Cleaning device control method and apparatus, storage medium, and cleaning device

Abstract

A cleaning device control method and apparatus, a storage medium, and a cleaning device. The cleaning device comprises a telescopic cleaning member. The control method comprises: if a cleaning device detects an obstacle corner in the current advancing direction, acquiring geometric data of the obstacle corner; on the basis of the geometric data, determining an action strategy suitable for cleaning the obstacle corner, wherein the action strategy comprises an extension and retraction strategy of a cleaning member and / or a rotating strategy of a cleaning device body; and on the basis of the action strategy, controlling the cleaning device to execute a cleaning action so as to clean the area where the obstacle corner is located.

Description

Cleaning equipment control method, device, storage medium and cleaning equipment

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to Chinese patent application No. 202311085406.X filed on August 25, 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 cleaning equipment, and in particular to a cleaning equipment control method, device, storage medium, and cleaning equipment. Background Art

[0004] In the prior art, to improve the cleaning coverage of corners, cleaning equipment is often equipped with a telescopic structure on the cleaning member, allowing the cleaning member to extend beyond the cleaning device body, thereby cleaning a wider area of ​​corners. However, due to the complex cleaning environment, simply configuring the cleaning member with a telescopic structure is not sufficient. If the telescopic cleaning member is not controlled to match the movement of obstacles in scenes with angles, the extended cleaning member may scrape against obstacles such as walls, causing damage to the cleaning member.

[0005] Summary of the Invention

[0006] The embodiments of the present disclosure provide a cleaning equipment control method, device, storage medium and cleaning equipment. The technical solution provided by the present disclosure can avoid scratches between the cleaning equipment and obstacles.

[0007] Other features and advantages of the present disclosure will become apparent from the following detailed description, or may be learned in part by practice of the present disclosure.

[0008] According to a first aspect of an embodiment of the present disclosure, a method for controlling a cleaning device is provided, wherein the cleaning device includes a retractable cleaning member, and the method includes: if the cleaning device detects an obstacle angle in the current direction of travel, obtaining geometric data of the obstacle angle; based on the geometric data, determining an action strategy suitable for cleaning the obstacle angle, the action strategy including a retractable strategy of the cleaning member and / or a rotation strategy of the cleaning device body; based on the action strategy, controlling the cleaning device to perform a cleaning action to clean the area where the obstacle angle is located.

[0009] In some embodiments of the present disclosure, determining an action strategy suitable for cleaning the obstacle angle based on the geometric data includes: determining the angle of the obstacle angle based on the geometric data; and determining an action strategy that matches the angle to be suitable for cleaning the obstacle angle.

[0010] In some embodiments of the present disclosure, if the included angle is greater than the first set angle and less than the second set angle, or the included angle is equal to the second set angle, controlling the cleaning device to perform a cleaning action includes: in the first cleaning stage, controlling the cleaning member to retract a first amplitude, and controlling the cleaning device body to rotate a first angle; in the second cleaning stage, controlling the cleaning member to extend a second amplitude, and controlling the cleaning device body to rotate a second angle.

[0011] In some embodiments of the present disclosure, the first angle, the second angle, and the included angle satisfy:

[0012] X=180°-x1-x2

[0013] Among them, X represents the angle; x1 represents the first angle; x2 represents the second angle.

[0014] In some embodiments of the present disclosure, the obstacle angle is composed of a first angle side and a second angle side, and the first angle side is parallel to the current direction of travel; controlling the cleaning member to shrink by a first amplitude, and controlling the cleaning device body to rotate by a first angle, includes: controlling the cleaning member to shrink by a first amplitude; after the cleaning member shrinks by the first amplitude, controlling the cleaning device body to rotate by a first angle, so that the cleaning member and the cleaning device body are simultaneously in a tangent state with the first angle side.

[0015] In some embodiments of the present disclosure, the obstacle angle is composed of a first angle side and a second angle side, and the first angle side is parallel to the current direction of travel; controlling the cleaning member to shrink by a first amplitude and controlling the cleaning device body to rotate by a first angle includes: controlling the cleaning member to shrink by a first amplitude and simultaneously controlling the cleaning device body to rotate by a first angle, wherein the shrinkage speed of the cleaning member and the rotational angular velocity of the cleaning device body satisfy: the cleaning member and the cleaning device body are simultaneously in a tangent state with the first angle side.

[0016] In some embodiments of the present disclosure, the extension time of the cleaning member in the second cleaning stage and the rotational angular velocity of the cleaning device body in the second cleaning stage satisfy:

[0017] x2=w×t

[0018] Wherein, x2 represents the second angle; w represents the rotational angular velocity of the cleaning device body in the second cleaning stage; and t represents the extension time of the cleaning member in the second cleaning stage.

[0019] In some embodiments of the present disclosure, the obstacle angle is composed of a first angle side and a second angle side, and the first angle side is parallel to the current direction of travel; the extension speed of the cleaning member in the second cleaning stage and the rotation angular velocity of the cleaning device body in the second cleaning stage satisfy: before the cleaning member is extended by the second amplitude, the cleaning member and the cleaning device body are simultaneously in a tangent state with the first angle side; when the cleaning device body rotates by the second angle, the cleaning member and the cleaning device body are simultaneously in a tangent state with the second angle side.

[0020] In some embodiments of the present disclosure, the obstacle angle is composed of a first angle side and a second angle side, the first angle side is parallel to the current travel direction, and the action strategy also includes the travel strategy of the cleaning device body; if the angle is greater than the second set angle and less than 180°, the cleaning device is controlled to perform a cleaning action, including: in the third cleaning stage, controlling the cleaning member to shrink a third amplitude, and controlling the cleaning device body to rotate a third angle, so that the direction of the cleaning device is parallel to the second angle side; in the fourth cleaning stage, controlling the cleaning member to extend a fourth amplitude, and controlling the cleaning device body to travel along the direction of the second angle side.

[0021] In some embodiments of the present disclosure, the obstacle angle is composed of a first angle side and a second angle side, the first angle side is parallel to the current traveling direction, and the action strategy also includes the traveling strategy of the cleaning device body; if the angle is greater than 180°, the cleaning device is controlled to perform a cleaning action, including: in the fifth cleaning stage, the cleaning device body is controlled to travel a preset distance in the current traveling direction; in the sixth cleaning stage, the cleaning device body is controlled to rotate a fourth angle so that the cleaning device travels in the direction of the second angle side.

[0022] In some embodiments of the present disclosure, the preset distance traveled by the cleaning device body in the fifth cleaning stage satisfies: the tail of the cleaning device body is tangent to the extension line of the second angled side.

