Control method and apparatus for automatic cleaning device, automatic cleaning device, and storage medium
By detecting the length of obstacles and adjusting the moving path of the automatic cleaning device, the problem of the equipment colliding with the obstacles during turns is solved, achieving a more efficient and safe cleaning effect.
Patent Information
- Application Number
- PCT/CN2024/079849
- Authority / Receiving Office
- WO · WO
- Patent Type
- Applications
- Current Assignee / Owner
- Priority Date
- 2023-04-27
- Filing Date
- 2024-03-04
- Publication Date
- 2024-12-19
AI Technical Summary
Automatic cleaning equipment may collide with obstacles when moving, resulting in damage to equipment or obstacles. The prior art is difficult to effectively prevent such collisions.
By detecting the length of the obstacle in front, the movement path of the automatic cleaning device is controlled. If the length of the obstacle is less than or equal to the preset threshold, it moves along the tangent path. If the length of the obstacle is greater than the threshold, it moves along the arc path, and according to the device size parameters, it moves along the and clean mode adjust turning angle and speed to avoid interference.
Effectively reduces the interference between automatic cleaning equipment and obstacles when turning, ensures a wider cleaning area, and improves the safety and cleaning efficiency of the equipment.
Smart Images
Figure CN2024079849_19122024_PF_FP_ABST
Abstract
Description
Automatic cleaning equipment control method, device, automatic cleaning equipment and storage medium
[0001] CROSS-REFERENCE TO RELATED APPLICATIONS
[0002] This disclosure claims priority to Chinese patent application No. 202310477495.6 filed on April 27, 2023. The contents of the above-mentioned Chinese patent application disclosure are hereby incorporated by reference in their entirety as part of this disclosure. Technical Field
[0003] The present disclosure relates to the technical field of smart home appliances, and in particular to a control method and device for an automatic cleaning device, an automatic cleaning device, and a readable storage medium. Background Art
[0004] Currently, upon receiving a cleaning instruction, an automatic cleaning device can automatically execute the cleaning instruction and complete the cleaning task, saving labor costs and improving cleaning efficiency. However, the automatic cleaning device in the related art may collide with obstacles while moving, causing damage to the automatic cleaning device or the obstacle.
[0005] Summary of the Invention
[0006] In view of this, the present disclosure provides a control method and device for an automatic cleaning device, an automatic cleaning device, and a readable storage medium, which can effectively prevent the automatic cleaning device from colliding with obstacles.
[0007] In a first aspect, embodiments of the present disclosure provide a method for controlling an automatic cleaning device, the automatic cleaning device comprising a body and a cleaning assembly disposed at a rear portion of the body, wherein at least a portion of the cleaning assembly protrudes from an edge of the body; the method comprising:
[0008] Detecting a second obstacle in front of the automatic cleaning device while the automatic cleaning device moves along the first obstacle;
[0009] If there is a second obstacle in front of the automatic cleaning device, obtaining the length of the second obstacle;
[0010] The moving path of the automatic cleaning device is controlled according to the length of the second obstacle.
[0011] In one embodiment of the present disclosure, the moving path of the automatic cleaning device is controlled according to the length of the second obstacle, including: if the length of the second obstacle is less than or equal to a preset length threshold, the automatic cleaning device is controlled to move along a tangent path; if the length of the second obstacle is greater than the preset length threshold, the automatic cleaning device is controlled to move along an arc path.
[0012] In one embodiment of the present disclosure, the method further includes: acquiring device size parameters of the automatic cleaning device, and determining a preset length threshold according to the device size parameters.
[0013] In one embodiment of the present disclosure, controlling the automatic cleaning device to move along a tangential path includes: obtaining device size parameters of the automatic cleaning device, a first distance between the automatic cleaning device and a first obstacle, and a first distance threshold; calculating a first rotation angle of the automatic cleaning device when the cleaning component does not interfere with the first obstacle based on the device size parameters, the first distance, and the first distance threshold; detecting a second distance between the automatic cleaning device and a second obstacle, and when the second distance is less than or equal to the first distance threshold, controlling the automatic cleaning device to turn according to the first rotation angle, and moving along the second obstacle along the tangential path after turning.
[0014] In one embodiment of the present disclosure, the device size parameters include a fuselage radius, a fuselage rear profile length, and a fuselage rear profile width.
[0015] In one embodiment of the present disclosure, the method further includes: obtaining a cleaning mode, and determining a first distance threshold according to the cleaning mode, and / or adjusting a first rotation angle according to the cleaning mode; wherein different cleaning modes correspond to different obstacle protection levels and / or ground cleanliness levels; the higher the obstacle protection level, the larger the first distance threshold, and the smaller the first rotation angle; the higher the ground cleanliness, the smaller the first distance threshold, and the larger the first rotation angle.
[0016] In one embodiment of the present disclosure, controlling the automatic cleaning device to move along an arc path includes: obtaining device size parameters of the automatic cleaning device, a first distance between the automatic cleaning device and a first obstacle, a second distance threshold, and a third distance threshold, wherein the third distance threshold is less than the second distance threshold; detecting the second distance between the automatic cleaning device and the second obstacle, and when the second distance is less than or equal to the second distance threshold, controlling the automatic cleaning device to move along the first obstacle and the second obstacle respectively along the arc path, and in the process of the automatic cleaning device moving along the arc path, adjusting the second rotation angle between the automatic cleaning device and the first obstacle, the third rotation angle between the automatic cleaning device and the second obstacle, and the moving speed of the automatic cleaning device, so that the cleaning component does not interfere with the first obstacle and the third rotation angle is less than or equal to the preset angle threshold when the second distance is less than or equal to the third distance threshold.
[0017] In one embodiment of the present disclosure, the method further includes: obtaining a cleaning mode, and determining a third distance threshold based on the cleaning mode; wherein different cleaning modes correspond to different obstacle protection levels and / or ground cleanliness levels; the higher the obstacle protection level, the larger the third distance threshold; the higher the ground cleanliness, the smaller the third distance threshold.
[0018] In one embodiment of the present disclosure, obtaining the length of the second obstacle includes: obtaining the movement time of the automatic cleaning device along the first obstacle, and obtaining the first distance between the automatic cleaning device and the first obstacle during the movement time; if the movement time is greater than or equal to a preset time threshold, and the first distance within the movement time is within a preset distance range, then obtaining the length of the second obstacle.
[0019] In a second aspect, an embodiment of the present disclosure provides a control device for an automatic cleaning device, the automatic cleaning device comprising a body and a cleaning assembly disposed at the rear of the body, wherein at least a portion of the cleaning assembly protrudes from an edge of the body; the device comprises:
[0020] a detection module, configured to detect a second obstacle in front of the automatic cleaning device while the automatic cleaning device moves along the first obstacle, and obtain a length of the second obstacle if the second obstacle exists in front of the automatic cleaning device;
[0021] The control module is used to control the moving path of the automatic cleaning device according to the length of the second obstacle.
