximately a circle or circumscribed polygon with the outer contour of the obstacle as its edge.

[0079] Steps S102' and S104' are the same as steps S102 and S104 as described above, and will not be repeated here. In step S106', the first cleaning component is a mopping component, and the motion trajectory is approximately a circle or circumscribed polygon with the outer contour of the obstacle as its edge.

[0080] In some embodiments, as shown in FIG8, the cleaning device includes a device body 100 and a first cleaning component 110. The first cleaning component 110 includes a mopping component, the diameter of which is smaller than that of a rotary circular mop. The mopping component extends out of the device body 100 when in operation and retracts into the device body when not in operation. After extending out of the device body 100, the mopping component is approximately located on the right side of the device body 100 (e.g., on the side slightly towards point B from point D), and rotates to mop the floor as the cleaning device moves. Optionally, when the mopping component is in operation, the right edge of the mopping component extends 1 to 5 cm beyond the right side (point D) of the device body.

[0081] As shown in Figure 8, when the cleaning device performs a cleaning task using the first cleaning component 110, the first cleaning component 110 is in an extended state. At this time, the rightmost edge of the first cleaning component 110 has a tangent MN approximately along the direction of movement of the cleaning device. After determining the positional relationship with the obstacle 200, the cleaning device dynamically adjusts the positional relationship between the device body 100 and the obstacle 200 based on the positional relationship, and adjusts the position of the cleaning device based on the tangent MN so that the tangent MN is also tangent to the obstacle 200. At this time, the obstacle 200 is approximately located to the right of the device body 100. As the cleaning device moves forward, the obstacle 200 moves relative to the cleaning device along the tangent MN. That is to say, the first cleaning component 110 will clean one side edge of the obstacle 200 along the tangent MN.

[0082] As shown in Figure 9, after determining the positions of the cleaning equipment and the obstacle 200, the cleaning equipment is controlled to move forward until the first cleaning component 110 moves along the edge of the obstacle 200 and cleans its edge corners, until it exceeds the position tangent to the obstacle 200. Then, the cleaning equipment is controlled to rotate, so that the first cleaning component 110 moves around the obstacle 200. Through continuous rotation, a circular or circumscribed polygonal motion trajectory is formed around the outer contour of the obstacle.

[0083] The control method of the cleaning equipment provided in the above embodiments of this invention, since the first cleaning component is a side mop and is on the right side of the cleaning equipment, it protrudes from the right side of the cleaning equipment body when performing the cleaning task. Therefore, when cleaning the edge part of the cylindrical obstacle, by continuously controlling the rotation of the cleaning equipment, the first cleaning equipment forms a circular or circumscribed polygonal motion trajectory around the outer contour of the obstacle, thereby completing the cleaning of the root area of ​​the cylindrical obstacle in one go.

[0084] This embodiment of the invention provides a control device for a cleaning device. The control device is used to execute the control method described in the above embodiment. The same technical features have the same technical effects, and will not be described again here. The cleaning device includes a device body, a first cleaning component and / or a second cleaning component, as shown in FIG10. The control device includes: an acquisition unit 1001, configured to acquire obstacle information on the travel path of the cleaning device, wherein the obstacle is a cylindrical obstacle; a control unit 1003, configured to control the cleaning device to perform a column-shaped movement based on the obstacle information; and a forming unit 1005, configured to cause the first cleaning component and / or the second cleaning component to form a motion trajectory around the obstacle through the column-shaped movement, wherein the motion trajectory includes one of the following: a spiral shape composed of multiple blades that are approximately radiating outward from the obstacle; or a circle or circumscribed polygon with the outer contour of the obstacle as its edge.

[0085] Some embodiments of the present invention provide a cleaning device, including a processor and a memory, wherein the memory stores computer program instructions that can be executed by the processor, and when the processor executes the computer program instructions, it implements the method steps described in any of the above embodiments.