[0023] In some embodiments of the present disclosure, the fourth angle and the included angle satisfy:

[0024] x=180°-X

[0025] Wherein, x represents the fourth angle; X represents the included angle.

[0026] According to a second aspect of an embodiment of the present disclosure, a cleaning equipment control device is provided, wherein the cleaning equipment includes a retractable cleaning member, and the device includes: an acquisition unit for acquiring geometric data of the obstacle angle if the cleaning equipment detects the obstacle angle in the current direction of travel; a determination unit for determining an action strategy suitable for cleaning the obstacle angle based on the geometric data, the action strategy including a retraction strategy of the cleaning member and / or a rotation strategy of the cleaning equipment body; and a control unit for controlling the cleaning equipment to perform a cleaning action based on the action strategy to clean the area where the obstacle angle is located.

[0027] According to a third aspect of an embodiment of the present disclosure, a computer-readable storage medium is provided, in which at least one program code is stored. The at least one program code is loaded and executed by a processor to implement the operations performed by the method described in any one of the first aspects above.

[0028] According to a fourth aspect of an embodiment of the present disclosure, a cleaning device is provided, comprising one or more processors and one or more memories, wherein at least one program code is stored in the one or more memories, and the at least one program code is loaded and executed by the one or more processors to implement the operations performed by the method described in any one of the first aspects above.

[0029] The technical solution disclosed in the present invention is that if a cleaning device including a retractable cleaning member detects an obstacle angle in the current direction of travel, the geometric data of the obstacle angle is obtained; then, based on the geometric data, an action strategy suitable for cleaning the obstacle angle is determined, and the action strategy includes a retractable strategy of the cleaning member and / or a rotation strategy of the cleaning device body; finally, based on the action strategy, the cleaning device is controlled to perform a cleaning action to clean the area where the obstacle angle is located. It can be seen that based on the technical solution disclosed in the present invention, if the cleaning device detects an obstacle angle during its movement, an action strategy that matches the obstacle angle will be automatically determined for the cleaning device, so that when the cleaning device passes through the area where the obstacle angle is located, its retractable cleaning member can perform a corresponding matching action according to the specific geometric structure of the obstacle angle, thereby not only avoiding scratches between the cleaning member, the cleaning device body, etc. of the cleaning device and the obstacle angle, but also achieving a higher coverage rate of cleaning in the area where the obstacle angle is located, and improving the user experience.

[0030] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] The accompanying drawings are incorporated into and constitute a part of the specification, illustrate embodiments consistent with the present disclosure, and together with the specification, are used to explain the principles of the present disclosure. Obviously, the drawings described below are only some embodiments of the present disclosure, and those skilled in the art can derive other drawings based on these drawings without inventive effort. In the drawings:

[0032] FIG1 is a schematic flow chart of a cleaning equipment control method according to an embodiment of the present disclosure;

[0033] FIG2 shows a schematic structural diagram of a cleaning device according to an embodiment of the present disclosure;

[0034] FIG3 shows a schematic diagram of a scenario for determining the second set angle according to an embodiment of the present disclosure;

[0035] FIG4 is a schematic diagram showing a scene of the cleaning device in the first cleaning stage according to an embodiment of the present disclosure;

[0036] FIG5 is a schematic diagram showing a scene of the cleaning device in the first cleaning stage according to an embodiment of the present disclosure;

[0037] FIG6 is a schematic diagram showing a scene of the cleaning device in the second cleaning stage according to an embodiment of the present disclosure;

[0038] FIG7 is a schematic diagram showing a scene of the cleaning device in the second cleaning stage according to an embodiment of the present disclosure;

[0039] FIG8 is a schematic diagram showing scenes of the cleaning device in the third cleaning stage and the fourth cleaning stage according to one embodiment of the present disclosure;

[0040] FIG9 is a schematic diagram showing scenes of the cleaning device in the fifth cleaning stage and the sixth cleaning stage according to one embodiment of the present disclosure;

[0041] FIG10 shows a block diagram of a cleaning equipment control device according to an embodiment of the present disclosure;

[0042] FIG11 shows a schematic structural diagram of a cleaning device according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0043] Example embodiments will now be described more fully with reference to the accompanying drawings. However, example embodiments can be implemented in many forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete and will fully convey the concepts of the example embodiments to those skilled in the art.

[0044] In addition, the described features, structures or characteristics may be combined in any suitable manner in one or more embodiments. In the following description, many specific details are provided to provide a full understanding of the embodiments of the present disclosure. However, those skilled in the art will appreciate that the technical solutions of the present disclosure can be practiced without one or more of the specific details, or other methods, components, devices, steps, etc. can be adopted. In other cases, well-known methods, devices, implementations or operations are not shown or described in detail to avoid blurring various aspects of the present disclosure.

[0045] The block diagrams shown in the accompanying drawings are merely functional entities and do not necessarily correspond to physically separate entities. That is, these functional entities may be implemented in software, in one or more hardware modules or integrated circuits, or in different networks and / or processor devices and / or microcontroller devices.

[0046] The flowcharts shown in the accompanying drawings are for illustrative purposes only and do not necessarily include all contents and operations / steps, nor must they be executed in the order described. For example, some operations / steps may be decomposed, while others may be combined or partially combined. Therefore, the actual execution order may vary depending on the actual situation.

[0047] It should be noted that the term "plurality" used in this document refers to two or more. "And / or" describes a relationship between associated objects, indicating that three possible relationships exist. For example, "A and / or B" can represent: A alone, A and B together, or B alone. The character " / " generally indicates an "or" relationship between the associated objects.

[0048] It should be noted that the terms "first," "second," and the like in the description and claims of the present disclosure and the accompanying drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or precedence. It should be understood that the terms used in this manner are interchangeable where appropriate, such that the embodiments of the present disclosure described herein can be practiced in an order other than that illustrated or described.

[0049] To make the objectives, technical solutions, and advantages of the present disclosure more clear, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present disclosure, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present disclosure without making any creative efforts shall fall within the scope of protection of the present disclosure.

[0050] It should be noted that the cleaning devices mentioned in this disclosure may be smart devices with cleaning functions, including but not limited to sweepers, mops, etc. The technical solutions disclosed in this disclosure can be implemented in the process of cleaning the whole house, partial cleaning, edge cleaning, mopping, etc.

[0051] It should also be noted that the cleaning equipment mentioned in the present disclosure includes a retractable cleaning member, which may be a mop, a side brush, etc., and the present disclosure does not limit the specifics here.