[0022] In one embodiment of the present disclosure, the control module is specifically used to: if the length of the second obstacle is less than or equal to a preset length threshold, control the automatic cleaning device to move along a tangent path; if the length of the second obstacle is greater than the preset length threshold, control the automatic cleaning device to move along an arc path.
[0023] In one embodiment of the present disclosure, the control module is further configured to obtain device size parameters of the automatic cleaning device and determine a preset length threshold according to the device size parameters.
[0024] In one embodiment of the present disclosure, the device also includes: a first acquisition module, used to obtain the device size parameters of the automatic cleaning device, the first distance between the automatic cleaning device and the first obstacle, and the first distance threshold; a calculation module, used to calculate the first rotation angle of the automatic cleaning device when the cleaning component does not interfere with the first obstacle based on the device size parameters, the first distance and the first distance threshold; a detection module, also used to detect the second distance between the automatic cleaning device and the second obstacle; a control module, specifically used to control the automatic cleaning device to turn according to the first rotation angle when the second distance is less than or equal to the first distance threshold, and to move along the second obstacle according to the tangential path after turning.
[0025] In one embodiment of the present disclosure, the device size parameters include a fuselage radius, a fuselage rear profile length, and a fuselage rear profile width.
[0026] In one embodiment of the present disclosure, the control module is also used to obtain a cleaning mode, and determine a first distance threshold according to the cleaning mode, and / or adjust the first rotation angle according to the cleaning mode; wherein, different cleaning modes correspond to different obstacle protection levels and / or ground cleanliness levels; the higher the obstacle protection level, the larger the first distance threshold, and the smaller the first rotation angle; the higher the ground cleanliness, the smaller the first distance threshold, and the larger the first rotation angle.
[0027] In one embodiment of the present disclosure, the device also includes: a second acquisition module, used to obtain device size parameters of the automatic cleaning device, a first distance between the automatic cleaning device and the first obstacle, a second distance threshold and a third distance threshold, wherein the third distance threshold is less than the second distance threshold; a detection module, also used to detect the second distance between the automatic cleaning device and the second obstacle; a control module, specifically used to control the automatic cleaning device to move along the first obstacle and the second obstacle respectively according to an arc path when the second distance is less than or equal to the second distance threshold, and in the process of the automatic cleaning device moving along the arc path, adjust the second rotation angle between the automatic cleaning device and the first obstacle, the third rotation angle between the automatic cleaning device and the second obstacle and the moving speed of the automatic cleaning device, so that the cleaning component does not interfere with the first obstacle and the third rotation angle is less than or equal to the preset angle threshold when the second distance is less than or equal to the third distance threshold.
[0028] In one embodiment of the present disclosure, the control module is also used to obtain a cleaning mode and determine a third distance threshold based on the cleaning mode; wherein different cleaning modes correspond to different obstacle protection levels and / or ground cleanliness levels; the higher the obstacle protection level, the larger the third distance threshold; the higher the ground cleanliness, the smaller the third distance threshold.
[0029] In one embodiment of the present disclosure, the detection module is specifically used to: obtain the movement time of the automatic cleaning device along the first obstacle, and obtain the first distance between the automatic cleaning device and the first obstacle during the movement time; if the movement time is greater than or equal to the preset time threshold, and the first distance within the movement time is within the preset distance range, then obtain the length of the second obstacle.
[0030] In a third aspect, an embodiment of the present disclosure provides an automatic cleaning device, comprising:
[0031] body;
[0032] A cleaning assembly is disposed at the rear of the fuselage, with at least a portion of the cleaning assembly protruding from an edge of the fuselage;
[0033] A memory is provided in the body, and stores programs or instructions;
[0034] The controller is arranged on the machine body, and when the controller executes the program or instruction, the steps of the control method of the automatic cleaning device of the first aspect are implemented.
[0035] In one embodiment of the present disclosure, the cleaning assembly includes at least one cleaning element rotatable relative to the body, and at least a portion of the cleaning element protrudes from an edge of the body.
[0036] In one embodiment of the present disclosure, the cleaning elements include two cleaning elements, which are arranged on the left and right sides along the forward direction of the machine body.
[0037] In a fourth aspect, an embodiment of the present disclosure provides a readable storage medium storing a program or instruction, which implements the steps of the method of the first aspect when the program or instruction is executed by a controller.
[0038] In a fifth aspect, an embodiment of the present disclosure provides a chip, which includes a controller and a communication interface, the communication interface and the controller are coupled, and the controller is used to run programs or instructions to implement the method of the first aspect.
[0039] In a sixth aspect, an embodiment of the present disclosure provides a computer program product, which is stored in a storage medium and is executed by at least one controller to implement the method of the first aspect.
[0040] In an embodiment of the present disclosure, before turning, the automatic cleaning device detects information about obstacles at the turning point, then determines a dynamic turning path based on the obstacle information, and completes the turning action according to the turning path. Specifically, the automatic cleaning device moves along the first obstacle, and during this process detects in real time whether there is an obstacle in front. If a second obstacle is detected in front of the automatic cleaning device, the length of the second obstacle is further detected. Furthermore, based on the length of the second obstacle obtained, different movement paths are taken to enable the automatic cleaning device to move from being close to the first obstacle to being close to the second obstacle.
[0041] The disclosed embodiment can effectively reduce the interference between the cleaning component behind the automatic cleaning device and the first obstacle and the second obstacle when the automatic cleaning device turns, while ensuring a larger coverage cleaning area.
[0042] The above description is only an overview of the technical solution of the present disclosure. In order to more clearly understand the technical means of the present disclosure, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present disclosure more obvious and easy to understand, the specific implementation methods of the present disclosure are listed below. BRIEF DESCRIPTION OF THE DRAWINGS
[0043] The drawings described herein are used to provide a further understanding of the present disclosure and constitute a part of the present disclosure. The exemplary embodiments of the present disclosure and their descriptions are used to explain the present disclosure and do not constitute an improper limitation of the present disclosure. In the drawings:
[0044] FIG1 shows a structural diagram of an automatic cleaning device according to an embodiment of the present disclosure;
[0045] FIG2 shows a flow chart of a control method for an automatic cleaning device according to an embodiment of the present disclosure;
[0046] FIG3 shows a schematic diagram of the automatic cleaning device before turning according to an embodiment of the present disclosure;
[0047] FIG4 shows a second flow chart of the control method of the automatic cleaning device according to an embodiment of the present disclosure;
[0048] FIG5 is a schematic diagram showing device size parameters of an automatic cleaning device according to an embodiment of the present disclosure;
[0049] FIG6 shows one of the schematic diagrams of the automatic cleaning device according to the embodiment of the present disclosure moving along a tangential path;
[0050] FIG7 is a schematic diagram showing an automatic cleaning device according to an embodiment of the present disclosure moving along an arc path;
[0051] FIG8 shows a second schematic diagram of the automatic cleaning device moving along a tangential path according to an embodiment of the present disclosure;
[0052] FIG9 shows a structural block diagram of a control device of an automatic cleaning device according to an embodiment of the present disclosure.