[0086] Some embodiments of the present invention provide a non-transitory computer-readable storage medium storing computer program instructions, which, when called and executed by a processor, implement the steps of the method described in any of the above embodiments.

[0087] As shown in FIG11, the cleaning device may include a processing device (e.g., a central processing unit, a graphics processing unit, etc.) 1101, which can perform various appropriate actions and processes according to a program stored in read-only memory (ROM) 1102 or a program loaded from storage device 1108 into random access memory (RAM) 1103. The RAM 1103 also stores various programs and data required for base station operation. The processing device 1101, ROM 1102, and RAM 1103 are interconnected via bus 1104. An input / output (I / O) interface 1105 is also connected to bus 1104.

[0088] Typically, the following devices can be connected to the I / O interface 1105: input devices 1106 including, for example, a touch screen, touchpad, keyboard, mouse, camera, microphone, accelerometer, gyroscope, etc.; output devices 1107 including, for example, a liquid crystal display (LCD), speaker, vibrator, etc.; storage devices 1108 including, for example, a hard drive; and communication devices 1109. The communication device 1109 can allow the base station to communicate wirelessly or wiredly with other devices to exchange data.

[0089] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of the present invention. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, or they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram and / or flowchart, and combinations of blocks in block diagrams and / or flowcharts, may be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0090] Finally, it should be noted that the various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the systems or apparatus disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the descriptions are relatively simple, and relevant parts can be referred to the method section.

[0091] The above embodiments are only used to illustrate the technical solutions of this invention, and are not intended to limit it; although this invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or make equivalent substitutions for some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this invention. [Simplified Explanation of the Diagram]

[0029] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with the present invention and, together with the description, serve to explain the principles of the present invention. It is obvious that the drawings described below are merely some embodiments of the present invention, and that other drawings can be obtained by those skilled in the art based on these drawings without any inventive effort. In the drawings:

[0030] Figure 1 is a flowchart of a control method for a cleaning device provided in some embodiments of this invention;

[0031] Figure 2 is a schematic diagram of the structure of the cleaning equipment provided in some embodiments of this invention;

[0032] Figure 3 is a flowchart of a control method for a cleaning device provided in some other embodiments of the present invention;

[0033] Figure 4 is a schematic diagram of the cleaning process of the cleaning equipment provided in some embodiments of this invention;

[0034] Figure 5 is another schematic diagram of the cleaning process of the cleaning equipment provided in some embodiments of this invention;

[0035] Figure 6 is a schematic diagram of the cleaning trajectory of the cleaning equipment provided in some embodiments of this invention;

[0036] Figure 7 is a flowchart of a control method for a cleaning device provided in some other embodiments of the present invention;

[0037] Figure 8 is a schematic diagram of the cleaning process of the cleaning equipment provided in some other embodiments of the present invention;

[0038] Figure 9 is another schematic diagram of the cleaning process of the cleaning equipment provided in some other embodiments of the present invention;

[0039] Figure 10 is a structural diagram of the control device of the cleaning equipment provided in some embodiments of the present invention;

[0040] Figure 11 is a schematic diagram of the connection structure of the cleaning equipment provided in some embodiments of this invention.

Claims

1. A method for controlling a cleaning device, the cleaning device comprising a device body, a first cleaning component, and / or a second cleaning component, the method comprising: Obtain information about obstacles along the path of the cleaning equipment, wherein the obstacles are cylindrical obstacles; Based on the obstacle information, the cleaning device is controlled to perform a column-circling motion; the column-circling motion causes the first cleaning component and / or the second cleaning component to form a motion trajectory around the obstacle, wherein the motion trajectory includes one of the following: a spiral shape approximately radiating outward from the obstacle as the center; or a circle or circumscribed polygon approximately with the outer contour of the obstacle as the edge.

2. The method according to claim 1, wherein the spiral shape comprises a plurality of rotationally symmetric blades.

3. The method according to claim 1, wherein the number of the plurality of blades is greater than or equal to 3.

4. The method according to claim 1, wherein the number of the plurality of blades is greater than or equal to 3 and less than or equal to 10.