[0052] It should also be noted that the telescopic trajectory of the retractable cleaning member in the cleaning device can be a straight trajectory, an arc trajectory, or other types of telescopic trajectories. It is understandable that the retractable cleaning member of the cleaning device can be extended to a certain extent along the telescopic trajectory, or retracted to a certain extent. Among them, the types of telescopic trajectories of the cleaning device are different, and the corresponding scalars used to represent the extension amplitude or the contraction amplitude are different. For example, if the telescopic trajectory of the retractable cleaning member of the cleaning device is a straight trajectory, then the extension length can be used to represent the extension amplitude of the cleaning member, and the contraction length can be used to represent the contraction amplitude of the cleaning member; if the retractable cleaning member of the cleaning device is an arc trajectory, the extension angle can be used to represent the extension amplitude of the cleaning member, and the contraction angle can be used to represent the contraction amplitude of the cleaning member. Specifically, the present disclosure does not limit how the cleaning member in the cleaning device performs the telescopic function.

[0053] In order to enable those skilled in the art to better understand the technical solution of the present disclosure, the structure of the cleaning device in the present disclosure will be described in detail below with reference to FIG. 2 .

[0054] 2 , which shows a schematic structural diagram of a cleaning device according to an embodiment of the present disclosure.

[0055] The scene corresponding to (1) in Figure 2 is: the gray area is two groups of cleaning parts configured for the cleaning equipment, and the two groups of cleaning parts can be mops. The two groups of cleaning parts can be one group with a retractable function and one group without a retractable function, or both groups can have a retractable function. It is understandable that if the two groups of cleaning parts are both retractable, the cleaning equipment can extend a matching group of cleaning parts according to the specific orientation of the wall to achieve precise cleaning of the wall, or it can extend the two groups of cleaning parts at the same time to clean more areas. Specifically, the present disclosure does not make specific requirements on the number of cleaning parts, the setting position, etc.

[0056] The scenario corresponding to (2) in Figure 2 is a scenario where the cleaning member of the cleaning device extends along a straight line. It is understood that during the extension of the cleaning member of the cleaning device, the specific parameters such as the extension time, extension speed, and extension range are adjustable. Therefore, in certain scenarios, the parameters such as the extension time, extension speed, and extension range of the cleaning member can be adjusted to prevent the cleaning member from scratching against obstacles.

[0057] The scenario corresponding to (3) in Figure 2 is a scenario where the cleaning element of the cleaning device retracts along a straight line. It is understood that during the retraction process, the specific parameters such as the retraction time, retraction amplitude, and retraction speed of the cleaning element of the cleaning device are adjustable. Therefore, in certain scenarios, the parameters such as the retraction time, retraction amplitude, and retraction speed of the cleaning element of the cleaning device can be adjusted to prevent the cleaning element from scratching against obstacles.

[0058] The scenario corresponding to (4) in Figure 2 is: the cleaning device is equipped with a rotating arm, so that the cleaning member can perform an extension or retraction action by swinging the rotating arm. In particular, the cleaning member of the cleaning device can be extended along an arc trajectory under the swing of the rotating arm. It can be understood that the swing angle of the rotating arm of the cleaning device is directly related to the extension range of the cleaning member.

[0059] The scene corresponding to (5) in Figure 2 is a scene in which the cleaning member of the cleaning device retracts along an arc trajectory under the swing of the rotating arm. It can be understood that the swing angle of the rotating arm of the cleaning device is directly related to the retraction amplitude of the cleaning member.

[0060] In the scenario shown in FIG2 , the extension and retraction ranges of the retractable cleaning members of the cleaning device shown in (2)-(3) in FIG2 can be expressed using a length scalar; the extension and retraction ranges of the retractable cleaning members of the cleaning device shown in (4)-(5) in FIG2 can be expressed using an angle scalar. Therefore, it can be understood that the extension and retraction ranges in the present disclosure can be expressed using corresponding scalars.

[0061] The following will describe some embodiments of the present disclosure in detail with reference to the accompanying drawings. In the absence of conflict, the following embodiments and features therein may be combined with each other.

[0062] 1 , there is shown a flow chart of a cleaning equipment control method according to an embodiment of the present disclosure, which specifically includes steps S110 to S130 .

[0063] In S110 , if the cleaning device detects an obstacle angle in the current traveling direction, geometric data of the obstacle angle is acquired.

[0064] It should be noted that the obstacle angle may be formed by the intersection of two walls, or by the intersection of other types of obstacles.

[0065] In some embodiments, the obstacle angle is composed of a first angle side and a second angle side, wherein the first angle side is parallel to the current direction of travel. It is understood that the first angle side is located in the current direction of travel of the cleaning device, and the specific understanding can be referred to the scenario shown in Figure 4 (1).

[0066] In some embodiments, the geometric data of the obstacle angle includes but is not limited to the angle of the obstacle angle, the length of the first angle side, the length of the second angle side, etc.

[0067] In some embodiments, the cleaning device can detect obstacles in the direction of travel in real time based on a configured detection sensor, so as to detect in real time whether there is an obstacle angle in the current direction of travel. The cleaning device can also use a pre-established global cleaning map to determine whether there is an obstacle angle in the current direction of travel.

[0068] Continuing to refer to FIG. 1 , in S120 , an action strategy suitable for cleaning the obstacle angle is determined based on the geometric data, and the action strategy includes a telescopic strategy of the cleaning member and / or a rotation strategy of the cleaning device body.

[0069] In some embodiments, the motion strategy further includes a movement strategy of the cleaning device body.

[0070] It can be understood that the telescopic strategy of the cleaning member can guide the cleaning device on how to control the telescopic movement of the cleaning member when passing through the obstacle angle, so as to avoid scratches between the obstacle angle and the cleaning member; the rotation strategy of the cleaning device body can guide the cleaning device on how to control the rotation of the cleaning device body when passing through the obstacle angle, so as to adjust its own moving direction to adapt to the obstacle angle passed by; the moving strategy of the cleaning device body can guide the cleaning device on how to move in a straight line when passing through the obstacle angle, so as to trigger the cleaning device to execute the rotation strategy of the cleaning device body and / or the telescopic strategy of the cleaning member at the appropriate position, so as to achieve a higher cleaning coverage rate of the obstacle angle.

[0071] It should be noted that, based on the geometric data of the obstacle angle, one or more strategies matching the obstacle angle can be determined from the telescopic strategy of the cleaning member, the rotation strategy of the cleaning device body, the moving strategy of the cleaning device body and other strategies as the action strategy.

[0072] In some implementations, the specific implementation of step S120 can be performed according to the following steps S121 to S122.

[0073] In S121, the angle of the obstacle angle is determined according to the geometric data.

[0074] In S122, an action strategy matching the angle is determined to be suitable for cleaning the obstacle angle.