[0053] Among them, the correspondence between the figure marks and the component names is: 100 automatic cleaning device, 101 body, 102 driving system, 1021 driving wheel assembly, 1022 driven wheel, 103 cleaning system, 1031 cleaning assembly, 1032 roller brush, 1033 side brush, 301 first obstacle, 302 second obstacle. DETAILED DESCRIPTION
[0054] The following will be combined with the accompanying drawings in the embodiments of the present disclosure to clearly describe the technical solutions in the embodiments of the present disclosure. Obviously, the embodiments described are part of the embodiments of the present disclosure, not all of the embodiments. Based on the embodiments of the present disclosure, all other embodiments obtained by ordinary technicians in this field are within the scope of protection of the present disclosure.
[0055] The terms "first", "second", etc. in the specification and claims of the present disclosure are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable under appropriate circumstances, so that the embodiments of the present disclosure can be implemented in an order other than those illustrated or described herein, and the objects distinguished by "first", "second", etc. are generally of the same type, and the number of objects is not limited. For example, the first object can be one or more. In addition, "and / or" in the specification and claims represents at least one of the connected objects, and the character " / " generally indicates that the objects related to each other are in an "or" relationship.
[0056] The control method, device, automatic cleaning device and readable storage medium of the automatic cleaning device provided by the embodiments of the present disclosure are described in detail below with reference to the accompanying drawings through specific embodiments and their application scenarios.
[0057] The embodiments of the present disclosure provide an automatic cleaning device, which can be a sweeping robot, a mopping robot, an all-in-one sweeping and mopping machine, etc. For ease of description, this embodiment takes an all-in-one sweeping and mopping machine as an example to describe the technical solution of the present disclosure. FIG1 shows a structural diagram of the automatic cleaning device of the embodiment of the present disclosure. The automatic cleaning device 100 includes a body 101, which is a mobile platform. It can be an autonomous mobile platform or a non-autonomous mobile platform. An autonomous mobile platform means that the mobile platform itself can automatically and adaptively make operational decisions based on unexpected environmental inputs; a non-autonomous mobile platform itself cannot adaptively make operational decisions based on unexpected environmental inputs, but can execute established programs or operate according to certain logic.
[0058] A driving system 102 is provided on the body 101. The driving system 102 includes a driving wheel assembly 1021 and a driven wheel 1022. The driving wheel assembly 1021 and the driven wheel 1022 are manipulated based on specific distance and angle information to achieve the driving and steering of the automatic cleaning device.
[0059] A cleaning system 103 is also provided on the fuselage 101, and the cleaning system 103 includes a cleaning component 1031. At least a portion of the cleaning component 1031 is located outside the edge projection area of the fuselage 101, that is, at least a portion of the cleaning component 1031 protrudes from the fuselage 101, so that the cleaning range of the cleaning component 1031 can exceed the edge of the walking range of the fuselage 101, thereby achieving comprehensive cleaning of the corners that the fuselage cannot fit, so as to increase the cleaning range and improve the cleaning effect of the automatic cleaning equipment.
[0060] The cleaning system 103 also includes a liquid storage tank (not shown in the figure), and the cleaning assembly 1031 can be arranged below the liquid storage tank. The cleaning liquid inside the liquid storage tank is transferred to the cleaning assembly 1031, so that the cleaning assembly 1031 cleans the surface to be cleaned. The cleaning liquid inside the liquid storage tank can also be directly sprayed onto the surface to be cleaned. The cleaning assembly 1031 cleans the surface to be cleaned by evenly applying the cleaning liquid.
[0061] In some embodiments, the cleaning assembly 1031 can be at least one cleaning element rotatable relative to the body 101. The cleaning element can include a turntable and a flexible, absorbent material such as fabric or sponge disposed at the bottom of the turntable. The flexible material evenly applies the cleaning liquid to the surface to be cleaned as the turntable rotates. Specifically, as shown in FIG1 , the cleaning elements can be symmetrically disposed at the bottom of the body of the automatic cleaning device.
[0062] It should be noted that the cleaning system 103 also includes a motion mechanism, and the entire cleaning component 1031 can be installed on the body through the motion mechanism. The cleaning component 1031 moves with the movement of the body to achieve the mopping and sweeping function. Among them, the motion mechanism is used to drive the cleaning element to move, such as the motion mechanism can drive the cleaning element to rise and fall, and the motion mechanism can also drive the cleaning element to rotate. Therefore, according to the requirement of whether the cleaning element is in contact with the surface to be cleaned, the lifting and rotation operations of the cleaning element can be achieved through the motion mechanism to meet the different functional requirements of the cleaning element. It should be noted that when the cleaning element interferes with the surface to be cleaned for mopping operation, the motion mechanism drives the cleaning element to rotate.
[0063] In some embodiments, the cleaning system 103 also includes a roller brush 1032, which has a certain interference with the ground to sweep up the garbage on the ground and suck it into the dust box; the cleaning system 103 also includes a side brush 1033 with a rotating axis, which is at a certain angle relative to the ground to move debris into the roller brush area.
[0064] In some embodiments, the automatic cleaning device includes a controller for controlling the driving system 102, the cleaning system 103, etc., so that the automatic cleaning device can perform cleaning work.
[0065] When the cleaning element is arranged at the rear part of the automatic cleaning device, since at least a part of the cleaning element is located outside the edge projection area of the body 101, when the automatic cleaning device turns along the inner corner, the cleaning element will interfere with the obstacles on both sides of the inner corner, affecting the walking posture of the automatic cleaning device and causing scratches on the surface of the obstacle.
[0066] To this end, an embodiment of the present disclosure provides a control method for an automatic cleaning device, as shown in FIG2 , the method comprising:
[0067] Step 201 : While the automatic cleaning device is moving along a first obstacle, a second obstacle in front of the automatic cleaning device is detected.
[0068] Step 202: If there is a second obstacle in front of the automatic cleaning device, obtain the length of the second obstacle.
[0069] Step 203: Control the moving path of the automatic cleaning device according to the length of the second obstacle.
[0070] In this embodiment, before the automatic cleaning device turns, the detection device of the automatic cleaning device is used to detect obstacle information at the turning point. Then the controller determines the dynamic turning path based on the obstacle information and controls the drive system so that the fuselage completes the turning action according to the turning path.