5. The method according to claim 1, wherein the spiral shape on the side near the obstacle is a circle or circumscribed polygon surrounding the outer contour of the obstacle.

6. The method according to claim 1, wherein the distance from the side of the blade closest to the obstacle to the side furthest from the obstacle is not greater than the width of the device body.

7. The method according to claim 1, wherein the width of the blade does not exceed the width of the first cleaning component.

8. The method according to claim 1, wherein the side of the blade away from the obstacle is arc-shaped; or the end of the blade away from the obstacle tends to turn in a clockwise direction.

9. The method according to claim 1, wherein controlling the cleaning device to perform a column-around-the-pillar movement based on the obstacle information includes: Based on the obstacle information, the cleaning device is controlled to perform at least one of the following actions: the main body of the device moves toward the obstacle and moves to a position close to but not in contact with the obstacle; the cleaning device moves along a common tangent line tangent to the obstacle along its path; the cleaning device rotates around the perimeter of the obstacle.

10. The method according to claim 9, wherein the cleaning equipment travels along a common tangent line tangent to the obstacle in its path of travel, comprising: Adjusting the travel direction of the cleaning device so that the side of the first cleaning component near the obstacle is tangent to the obstacle in the travel direction, wherein adjusting the travel direction of the cleaning device so that the side of the first cleaning component near the obstacle is tangent to the obstacle in the travel direction includes: determining the common tangent line of the device body and the side of the first cleaning component near the obstacle, and adjusting the travel direction of the cleaning device so that the common tangent line is tangent to the obstacle.

11. The method according to claim 9, wherein, based on the obstacle information, controlling the cleaning device further performs the following actions: controlling the cleaning device to travel a preset distance, the preset distance being configured to at least cause the first cleaning component to clean along the edge of the obstacle, wherein, Controlling the cleaning device to travel a preset distance, the preset distance being configured to at least cause the first cleaning component to clean along the edge of the obstacle, includes: controlling the cleaning device to travel a preset distance, the preset distance being configured to at least cause the first cleaning component to travel along the edge of the obstacle beyond a position tangent to the obstacle.

12. The method according to claim 9, wherein the cleaning device rotates around the periphery of the obstacle, comprising: Control the cleaning equipment to rotate clockwise or counterclockwise.

13. The method according to claim 1, wherein the first cleaning component includes a rotary mop located at the right rear of the device body, and the outer edge of the rotary mop being tangentially aligned with the right edge of the device body when in operation.

14. The method according to claim 1, wherein the first cleaning component is a mopping component, the second cleaning component is a sweeping component, and the maximum outer diameter of the cylindrical obstacle is less than 1 meter.

15. The method according to claim 1, wherein obtaining obstacle information on the path of the cleaning equipment includes: Obstacle information along the path of the cleaning equipment is obtained using sensors and / or image acquisition devices.

16. A control device for a cleaning device, the cleaning device comprising a device body, a first cleaning component, and / or a second cleaning component, wherein the device comprises: The acquisition unit is configured to acquire obstacle information on the travel path of the cleaning device, wherein the obstacle is a cylindrical obstacle; the control unit is configured to control the cleaning device to perform a column-shaped movement based on the obstacle information; and the forming unit is configured to cause the first cleaning component and / or the second cleaning component to form a motion trajectory around the obstacle through the column-shaped movement, wherein the motion trajectory includes one of the following: a spiral shape approximately radiating outward from the obstacle as the center; or a circle or circumscribed polygon approximately with the outer contour of the obstacle as the edge.

17. A cleaning device comprising a processor and a memory, wherein the memory stores computer program instructions executable by the processor, wherein the processor, when executing the computer program instructions, performs the method steps as described in any one of claims 1 to 15.

18. A non-transitory computer-readable storage medium storing computer program instructions that, when invoked and executed by a processor, implement the method steps as described in any one of claims 1 to 15.

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