[0075] In some embodiments, the specific implementation of step S122 may be: if the angle is greater than the first set angle and less than the second set angle, or the angle is equal to the second set angle, determine the telescopic strategy of the cleaning member, the rotation strategy of the cleaning device body, and the walking strategy of the cleaning device body as the action strategy.

[0076] The first setting angle may be 0°, and the second setting angle may be determined according to the relative position between the cleaning member and the cleaning device body. For example, the second setting angle may be set to 125°.

[0077] In order to enable those skilled in the art to better understand the second setting angle described in this embodiment, it will be described in detail below with reference to FIG. 3 .

[0078] Referring to FIG. 3 , FIG. 3 shows a schematic diagram of a scenario for determining the second set angle according to an embodiment of the present disclosure.

[0079] It should be noted that (1)-(2) in FIG. 3 correspond to one method for determining the second set angle, and (3)-(4) in FIG. 3 correspond to another method for determining the second set angle.

[0080] The scenario corresponding to (1) in Figure 3 is: the cleaning device is located on one side of side A, and the current moving direction is parallel to side A, the cleaning member is in a retracted state, and there is a common tangent line between the cleaning member and the cleaning device body.

[0081] The scenario corresponding to (2) in Figure 3 is: the cleaning device rotates counterclockwise by an angle M from the state of (1) in Figure 3, so that the common tangent of the cleaning device body and the cleaning member is parallel to the side A, wherein the absolute value of the difference between the determined angle M and 180° is the second set angle described in this embodiment; if the angle M is 55°, the corresponding second set angle is 125°.

[0082] The scenario corresponding to (3) in Figure 3 is: the cleaning device is located on one side of side A, and the current moving direction is parallel to side A, and the cleaning member is in a retracted state, and there is no common tangent line between the cleaning member and the cleaning device body.

[0083] The scenario corresponding to (4) in Figure 3 is: the cleaning device rotates counterclockwise by an angle M from the state of (3) in Figure 3, so that the first tangent of the cleaning member, the second tangent of the cleaning device body, and the side A are parallel to each other, wherein the absolute value of the difference between the determined angle M and 180° is the second set angle described in this embodiment; if the angle M is 55°, the corresponding second set angle is 125°.

[0084] Based on the scenario of Figure 3, it is understandable that if the configuration position of the cleaning member in the cleaning device is different, a corresponding different method of determining the second set angle will be generated. Therefore, the second set angle can be determined according to actual conditions, and this disclosure does not limit it here.

[0085] In some embodiments, the specific implementation of step S122 may be: if the angle is greater than the second set angle and less than 180°, then determine the telescopic strategy of the cleaning member, the rotation strategy of the cleaning device body, and the movement strategy of the cleaning device body as the action strategy.

[0086] In some embodiments, a specific implementation of step S122 may be: if the included angle is greater than 180°, determining the rotation strategy of the cleaning device body and the movement strategy of the cleaning device body as the action strategy.

[0087] It can be understood that, through step S120, a matching action strategy can be planned for the obstacle angle to achieve cleaning of a larger area of ​​the obstacle angle, while avoiding scratches between the cleaning device body and the cleaning parts and the obstacle angle.

[0088] Continuing to refer to FIG. 1 , in S130 , based on the action strategy, the cleaning device is controlled to perform a cleaning action to clean the area where the obstacle angle is located.

[0089] Based on the above explanation, it can be understood that in the technical solution of the present invention, the obstacle angle is divided into three types according to the angle of the obstacle angle. The first angle type is that the angle of the obstacle angle is greater than the first set angle and less than the second set angle, or the angle is equal to the second set angle; the second angle type is that the angle of the obstacle angle is greater than the second set angle and less than 180°; the third angle type is that the angle of the obstacle angle is greater than 180°.

[0090] Therefore, step S130 can be performed in different implementations according to different angle types, including at least the following three implementations.

[0091] A first implementation of step S130 is as follows.

[0092] The method is used to control the cleaning device to perform a corresponding cleaning action for the first angle type (i.e., the obstacle angle is greater than the first set angle and less than the second set angle, or the angle is equal to the second set angle). Specifically, the method includes the following steps S131A to S132A.

[0093] In S131A, in a first cleaning stage, the cleaning member is controlled to shrink to a first amplitude, and the cleaning device body is controlled to rotate to a first angle.

[0094] In some embodiments, before executing the first cleaning stage, the cleaning device can also perform the following actions: control the cleaning device to move to a preset position along the current travel direction, where the preset position is a position where the distance between the geometric center of the cleaning device and the second angle side is a set distance.

[0095] It is understandable that if the cleaning device detects the angle of the obstacle and the cleaning device is still a certain distance away from the preset position, the cleaning device can be controlled to move to the preset position and then perform the cleaning action corresponding to the first cleaning stage, thereby improving the cleaning coverage of the obstacle angle.

[0096] It should be noted that the cleaning member contracts to a first extent, and the first extent should satisfy the requirement that after the cleaning member contracts to the first extent, the cleaning member does not extend to any extent (ie, the cleaning member is in a contracted state).

[0097] In some embodiments, the first angle may be an absolute value of a difference between the second set angle and 180°. For example, if the second set angle is 125°, the first angle is 55°.

[0098] In some implementations, specific implementations of step S131A include at least the following two.

[0099] A first implementation of step S131A is as follows.

[0100] The cleaning member is controlled to shrink to a first amplitude; after the cleaning member shrinks to the first amplitude, the cleaning device body is controlled to rotate to a first angle, so that the cleaning member and the cleaning device body are simultaneously in a tangent state with the first angled edge.

[0101] In order to enable those skilled in the art to better understand this embodiment, an example will be given below with reference to FIG4 .

[0102] 4 , which shows a schematic diagram of a scene of the cleaning device in a first cleaning stage according to an embodiment of the present disclosure.

[0103] The scenario corresponding to (1) in Figure 4 is as follows: the cleaning device detects the presence of an obstacle angle in its current direction of travel, the obstacle angle being composed of a first angle side and a second angle side, the angle of the obstacle angle being 90°, the current direction of travel of the cleaning device being parallel to the first angle side of the obstacle angle, and a cleaning member of the cleaning device being extended to a first extent. At the current position of the cleaning device, the distance between the geometric center of the cleaning device and the second angle side satisfies the set distance.

[0104] The scenario corresponding to (2) in Figure 4 is: the cleaning device in the state of (1) in Figure 4 is controlled so that the cleaning member of the cleaning device is retracted to a first extent. Comparing (1) in Figure 4 and (2) in Figure 4, it can be seen that the difference between the two lies in the different states of the cleaning member of the cleaning device. In (1) in Figure 4, the cleaning member is in a state of extending to a first extent, while in (2) in Figure 4, the cleaning member is in a state of retracting to a first extent based on the state in (1) in Figure 4.