[0071] Specifically, the automatic cleaning device moves along the first obstacle and, during this process, uses a detection device to detect in real time whether there is an obstacle ahead. If a second obstacle is detected ahead of the automatic cleaning device, the length of the second obstacle is detected. For example, as shown in FIG3 , the right side of the automatic cleaning device 100 moves forward along the first obstacle 301. During the movement, if a second obstacle 302 is detected ahead, the length LB of the second obstacle is detected.
[0072] The first obstacle and the second obstacle include walls, furniture, pillars, etc.
[0073] Furthermore, the controller adopts different moving paths according to the acquired length of the second obstacle to realize the circumventing action of the automatic cleaning device from being close to the first obstacle to being close to the second obstacle.
[0074] The disclosed embodiment can effectively reduce the interference between the cleaning component behind the automatic cleaning device and the first obstacle and the second obstacle when the automatic cleaning device turns, while ensuring that a larger cleaning area is covered.
[0075] In one embodiment of the present disclosure, obtaining the length of the second obstacle includes: obtaining the movement time of the automatic cleaning device along the first obstacle, and the first distance between the automatic cleaning device and the first obstacle during the movement time; if the movement time is greater than or equal to a preset time threshold, and the first distance within the movement time is within a preset distance range, then obtaining the length of the second obstacle.
[0076] In this embodiment, when the automatic cleaning device moves forward relative to the first obstacle, the first distance between the automatic cleaning device and the first obstacle needs to be acquired by the detection device, so as to ensure the cleaning effect of the automatic cleaning device on the edge of the first obstacle.
[0077] The detection device can be a wall-mounted sensor, such as an infrared sensor mounted on the side of the machine, or a laser docking sensor (LDS) mounted on the top or side of the machine. By using the above detection device, as shown in FIG3 , a first distance dA between the center O of the automatic cleaning device and the first obstacle can be determined, and the actual distance between the automatic cleaning device and the second obstacle can be determined based on the first distance dA and the machine dimensions of the automatic cleaning device.
[0078] When the automatic cleaning device continues to move along the first obstacle and approaches the second obstacle ahead, i.e., the intersection of the first and second obstacles, the controller first calculates the moving time tA of the automatic cleaning device 100 along the first obstacle. The moving time tA and the first distance dA are used together as the start condition for obtaining the length of the second obstacle.
[0079] If the moving time tA is greater than or equal to the preset time threshold, and the first distance dA within the moving time tA always remains within the preset distance range, this indicates that the automatic cleaning device and the first obstacle are in a stable parallel state within the moving time tA, which can avoid subsequent actions from failing to achieve the expected results, and then the length of the second obstacle will be obtained.
[0080] As a refinement and extension of the above embodiment, an embodiment of the present invention provides another control method for an automatic cleaning device, as shown in FIG4 , the method includes:
[0081] Step 401 : While the automatic cleaning device is moving along a first obstacle, a second obstacle in front of the automatic cleaning device is detected by a detection device.
[0082] Step 402: If there is a second obstacle in front of the automatic cleaning device, obtain the length of the second obstacle.
[0083] Step 403 , determining whether the length of the second obstacle is less than or equal to a preset length threshold. If the length of the second obstacle is less than or equal to the preset length threshold, proceed to step 404 ; otherwise, proceed to step 405 .
[0084] Step 404: Control the body of the automatic cleaning device to move along the tangential path.
[0085] Step 405: Control the body of the automatic cleaning device to move along an arc path.
[0086] Step 401 and step 402 are the same as or similar to the above-mentioned step 201 and step 202, and are not described again here.
[0087] In this embodiment, after obtaining the length LB of the second obstacle, the controller selects a mode for the subsequent turning action according to the size relationship between the length LB of the second obstacle and a preset length threshold.
[0088] Specifically, if the length of the second obstacle, LB, is less than or equal to a preset length threshold, the second obstacle is considered short, likely a short board or pillar. Tangent mode is then selected as the turning action. This means that the second obstacle is short, and the inner corner area formed by the second obstacle and the first obstacle is small, allowing the automatic cleaning device to pass along its edge. This prevents interference between the automatic cleaning device and the obstacle. Furthermore, because the inner corner area is smaller, meaning the area to be cleaned is smaller, the automatic cleaning device's coverage of the inner corner area in tangent mode is minimal, while achieving faster cleaning.
[0089] If the length LB of the second obstacle is greater than the preset length threshold, turning in tangent mode may collide with the edge of the second obstacle, and a large area of uncleaned area will appear in the inner corner area of the turn. Therefore, it is necessary to select arc mode as the turning action to avoid interference between the automatic cleaning equipment and the obstacle, and to increase the cleaning coverage area.
[0090] In any of the above technical solutions, optionally, the method further includes: obtaining device size parameters of the automatic cleaning device, and determining a preset length threshold according to the device size parameters.
[0091] In this embodiment, if the length LB of the second obstacle is too short, the wall sensor of the automatic cleaning device may no longer be able to detect the second obstacle after the automatic cleaning device turns. The controller may use the length of the position where the wall sensor is just unable to detect the second obstacle after the automatic cleaning device turns as a preset length threshold, wherein the wall sensor is usually arranged on the side of the automatic cleaning device. If the automatic cleaning device adopts the right wall, the wall sensor is arranged on the right side of the body; if the automatic cleaning device adopts the left wall, the wall sensor is arranged on the left side of the body.
[0092] In one embodiment, the controller uses the total length of the automatic cleaning device as a preset length threshold. As shown in Figure 5, the device size parameters of the automatic cleaning device include the total length L1 of the automatic cleaning device, the rear profile length L2 of the body, the body radius R1, the cleaning element radius R2, the total width D1 of the automatic cleaning device, and the rear profile width D2 of the body. The rear profile length L2 is the difference between the total length L1 of the automatic cleaning device and the body radius R1, and the rear profile width D2 is half of the total width D1 of the automatic cleaning device.
[0093] Since different models of automatic cleaning equipment have different device sizes, determining the corresponding preset length threshold according to the device size of the current automatic cleaning equipment can make the judgment of the turning mode more accurate and further prevent the automatic cleaning equipment from colliding with obstacles.
[0094] In any of the above technical solutions, optionally, controlling the automatic cleaning device to move along a tangential path includes: obtaining device size parameters of the automatic cleaning device, a first distance between the automatic cleaning device and a first obstacle, and a first distance threshold; calculating a first rotation angle of the automatic cleaning device when the cleaning component does not interfere with the first obstacle based on the device size parameters, the first distance, and the first distance threshold; detecting a second distance between the automatic cleaning device and a second obstacle, and when the second distance is less than or equal to the first distance threshold, controlling the automatic cleaning device to turn according to the first rotation angle, and moving along the second obstacle along the tangential path after turning.