[0105] The scenario corresponding to (3) in Figure 4 is: Continuing to control the cleaning device in the state of (2) in Figure 4, the cleaning device rotates counterclockwise in place by a first angle (i.e., angle A). As can be seen from the scenario shown in (3) in Figure 4, the common tangent line between the cleaning member and the cleaning device body is parallel to the first angled edge, i.e., the cleaning member and the cleaning device body are tangent to the first angled edge. Angle A marked in (3) in Figure 4 is the first angle.

[0106] In the first embodiment of S131A, since the cleaning member of the cleaning device is first contracted to a first amplitude at a preset position and then the cleaning device is controlled to rotate to a first angle, the cleaning member will not be scratched against the first angle edge during the process of rotating the cleaning device to the first angle, thereby providing a certain degree of protection for the first angle edge and the cleaning member.

[0107] A second implementation of step S131A is as follows.

[0108] The cleaning member is controlled to retract to a first amplitude, and the cleaning device body is simultaneously controlled to rotate to a first angle, wherein the retraction speed of the cleaning member and the rotational angular velocity of the cleaning device body satisfy: the cleaning member and the cleaning device body are simultaneously in a tangent state with the first angled edge.

[0109] In order to enable those skilled in the art to better understand this embodiment, an example will be given below with reference to FIG5 .

[0110] 5 , which shows a schematic diagram of a scene of the cleaning device in a first cleaning stage according to an embodiment of the present disclosure.

[0111] The scenario corresponding to (1) in Figure 5 is: the cleaning device detects the presence of an obstacle angle in its current direction of travel, the obstacle angle being composed of a first angle side and a second angle side, the angle of the obstacle angle being 90°, the current direction of travel of the cleaning device being parallel to the first angle side of the obstacle angle, and a cleaning member of the cleaning device being extended to a first extent. At the current position of the cleaning device, the distance between the geometric center of the cleaning device and the second angle side satisfies the set distance.

[0112] The scenario corresponding to (2) in Figure 5 is: the cleaning device in the state of (1) in Figure 5 is controlled so that the cleaning device simultaneously rotates and retracts the cleaning member, and the cleaning member is tangent to the first angled edge, and the cleaning device body is tangent to the first angled edge, and the cleaning device rotates counterclockwise by angle a, wherein angle a is smaller than the first angle. It can be understood that the retraction amplitude corresponding to the cleaning member of the cleaning device in (2) in Figure 5 is smaller than the first amplitude.

[0113] The scenario corresponding to (3) in Figure 5 is: continue to control the cleaning device in the state of (2) in Figure 5, so that the cleaning device continues to rotate counterclockwise in place and reaches a first rotation angle (i.e., angle A) relative to (1) in Figure 5. It can be seen from the scenario shown in (3) in Figure 5 that the common tangent line of the cleaning member and the cleaning device body is parallel to the first angle side, that is, the cleaning member and the cleaning device body are in a tangent state with the first angle side. The angle A marked in (3) in Figure 5 is the first angle.

[0114] It can be understood that in the scenario corresponding to Figure 5, by simultaneously controlling the rotational angular velocity of the cleaning device body and the retraction speed of the cleaning member, the cleaning device body and the cleaning member can always maintain a critical tangent state with the first angle edge during the rotation of the first angle, thereby ensuring that the cleaning member can safely retract to the first amplitude without being squeezed or scratched with the first angle edge.

[0115] In summary, the difference between the first and second embodiments of step S131A is that the first embodiment first retracts the cleaning member of the cleaning device and then rotates the cleaning device body by the first angle. The second embodiment retracts the cleaning member while the cleaning device body rotates. The two embodiments differ in the timing of retracting the cleaning member and rotating the cleaning member by the first angle. It can be understood that the second embodiment of step S131A improves cleaning efficiency and is a more optimal embodiment.

[0116] After executing the above step S131A, the following step S132A may be further executed.

[0117] In S132A, in the second cleaning stage, the cleaning member is controlled to extend to a second extent, and the cleaning device body is controlled to rotate to a second angle.

[0118] In some embodiments, the second amplitude may be the same as or different from the first amplitude, and the present disclosure does not limit this in detail.

[0119] It should be noted that, in step S132A, the first angle, the angle between the second angle and the obstacle satisfy the following formula (1):

[0120] X=180°-x1-x2 Formula (1)

[0121] Among them, X represents the angle; x1 represents the first angle; x2 represents the second angle.

[0122] For example, in the scenario shown in FIG5 , the corresponding obstacle angle is 90°, and the corresponding first angle is angle A. Then, it can be determined that the second angle is: 180°-90°-angle A=90°-angle A.

[0123] It should also be noted that in step S132A, the state reached after controlling the cleaning device body to rotate by the second angle should satisfy that the direction of the cleaning device is parallel to the second angle side of the obstacle angle.

[0124] In step S132A, there are at least three specific implementations as follows.

[0125] A first implementation of step S132A is as follows.

[0126] The cleaning device body is controlled to rotate to a second angle; after the cleaning device body rotates to the second angle, the cleaning member of the cleaning device is controlled to extend to a second extent.

[0127] It can be understood that in this embodiment, after controlling the cleaning device to rotate to the second angle, the cleaning member is controlled to extend so that no scratches are generated between the cleaning member and the obstacle angle, but relatively, the cleaning coverage rate of the obstacle angle is low.

[0128] A second implementation of step S132A is as follows.

[0129] The extension time of the cleaning member in the second cleaning stage and the rotational angular velocity of the cleaning device body in the second cleaning stage satisfy the following formula (2).

[0130] x2=w×t Formula (2)

[0131] Wherein, x2 represents the second angle; w represents the rotational angular velocity of the cleaning device body in the second cleaning stage; and t represents the extension time of the cleaning member in the second cleaning stage.

[0132] In some embodiments, the rotational angular velocity of the cleaning device in the second stage can be preset, so that the extension time of the cleaning member in the second cleaning stage is calculated based on the preset rotational angular velocity and the formula (2).

[0133] In some embodiments, the extension time of the cleaning member in the second cleaning stage can be preset, so that the rotational angular velocity of the cleaning device in the second cleaning stage is calculated based on the preset extension time and the formula (2).