[0095] In this embodiment, when the length LB of the second obstacle is less than or equal to a preset length threshold, the controller obtains the device size parameters of the automatic cleaning device, a first distance dA between the automatic cleaning device and the first obstacle, and a first distance threshold dQ. The first distance threshold dQ is the minimum distance threshold for a tangential turn. The device size parameters include the body radius R1, the body rear profile length L2, and the body rear profile width D2. Based on the device size parameters, the first distance, and the first distance threshold, the controller calculates in real time the maximum rotation angle (i.e., the first rotation angle θ1) of the automatic cleaning device, assuming the cleaning component does not interfere with the first obstacle.
[0096] The detection device also acquires a second distance dB between the center O of the automatic cleaning device and a second obstacle ahead (as shown in FIG3 ) in real time. The controller continuously monitors the relationship between the second distance dB and the length LB of the second obstacle. When the second distance dB is less than or equal to the first distance threshold dQ, the controller controls the body to perform a turning maneuver, as shown in FIG6 . After rotating by a first rotation angle θ1, the automatic cleaning device moves radially along a tangent path toward the second obstacle. When the automatic cleaning device reaches the second obstacle, it cuts through the outer edge of the second obstacle.
[0097] Through the above-mentioned manner, it can be ensured that the automatic cleaning device will not interfere with the first obstacle when turning, and it can be ensured that the automatic cleaning device can smoothly pass through the second obstacle.
[0098] After passing the second obstacle, the wall sensor is used to reacquire new distance information and resume movement along the obstacle.
[0099] In any of the above technical solutions, optionally, the method also includes: obtaining a cleaning mode, and determining a first distance threshold according to the cleaning mode, and / or adjusting the first rotation angle according to the cleaning mode; wherein, different cleaning modes correspond to different obstacle protection levels and / or ground cleanliness levels; the higher the obstacle protection level, the larger the first distance threshold, and the smaller the first rotation angle; the higher the ground cleanliness, the smaller the first distance threshold, and the larger the first rotation angle.
[0100] In this embodiment, the user can set the cleaning mode. Different cleaning modes correspond to different obstacle protection levels and / or floor cleanliness levels. The obstacle protection level refers to the tolerance level to obstacle scratches, and the floor cleanliness level refers to the tolerance level to the cleaning coverage area.
[0101] The controller obtains the cleaning mode set by the user before cleaning, determines a first distance threshold based on the obstacle protection level and / or floor cleanliness level corresponding to the cleaning mode, and may also adjust the first rotation angle based on the obstacle protection level and / or floor cleanliness level corresponding to the cleaning mode. Specifically, if the user desires greater obstacle protection, the value of the first distance threshold dQ is increased, causing the automatic cleaning device to turn when it is farther away from the second obstacle, and the value of the first rotation angle θ1 is decreased, i.e., the turning angle with respect to the first obstacle is smaller, thereby ensuring that the automatic cleaning device retains a certain distance margin with respect to both the first and second obstacles when making a tangential turn.
[0102] If the user desires to reduce the missed scanning area, the value of the first distance threshold dQ is reduced and the first rotation angle θ1 is closer to the calculated theoretical value, so that the tangential turning movement is more extreme and closer to the first obstacle and the second obstacle.
[0103] It should be noted that the embodiments of the present disclosure do not specifically limit the manner in which a user sets a cleaning mode. For example, a user may set a cleaning mode through an app installed on their terminal, which then sends the set cleaning mode information to the automatic cleaning device, and the user may set the cleaning mode by clicking or inputting a voice command in the app; alternatively, the user may select or input a cleaning mode in the user interface of the automatic cleaning device; or alternatively, the automatic cleaning device may have a voice recognition function that directly analyzes the user's voice to determine the cleaning mode.
[0104] Through the above-mentioned manner, the distance between the automatic cleaning device and the first obstacle and the second obstacle when performing the tangential turning motion is determined according to the needs of the user, so as to meet the cleaning needs of the user.
[0105] In any of the above technical solutions, optionally, controlling the automatic cleaning device to move along an arc path includes: obtaining device size parameters of the automatic cleaning device, a first distance between the automatic cleaning device and a first obstacle, a second distance threshold, and a third distance threshold, wherein the third distance threshold is less than the second distance threshold; detecting the second distance between the automatic cleaning device and the second obstacle, and when the second distance is less than or equal to the second distance threshold, controlling the automatic cleaning device to move along the first obstacle and the second obstacle respectively along the arc path, and in the process of the automatic cleaning device moving along the arc path, adjusting the second rotation angle between the automatic cleaning device and the first obstacle, the third rotation angle between the automatic cleaning device and the second obstacle, and the moving speed of the automatic cleaning device, so that the cleaning component does not interfere with the first obstacle and the third rotation angle is less than or equal to the preset angle threshold when the second distance is less than or equal to the third distance threshold.
[0106] In this embodiment, when the length LB of the second obstacle is greater than a preset length threshold, the controller uses the data information collected when obtaining the length LB of the second obstacle to fit the linear coordinates of the second obstacle in the coordinate system of the automatic cleaning device, and combines the position coordinates and heading information of the automatic cleaning device in the navigation coordinate system at the current moment to obtain the second rotation angle θ2 of the moving direction of the automatic cleaning device relative to the first obstacle, and the third rotation angle θ3 of the moving direction of the automatic cleaning device relative to the second obstacle.
[0107] As shown in FIG7 , the controller obtains a first distance dA between the automatic cleaning device and the first obstacle, and a second distance dB between the automatic cleaning device and the second obstacle in front. When the second distance dB is less than or equal to the minimum distance threshold for arc turning, that is, the second distance threshold dH1, the controller controls the automatic cleaning device to turn from a straight line along the first obstacle to an arc. During the arc forward process, the controller dynamically adjusts the turning speed and moving speed of the automatic cleaning device by real-time detecting the changes in the first distance dA, the second distance dB, and the third rotation angle θ3, so as to achieve the following two purposes:
[0108] (1) The first distance dA is always greater than the maximum width of the rear profile of the automatic cleaning device after conversion with the second rotation angle θ2, ensuring that the cleaning component does not interfere with the first obstacle;
[0109] (2) The second distance dB and the third rotation angle θ3 continue to decrease, and when the second distance dB is less than or equal to the third distance threshold, the third rotation angle θ3 just decreases to a preset angle threshold (eg, 0°).
[0110] By achieving the above two goals at the same time, it is possible to ensure that the automatic cleaning device can significantly improve the cleaning coverage area during the entire arc turning stage compared to the tangential turning action, and ensure that when the automatic cleaning device reaches the vicinity of the second obstacle, the front and sides of the automatic cleaning device will not collide with the obstacle and can enter a new parallel movement action relative to the second obstacle.