[0134] In some embodiments, if the rotational angular velocity of the cleaning device in the second cleaning stage calculated according to formula (2) is greater than the rotational angular velocity threshold, the rotational angular velocity threshold can be directly used as the rotational angular velocity of the cleaning device in the second cleaning stage, and then the extension time of the cleaning member in the second cleaning stage is calculated according to the rotational angular velocity threshold and formula (2). It is understandable that if the rotational angular velocity of the cleaning device in the second cleaning stage is determined to be greater than the rotational angular velocity threshold, the rotation speed of the cleaning device will be too fast, resulting in insufficient cleaning of the obstacle angle. Therefore, setting the rotational angular velocity threshold can enable the cleaning device to fully clean the obstacle angle and improve the cleaning quality.

[0135] In order to enable those skilled in the art to better understand the second implementation of step S132A, this embodiment will be described below with reference to FIG6 .

[0136] 6 , which shows a schematic diagram of a second cleaning stage of the cleaning device according to an embodiment of the present disclosure.

[0137] The scenario corresponding to (1) in Figure 6 is: the state of the cleaning device when completing the above step S131A, that is, the cleaning member of the cleaning device is shrunk to a first amplitude, the cleaning device body is rotated to a first angle, and the cleaning device body and the cleaning member are simultaneously tangent to the first angle edge.

[0138] The scenario corresponding to (2) in Figure 6 is: when the cleaning device body has just completed the rotation of the second angle, and at this time the cleaning member of the cleaning device is in the state of extending the second amplitude, the cleaning member of the cleaning device and the cleaning device body are simultaneously in a tangent state with the second angle edge. Among them, the angle B shown in (2) in Figure 6 is the second angle. In addition, in the process of controlling the cleaning device to change from the state in (1) in Figure 6 to the state in (2) in Figure 6, it is necessary to control the rotation angular velocity of the cleaning device and the extension time of the cleaning member to satisfy the above formula (2). It can be understood that in the process of changing the cleaning device from the state in (1) in Figure 6 to the state in (2) in Figure 6, the cleaning device body rotates while the cleaning member extends. When the cleaning device body rotates the second angle, the cleaning member just extends the second amplitude, so that not only does the cleaning member not scratch the obstacle angle, but the direction of the cleaning device can also be smoothly adjusted to be along the second angle edge, so as to achieve a higher coverage rate of cleaning the obstacle angle.

[0139] A third implementation of step S132A is as follows.

[0140] The extension speed of the cleaning member in the second cleaning stage and the rotation angular velocity of the cleaning device body in the second cleaning stage satisfy: before the cleaning member is extended by the second amplitude, the cleaning member and the cleaning device body are simultaneously in a tangent state with the first angle edge; when the cleaning device body rotates by the second angle, the cleaning member and the cleaning device body are simultaneously in a tangent state with the second angle edge.

[0141] In this embodiment, when the cleaning device body rotates to the second angle, the cleaning member first extends to an angle greater than the second angle, and then retracts, so that when the cleaning device body just completes the rotation to the second angle, the cleaning member extends to the second angle. This allows the cleaning member to extend into the angle of the obstacle, thereby achieving a higher coverage of the obstacle.

[0142] It can be understood that in the third embodiment of step S132A, during the rotation of the cleaning device body in the second stage, the rotation angular velocity of the body and the extension speed of the cleaning member can be adjusted in real time so that before the cleaning member is extended to the second amplitude, the cleaning member and the cleaning device body are simultaneously in a tangent state with the first angle edge; when the cleaning device body rotates to the second angle, the cleaning member and the cleaning device body are simultaneously in a tangent state with the second angle edge.

[0143] In order to enable those skilled in the art to better understand this embodiment, an example will be given below with reference to FIG7 .

[0144] 7 , which shows a schematic diagram of a second cleaning stage of the cleaning device according to an embodiment of the present disclosure.

[0145] The scenario corresponding to (1) in Figure 7 is: the state of the cleaning device when completing the above step S131A, that is, the cleaning member of the cleaning device is shrunk to a first amplitude, the cleaning device body is rotated to a first angle, and the cleaning device body and the cleaning member are simultaneously tangent to the first angle edge.

[0146] The scenario corresponding to (2) in Figure 7 is: the cleaning device in the state of (1) in Figure 7 is controlled so that the cleaning device rotates and extends the cleaning member at the same time, and the cleaning member is in a tangent state with the first angle edge, and the cleaning device body is in a tangent state with the first angle edge, and the cleaning device rotates counterclockwise in place by an angle b, wherein the angle b is smaller than the second angle, and the corresponding extension amplitude of the cleaning member is greater than the second amplitude.

[0147] The scene corresponding to (3) in Figure 7 is: the cleaning device in the state of (2) in Figure 7 is continued to be controlled, so that the cleaning device continues to rotate counterclockwise in place and reaches a second angle (i.e., angle B) relative to (1) in Figure 7. As can be seen from the scene shown in (3) in Figure 7, the cleaning member and the cleaning member body are simultaneously tangent to the second angled edge.

[0148] It can be understood that in the scenario corresponding to Figure 7, by simultaneously controlling the rotational angular velocity of the cleaning device body and the extension time of the cleaning member, the cleaning member can always remain tangent to the first angle edge or the second angle edge during the rotation of the cleaning device body and the cleaning member to the second angle, thereby ensuring that the cleaning member can extend into the angle of the obstacle to clean it, resulting in higher coverage cleaning.

[0149] A second implementation of step S130 is as follows.

[0150] The method is used to control the cleaning device to perform a corresponding cleaning action for the second angle type (ie, the obstacle angle is greater than the second set angle and less than 180°), specifically including the following steps S131B to S132B.

[0151] In some embodiments, the obstacle angle corresponding to the second angle type is [125°, 180°].

[0152] In S131B, in the third cleaning stage, the cleaning member is controlled to shrink by a third amplitude, and the cleaning device body is controlled to rotate by a third angle, so that the direction of the cleaning device is parallel to the second angle side.

[0153] In some embodiments, the third angle satisfies the following formula (3):

[0154] x3=180°-X Formula (3)

[0155] Wherein, X represents the included angle; x3 represents the third angle.

[0156] In some embodiments, before executing the third cleaning stage, the cleaning device can also perform the following actions: control the cleaning device to move to a preset position along the current travel direction, where the preset position is a position where the distance between the geometric center of the cleaning device and the second angle side is a set distance.

[0157] The specific implementation methods of step S131B include at least the following two methods.

[0158] A first implementation of step S131B is as follows.

[0159] The cleaning member is controlled to retract to a third extent; after the cleaning member is retracted to the third extent, the cleaning device body is controlled to rotate to a third angle so that the direction of the cleaning device is parallel to the second angled side.

[0160] The second implementation of step S131B is as follows.