[0111] In one embodiment of the present disclosure, the method further includes: obtaining a cleaning mode, and determining a third distance threshold based on the cleaning mode; wherein different cleaning modes correspond to different obstacle protection levels and / or ground cleanliness levels; the higher the obstacle protection level, the larger the third distance threshold; the higher the ground cleanliness, the smaller the third distance threshold.
[0112] In this embodiment, a corresponding third distance threshold is selected based on the cleaning mode set by the user. Different cleaning modes correspond to different obstacle protection levels and / or floor cleanliness levels. The obstacle protection level refers to the tolerance for scratches from obstacles, and the floor cleanliness level refers to the tolerance for cleaning coverage.
[0113] The controller obtains the cleaning mode set by the user before cleaning and determines the third distance threshold based on the obstacle protection level and / or floor cleanliness level corresponding to the cleaning mode. Specifically, if the user prefers obstacle protection, the value of the third distance threshold is increased to ensure that the automatic cleaning device maintains a certain distance margin from the second obstacle when making an arc turn.
[0114] If the user desires to reduce the missed scanning area, the value of the third distance threshold is reduced to make the arc turning movement more extreme and closer to the second obstacle.
[0115] It should be noted that the embodiments of the present disclosure do not specifically limit the manner in which a user sets a cleaning mode. For example, a user may set a cleaning mode through an app installed on their terminal, which then sends the set cleaning mode information to the automatic cleaning device, and the user may set the cleaning mode by clicking or inputting a voice command in the app; alternatively, the user may select or input a cleaning mode in the user interface of the automatic cleaning device; or alternatively, the automatic cleaning device may have a voice recognition function that directly analyzes the user's voice to determine the cleaning mode.
[0116] Through the above-mentioned manner, the distance between the automatic cleaning device and the second obstacle when performing arc turning motion is determined according to the needs of the user, so as to meet the cleaning needs of the user.
[0117] In one embodiment of the present disclosure, the method further includes: if the sensor cannot accurately measure the length of the second obstacle due to a sensor failure or the material or shape of the second obstacle is unusual, and the sensor can only vaguely sense the distance to the second obstacle, in this case, selecting the tangent mode as the turning action.
[0118] As shown in Figure 8, when the length LB of the second obstacle cannot be sensed, the controller dynamically selects the corresponding trigger distance threshold dQ' through the cleaning mode set by the user, and uses the pre-set tangent angle θ4 to achieve tangential turning. This solution will cause the automatic cleaning device to travel tangentially when it reaches the second obstacle. If the actual length of the second obstacle is greater than dA+dQ'×tan(θ4), where dA is the first distance between the automatic cleaning device and the first obstacle, the front of the automatic cleaning device will interfere with the second obstacle. At this time, additional sensors such as collision sensors, visual sensors, or line laser sensors are required to sense the second distance between the device and the second obstacle when approaching, so as to control the automatic cleaning device to turn in place in time at an appropriate distance to an angle parallel to the second obstacle and resume movement along the obstacle.
[0119] As a specific implementation of the aforementioned control method for an automatic cleaning device, an embodiment of the present disclosure provides a control device for an automatic cleaning device. The automatic cleaning device includes a body and a cleaning assembly disposed at the rear of the body, with at least a portion of the cleaning assembly protruding from an edge of the body. As shown in FIG9 , the control device 900 for the automatic cleaning device includes a detection module 901 and a control module 902.
[0120] The detection module 901 is configured to detect a second obstacle in front of the automatic cleaning device while the automatic cleaning device is moving along the first obstacle, and obtain the length of the second obstacle if the second obstacle exists in front of the automatic cleaning device;
[0121] The control module 902 is used to control the moving path of the automatic cleaning device according to the length of the second obstacle.
[0122] In this embodiment, before turning, the automatic cleaning device detects obstacle information at the required turning point. It then determines a dynamic turning path based on this obstacle information and completes the turning motion according to the turning path. Specifically, the automatic cleaning device moves along a first obstacle, detecting in real time whether there is an obstacle ahead. If a second obstacle is detected ahead of the automatic cleaning device, the length of the second obstacle is further detected. Furthermore, based on the acquired length of the second obstacle, a different movement path is adopted to enable the automatic cleaning device to shift from approaching the first obstacle to approaching the second obstacle.
[0123] The disclosed embodiment can effectively reduce the interference between the cleaning component behind the automatic cleaning device and the first obstacle and the second obstacle when the automatic cleaning device turns, while ensuring that a larger cleaning area is covered.
[0124] Furthermore, the control module 902 is specifically used to: if the length of the second obstacle is less than or equal to the preset length threshold, control the automatic cleaning device to move along a tangent path; if the length of the second obstacle is greater than the preset length threshold, control the automatic cleaning device to move along an arc path.
[0125] Furthermore, the control module 902 is further configured to obtain device size parameters of the automatic cleaning device and determine a preset length threshold according to the device size parameters.
[0126] Furthermore, the device also includes: a first acquisition module, used to obtain the device size parameters of the automatic cleaning device, the first distance between the automatic cleaning device and the first obstacle, and the first distance threshold; a calculation module, used to calculate the first rotation angle of the automatic cleaning device when the cleaning component does not interfere with the first obstacle based on the device size parameters, the first distance and the first distance threshold; a detection module 901, also used to detect the second distance between the automatic cleaning device and the second obstacle; a control module 902, specifically used to control the automatic cleaning device to turn according to the first rotation angle when the second distance is less than or equal to the first distance threshold, and to move along the second obstacle according to the tangential path after turning.
[0127] Furthermore, the device size parameters include fuselage radius, fuselage rear profile length, and fuselage rear profile width.
[0128] Furthermore, the control module 902 is also used to obtain a cleaning mode, and determine a first distance threshold according to the cleaning mode, and / or adjust the first rotation angle according to the cleaning mode; wherein, different cleaning modes correspond to different obstacle protection levels and / or ground cleanliness levels; the higher the obstacle protection level, the larger the first distance threshold, and the smaller the first rotation angle; the higher the ground cleanliness, the smaller the first distance threshold, and the larger the first rotation angle.
[0129] Furthermore, the device also includes: a second acquisition module, used to obtain the device size parameters of the automatic cleaning device, the first distance between the automatic cleaning device and the first obstacle, the second distance threshold and the third distance threshold, wherein the third distance threshold is less than the second distance threshold; a detection module 901, also used to detect the second distance between the automatic cleaning device and the second obstacle; a control module 902, specifically used to control the automatic cleaning device to move along the first obstacle and the second obstacle respectively according to an arc path when the second distance is less than or equal to the second distance threshold, and in the process of the automatic cleaning device moving along the arc path, adjust the second rotation angle between the automatic cleaning device and the first obstacle, the third rotation angle between the automatic cleaning device and the second obstacle and the moving speed of the automatic cleaning device, so that the cleaning component does not interfere with the first obstacle and the third rotation angle is less than or equal to the preset angle threshold when the second distance is less than or equal to the third distance threshold.