[0161] The cleaning member is controlled to retract to a third amplitude, and the cleaning device body is simultaneously controlled to rotate to a third angle, wherein the retraction speed of the cleaning member and the rotational angular velocity of the cleaning device body satisfy: the cleaning member and the cleaning device body are simultaneously in a tangent state with the first angled edge.

[0162] In S132B, in the fourth cleaning stage, the cleaning member is controlled to extend to a fourth extent, and the cleaning device body is controlled to move along the direction of the second angled side.

[0163] In step S132B, when the cleaning device moves along the second angled side, the extension speed of the cleaning member should satisfy: the cleaning member is in a tangent state with the first angled side or the second angled side.

[0164] In order to enable those skilled in the art to understand the second implementation of step S130 in the present disclosure, an example will be given below with reference to FIG8 .

[0165] 8 , which shows a schematic diagram of scenes of the cleaning device in the third cleaning stage and the fourth cleaning stage according to an embodiment of the present disclosure.

[0166] The scenario corresponding to (1) in Figure 8 is: the cleaning device detects the presence of an obstacle angle in the current direction of travel, the obstacle angle being composed of a first angle side and a second angle side, the angle of the obstacle angle being 150°, the current direction of travel of the cleaning device being parallel to the first angle side of the obstacle angle, and a cleaning member of the cleaning device being extended to a third extent. At the current position of the cleaning device, the distance between the geometric center of the cleaning device and the second angle side satisfies the set distance.

[0167] The scenario corresponding to (2) in Figure 8 is: controlling the cleaning device in the state of (1) in Figure 8 so that the cleaning part of the cleaning device shrinks by a third amplitude, and the cleaning device body rotates by a third angle, and the direction of the cleaning device is parallel to the second angle side.

[0168] The scenario corresponding to (3) in Figure 8 is to continue to control the cleaning equipment in the state of (2) in Figure 8, so that the cleaning equipment moves forward in the direction of the second angled edge, and the extension amplitude of the cleaning member satisfies the tangent state with the first angled edge, and the extension amplitude of the cleaning member in Figure 8 (3) is less than the fourth extension amplitude.

[0169] The scenario corresponding to (4) in Figure 8 is: continue to control the cleaning device in the state described in (3) in Figure 8, so that the cleaning device continues to move forward in the direction of the second angle edge, so that the cleaning member extends to the fourth amplitude, and the cleaning device body and the cleaning member are in a tangent state with the second angle edge at the same time.

[0170] It is understandable that after completing the above step S132B, the cleaning device can continue to be controlled to move along the second angle edge to leave the obstacle angle.

[0171] A third implementation of step S130 is as follows.

[0172] The method is used to control the cleaning device to perform a corresponding cleaning action for the third type of angle (ie, the obstacle angle is greater than 180°), and specifically includes the following steps S131C to S132C.

[0173] In S131C, in the fifth cleaning stage, the cleaning device body is controlled to travel a preset distance in the current traveling direction.

[0174] In some embodiments, the preset distance in the fifth cleaning stage satisfies: the tail of the cleaning device body is tangent to the extension line of the second angled side.

[0175] In S132C, in the sixth cleaning stage, the cleaning device body is controlled to rotate at a fourth angle so that the cleaning device moves along the direction of the second angled side.

[0176] In some embodiments, the fourth angle and the included angle satisfy the following formula (4):

[0177] x=180°-X Formula (4)

[0178] Wherein, x represents the fourth angle; X represents the included angle.

[0179] In order to enable those skilled in the art to better understand the third implementation of step S130, an example will be given below with reference to FIG9.

[0180] 9 , which shows a schematic diagram of scenes of the cleaning device in the fifth cleaning stage and the sixth cleaning stage according to an embodiment of the present disclosure.

[0181] The scenario corresponding to (1) in Figure 9 is: the cleaning device detects that there is an obstacle angle in the current direction of travel, and the obstacle angle is composed of a first angle side and a second angle side. The angle of the obstacle angle is 270°, and the current direction of travel of the cleaning device is parallel to the first angle side of the obstacle angle, and a cleaning component of the cleaning device is in an extended state.

[0182] The scenario corresponding to (2) in Figure 9 is: controlling the cleaning equipment in the state of (1) in Figure 9 so that the cleaning equipment continues to move in the current direction of travel and is located at a position where the tail of the cleaning equipment is tangent to the extension line of the second angled side.

[0183] The scenario corresponding to (3) in Figure 9 is: the cleaning device in the state of (2) in Figure 9 is continued to be controlled, so that the cleaning device rotates 90° in place in the clockwise direction. The angle D shown in (3) in Figure 9 is the fourth angle (i.e., 90°). From the state in (3) in Figure 9, it can be seen that after the cleaning device rotates by the fourth angle, the direction of the cleaning device is along the second angle side, and the cleaning device body and the cleaning member are simultaneously tangent to the extension line of the second angle side.

[0184] In the third embodiment of step S130, it can be seen that when the obstacle angle of the above-mentioned third angle type is detected, in the process of controlling the cleaning equipment to clean the obstacle angle, there is no need to adjust the state of the cleaning part, only the forward direction and forward trajectory of the cleaning equipment body need to be adjusted, so that the obstacle angle can be cleaned with high coverage without scratches.

[0185] In the technical solutions provided by some embodiments of the present disclosure, if a cleaning device including a retractable cleaning member detects an obstacle angle in the current direction of travel, the geometric data of the obstacle angle is obtained; then, based on the geometric data, an action strategy suitable for cleaning the obstacle angle is determined, the action strategy including the retractable strategy of the cleaning member and / or the rotation strategy of the cleaning device body; finally, based on the action strategy, the cleaning device is controlled to perform a cleaning action to clean the area where the obstacle angle is located. It can be seen that based on the technical solution of the present disclosure, if the cleaning device detects an obstacle angle during its movement, an action strategy that matches the obstacle angle will be automatically determined for the cleaning device, so that when the cleaning device passes through the area where the obstacle angle is located, its retractable cleaning member can perform a corresponding matching action according to the specific geometric structure of the obstacle angle, thereby not only avoiding scratches between the cleaning member, the cleaning device body, etc. of the cleaning device and the obstacle angle, but also achieving a higher coverage rate of cleaning in the area where the obstacle angle is located, and improving the user experience.

[0186] Based on the same inventive concept, the present disclosure provides a cleaning equipment control device that can be used to execute the cleaning equipment control method in the above embodiment of the present disclosure. For details not disclosed in the present disclosure, please refer to the above embodiment of the cleaning equipment control method in the present disclosure.

[0187] 10 , which shows a block diagram of a cleaning equipment control device according to an embodiment of the present disclosure.