[0130] Furthermore, the control module 902 is also used to obtain the cleaning mode and determine the third distance threshold based on the cleaning mode; wherein, different cleaning modes correspond to different obstacle protection levels and / or ground cleanliness levels; the higher the obstacle protection level, the larger the third distance threshold; the higher the ground cleanliness, the smaller the third distance threshold.
[0131] Furthermore, the detection module 901 is specifically used to: obtain the movement time of the automatic cleaning device along the first obstacle, and the first distance between the automatic cleaning device and the first obstacle during the movement time; if the movement time is greater than or equal to the preset time threshold, and the first distance within the movement time is within the preset distance range, then obtain the length of the second obstacle.
[0132] The control device 900 for the automatic cleaning device provided in the embodiment of the present disclosure can implement the various processes implemented in the control method embodiments of the automatic cleaning device in Figures 2 and 4. To avoid repetition, they are not described here.
[0133] The present disclosure also provides an automatic cleaning device, as shown in FIG1 , which includes:
[0134] Airframe 101;
[0135] A cleaning assembly 1031 is disposed at the rear of the body 101 , with at least a portion of the cleaning assembly 1031 protruding from an edge of the body 101 ;
[0136] A memory (not shown in the figure), provided in the body 101, storing programs or instructions;
[0137] The controller (not shown in the figure) is arranged in the body 101. When the controller executes the program or instruction, it implements the various steps of the control method embodiment of the above-mentioned automatic cleaning equipment and can achieve the same technical effect. To avoid repetition, it will not be repeated here.
[0138] Among them, the memory can be used to store software programs and various data. The memory may mainly include a first storage area for storing programs or instructions and a second storage area for storing data, wherein the first storage area may store an operating system, an application program or instruction required for at least one function (such as a sound playback function, an image playback function, etc.), etc. In addition, the memory may include a volatile memory or a non-volatile memory, or the memory may include both volatile and non-volatile memories. Among them, the non-volatile memory may be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. The volatile memory may be random access memory (RAM), static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDRSDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM), and direct RAM bus random access memory (DRRAM). The memory in the embodiments of the present disclosure includes, but is not limited to, these and any other suitable types of memory.
[0139] The controller may include one or more processing units; optionally, the controller may integrate an application controller and a modem controller. The application controller primarily handles operations related to the operating system, user interface, and application programs, while the modem controller primarily processes wireless communication signals, such as a baseband controller. It is understood that the modem controller may not be integrated into the controller.
[0140] Furthermore, the cleaning assembly 1031 includes at least one cleaning element rotatable relative to the body, and at least a portion of the cleaning element protrudes from an edge of the body.
[0141] Furthermore, the cleaning elements include two, and the two cleaning elements are arranged on the left and right sides along the forward direction of the fuselage.
[0142] The embodiment of the present disclosure also provides a readable storage medium, on which a program or instruction is stored. When the program or instruction is executed by the controller, the various processes of the control method embodiment of the above-mentioned automatic cleaning equipment are implemented, and the same technical effect can be achieved. To avoid repetition, it will not be repeated here.
[0143] The embodiment of the present disclosure also provides a chip, which includes a controller and a communication interface. The communication interface and the controller are coupled. The controller is used to run programs or instructions to implement the various processes of the control method embodiment of the above-mentioned automatic cleaning equipment, and can achieve the same technical effect. To avoid repetition, it will not be repeated here.
[0144] It should be understood that the chip mentioned in the embodiments of the present disclosure can also be called a system-level chip, a system chip, a chip system, or a system-on-chip chip, etc.
[0145] The embodiment of the present disclosure also provides a computer program product, which is stored in a storage medium. The program product is executed by at least one controller to implement the various processes of the control method embodiment of the automatic cleaning equipment as described above, and can achieve the same technical effect. To avoid repetition, it will not be repeated here.
[0146] It should be noted that, in this article, the terms "comprise", "include" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a..." does not exclude the presence of other identical elements in the process, method, article or device comprising the element. In addition, it should be pointed out that the scope of the methods and devices in the embodiments of the present disclosure is not limited to performing functions in the order shown or discussed, and may also include performing functions in a substantially simultaneous manner or in the opposite order according to the functions involved. For example, the described method may be performed in an order different from that described, and various steps may also be added, omitted, or combined. In addition, the features described with reference to certain examples may be combined in other examples.
[0147] The embodiments of the present disclosure are described above in conjunction with the accompanying drawings, but the present disclosure is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of the present disclosure, ordinary technicians in this field can also make many forms without departing from the scope of protection of the purpose of the present disclosure and the claims, all of which are protected by the present disclosure.
Claims
1. A control method for an automatic cleaning device, characterized in that: The automatic cleaning device comprises a body and a cleaning component disposed at the rear of the body, wherein at least a portion of the cleaning component protrudes from an edge of the body; the method comprises: During the process of the automatic cleaning device moving along the first obstacle, detecting a second obstacle in front of the automatic cleaning device; If the second obstacle exists in front of the automatic cleaning device, obtaining the length of the second obstacle; The moving path of the automatic cleaning device is controlled according to the length of the second obstacle.
2. The method according to claim 1, characterized in that The step of controlling the moving path of the automatic cleaning device according to the length of the second obstacle comprises: If the length of the second obstacle is less than or equal to a preset length threshold, controlling the automatic cleaning device to move along a tangent path; If the length of the second obstacle is greater than the preset length threshold, the automatic cleaning device is controlled to move along an arc path.
3. The method according to claim 2, characterized in that Also includes: The device size parameters of the automatic cleaning device are obtained, and the preset length threshold is determined according to the device size parameters.
4. The method according to claim 2, characterized in that: The controlling the automatic cleaning device to move along a tangent path comprises: Acquire device size parameters of the automatic cleaning device, a first distance between the automatic cleaning device and the first obstacle, and a first distance threshold; Calculating, according to the device size parameter, the first distance, and the first distance threshold, a first rotation angle of the automatic cleaning device when the cleaning component does not interfere with the first obstacle; Detect a second distance between the automatic cleaning device and the second obstacle, and when the second distance is less than or equal to the first distance threshold, control the automatic cleaning device to turn according to the first rotation angle, and move along the second obstacle along a tangent path after turning.
5. The method according to claim 4, characterized in that The equipment size parameters include fuselage radius, fuselage rear profile length, and fuselage rear profile width.
6. The method according to claim 4, characterized in that Also includes: Acquire a cleaning mode, and determine the first distance threshold according to the cleaning mode, and / or adjust the first rotation angle according to the cleaning mode; Among them, different cleaning modes correspond to different obstacle protection levels and / or floor cleanliness levels; The higher the obstacle protection level is, the larger the first distance threshold is, and the smaller the first rotation angle is; the higher the ground cleanliness is, the smaller the first distance threshold is, and the larger the first rotation angle is.
7. The method according to claim 2, characterized in that The controlling the automatic cleaning device to move along an arc path comprises: Acquire a device size parameter of the automatic cleaning device, a first distance between the automatic cleaning device and the first obstacle, a second distance threshold, and a third distance threshold, wherein the third distance threshold is less than the second distance threshold; Detect the second distance between the automatic cleaning device and the second obstacle, and when the second distance is less than or equal to the second distance threshold, control the automatic cleaning device to move along the first obstacle and the second obstacle respectively along an arc path, and in the process of the automatic cleaning device moving along the arc path, adjust the second rotation angle between the automatic cleaning device and the first obstacle, the third rotation angle between the automatic cleaning device and the second obstacle, and the moving speed of the automatic cleaning device, so that the cleaning component does not interfere with the first obstacle and the third rotation angle is less than or equal to a preset angle threshold when the second distance is less than or equal to the third distance threshold.
8. The method according to claim 7, characterized in that Also includes: Acquire a cleaning mode, and determine the third distance threshold according to the cleaning mode; Among them, different cleaning modes correspond to different obstacle protection levels and / or floor cleanliness levels; The higher the obstacle protection level is, the larger the third distance threshold is; the higher the ground cleanliness is, the smaller the third distance threshold is.
9. The method according to any one of claims 1 to 8, characterized in that The obtaining the length of the second obstacle includes: Acquire a movement duration of the automatic cleaning device along the first obstacle, and acquire a first distance between the automatic cleaning device and the first obstacle during the movement duration; If the moving duration is greater than or equal to a preset duration threshold, and the first distances within the moving duration are all within a preset distance range, the length of the second obstacle is obtained.
10. A control device for an automatic cleaning device, characterized in that: The automatic cleaning device comprises a body and a cleaning assembly arranged at the rear of the body, wherein at least a portion of the cleaning assembly protrudes from an edge of the body; the device comprises: a detection module, configured to detect a second obstacle in front of the automatic cleaning device when the automatic cleaning device moves along the first obstacle, and obtain the length of the second obstacle if the second obstacle exists in front of the automatic cleaning device; A control module is used to control the moving path of the automatic cleaning device according to the length of the second obstacle.
11. The device according to claim 10, characterized in that The control module is specifically used for: If the length of the second obstacle is less than or equal to a preset length threshold, controlling the automatic cleaning device to move along a tangent path; If the length of the second obstacle is greater than the preset length threshold, the automatic cleaning device is controlled to move along an arc path.
12. The device according to claim 11, characterized in that The control module is further used to obtain device size parameters of the automatic cleaning device and determine the preset length threshold according to the device size parameters.
13. The device according to claim 11, characterized in that Also includes: A first acquisition module, configured to acquire a device size parameter of the automatic cleaning device, a first distance between the automatic cleaning device and the first obstacle, and a first distance threshold; a calculation module, configured to calculate, based on the device size parameter, the first distance, and the first distance threshold, a first rotation angle of the automatic cleaning device when the cleaning component does not interfere with the first obstacle; The detection module is further used to detect a second distance between the automatic cleaning device and the second obstacle; The control module is specifically configured to control the automatic cleaning device to turn according to the first rotation angle when the second distance is less than or equal to the first distance threshold, and to move along the second obstacle along a tangent path after turning.
14. The device according to claim 13, characterized in that The equipment size parameters include fuselage radius, fuselage rear profile length, and fuselage rear profile width.
15. The device according to claim 13, characterized in that The control module is further used to obtain a cleaning mode, and determine the first distance threshold according to the cleaning mode, and / or adjust the first rotation angle according to the cleaning mode; Among them, different cleaning modes correspond to different obstacle protection levels and / or ground cleanliness levels; the higher the obstacle protection level, the larger the first distance threshold, and the smaller the first rotation angle; the higher the ground cleanliness level, the smaller the first distance threshold, and the larger the first rotation angle.
16. The device according to claim 11, characterized in that Also includes: A second acquisition module is used to acquire a device size parameter of the automatic cleaning device, a first distance between the automatic cleaning device and the first obstacle, a second distance threshold, and a third distance threshold, wherein the third distance threshold is smaller than the second distance threshold; The detection module is further used to detect a second distance between the automatic cleaning device and the second obstacle; The control module is specifically used to control the automatic cleaning device to move along the first obstacle and the second obstacle respectively along an arc path when the second distance is less than or equal to the second distance threshold, and to adjust the second rotation angle between the automatic cleaning device and the first obstacle, the third rotation angle between the automatic cleaning device and the second obstacle, and the moving speed of the automatic cleaning device during the process of the automatic cleaning device moving along the arc path, so that the cleaning component does not interfere with the first obstacle and the third rotation angle is less than or equal to a preset angle threshold when the second distance is less than or equal to the third distance threshold.
17. The device according to claim 16, characterized in that The control module is further used to obtain a cleaning mode and determine the third distance threshold according to the cleaning mode; Among them, different cleaning modes correspond to different obstacle protection levels and / or ground cleanliness levels; the higher the obstacle protection level, the larger the third distance threshold; the higher the ground cleanliness level, the smaller the third distance threshold.
18. The device according to any one of claims 10 to 17, characterized in that The detection module is specifically used for: Acquire a movement duration of the automatic cleaning device along the first obstacle, and acquire a first distance between the automatic cleaning device and the first obstacle during the movement duration; If the moving duration is greater than or equal to a preset duration threshold, and the first distances within the moving duration are all within a preset distance range, the length of the second obstacle is obtained.
19. An automatic cleaning device, characterized in that: include: body; A cleaning assembly is disposed at the rear of the fuselage, and at least a portion of the cleaning assembly protrudes from an edge of the fuselage; A memory, disposed in the body, wherein the memory stores programs or instructions; A controller is arranged on the body, and when the controller executes the program or instruction, the steps of the control method of the automatic cleaning device as described in any one of claims 1 to 9 are implemented.
20. The device according to claim 19, characterized in that The cleaning assembly includes at least one cleaning element rotatable relative to the body, and at least a portion of the cleaning element protrudes from an edge of the body.
21. The device according to claim 20, characterized in that The cleaning elements include two cleaning elements, which are arranged on the left and right sides along the advancing direction of the fuselage.
22. A readable storage medium having a program or instruction stored thereon, characterized in that: When the program or instruction is executed by the controller, the steps of the control method of the automatic cleaning device according to any one of claims 1 to 9 are implemented.