[0188] As shown in FIG10 , according to a cleaning device control device 1000 according to an embodiment of the present disclosure, the cleaning device includes a retractable cleaning member. The cleaning device control device 1000 includes: an acquisition unit 1001 , a determination unit 1002 , and a control unit 1003 .

[0189] Among them, the acquisition unit 1001 is used to: if the cleaning device detects an obstacle angle in the current direction of travel, then obtain the geometric data of the obstacle angle; the determination unit 1002 is used to: determine the action strategy suitable for cleaning the obstacle angle based on the geometric data, and the action strategy includes the extension and retraction strategy of the cleaning part and / or the rotation strategy of the cleaning device body; the control unit 1003 is used to: based on the action strategy, control the cleaning device to perform a cleaning action to clean the area where the obstacle angle is located.

[0190] In some embodiments of the present disclosure, the determining unit 1002 is further used to: determine the angle of the obstacle angle based on the geometric data; and determine an action strategy that matches the angle to be suitable for cleaning the obstacle angle.

[0191] In some embodiments of the present disclosure, if the included angle is greater than the first set angle and less than the second set angle, or the included angle is equal to the second set angle, the control unit 1003 is also used to: in the first cleaning stage, control the cleaning member to retract to a first amplitude, and control the cleaning device body to rotate to a first angle; in the second cleaning stage, control the cleaning member to extend to a second amplitude, and control the cleaning device body to rotate to a second angle.

[0192] In some embodiments of the present disclosure, the first angle, the second angle, and the included angle satisfy:

[0193] X=180°-x1-x2

[0194] Among them, X represents the angle; x1 represents the first angle; x2 represents the second angle.

[0195] In some embodiments of the present disclosure, the obstacle angle is composed of a first angle side and a second angle side, the first angle side is parallel to the current direction of travel, and the control unit 903 is also used to: control the cleaning member to shrink by a first amplitude; after the cleaning member shrinks by the first amplitude, control the cleaning device body to rotate by a first angle, so that the cleaning member and the cleaning device body are simultaneously in a tangent state with the first angle side.

[0196] In some embodiments of the present disclosure, the control unit 1003 is also used to: control the cleaning member to retract to a first amplitude, and simultaneously control the cleaning device body to rotate to a first angle, wherein the retraction speed of the cleaning member and the rotation angular velocity of the cleaning device body satisfy: the cleaning member and the cleaning device body are simultaneously in a tangent state with the first angle edge.

[0197] In some embodiments of the present disclosure, the extension time of the cleaning member in the second cleaning stage and the rotational angular velocity of the cleaning device body in the second cleaning stage satisfy:

[0198] x2=w×t

[0199] Wherein, x2 represents the second angle; w represents the rotational angular velocity of the cleaning device body in the second cleaning stage; and t represents the extension time of the cleaning member in the second cleaning stage.

[0200] In some embodiments of the present disclosure, the extension speed of the cleaning member in the second cleaning stage and the rotational angular velocity of the cleaning device body in the second cleaning stage satisfy: before the cleaning member is extended by the second amplitude, the cleaning member and the cleaning device body are simultaneously in a tangent state with the first angle edge; when the cleaning device body rotates by the second angle, the cleaning member and the cleaning device body are simultaneously in a tangent state with the second angle edge.

[0201] In some embodiments of the present disclosure, the action strategy also includes a movement strategy of the cleaning device body. If the angle is greater than the second set angle and less than 180°, the control unit 1003 is also used to: in the third cleaning stage, control the cleaning member to retract to a third amplitude, and control the cleaning device body to rotate to a third angle so that the direction of the cleaning device is parallel to the second angle edge; in the fourth cleaning stage, control the cleaning member to extend to a fourth amplitude, and control the cleaning device body to move along the direction of the second angle edge.

[0202] In some embodiments of the present disclosure, the action strategy also includes the movement strategy of the cleaning device body. If the angle is greater than 180°, the control unit 1003 is also used to: in the fifth cleaning stage, control the cleaning device body to move a preset distance in the current movement direction; in the sixth cleaning stage, control the cleaning device body to rotate a fourth angle so that the cleaning device moves along the direction of the second angle edge.

[0203] In some embodiments of the present disclosure, the tail of the cleaning device body is tangent to the extension line of the second angled side.

[0204] In some embodiments of the present disclosure, the fourth angle and the included angle satisfy:

[0205] x=180°-X

[0206] Wherein, x represents the fourth angle; X represents the included angle.

[0207] Based on the same inventive concept, an embodiment of the present disclosure further provides a computer-readable storage medium, wherein the computer-readable storage medium stores at least one computer program instruction, and the at least one computer program instruction is loaded and executed by a processor to implement the operations performed by the aforementioned method.

[0208] Based on the same inventive concept, an embodiment of the present disclosure also provides a cleaning device.

[0209] Referring to Figure 11, a structural schematic diagram of a cleaning device according to an embodiment of the present disclosure is shown. The cleaning device includes one or more memories 1104, one or more processors 1102, and at least one computer program (computer program instruction) stored on the memory 1104 and executable on the processor 1102. When the processor 1102 executes the computer program, the method described above is implemented.

[0210] In FIG11 , a bus architecture (represented by bus 1100) is shown. Bus 1100 may include any number of interconnected buses and bridges. Bus 1100 links various circuits, including one or more processors represented by processor 1102 and memory represented by memory 1104. Bus 1100 may also link various other circuits, such as peripherals, voltage regulators, and power management circuits, all of which are well known in the art and, therefore, will not be described further herein. Bus interface 1105 provides an interface between bus 1100 and receiver 1101 and transmitter 1103. Receiver 1101 and transmitter 1103 may be the same component, namely a transceiver, providing a unit for communicating with various other devices over a transmission medium. Processor 1102 is responsible for managing bus 1100 and general processing, while memory 1104 may be used to store data used by processor 1102 when performing operations.

[0211] The functions described herein may be implemented in hardware, software executed by a processor, firmware, or any combination thereof. If implemented in software executed by a processor, the functions may be stored on or transmitted via a computer-readable medium as one or more instructions or code. Other examples and implementations are within the scope and spirit of the present disclosure and the appended claims. For example, due to the nature of software, the functions described above may be implemented using software executed by a processor, hardware, firmware, hardwiring, or a combination of any of these. Furthermore, the functional units may be integrated into a single processing unit, each unit may exist physically separately, or two or more units may be integrated into a single unit.

[0212] In the several embodiments provided in the present disclosure, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only exemplary. For example, the division of the units can be a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0213] The units described as separate components may or may not be physically separate, and the components of the control device may or may not be physical units, that is, they may be located in one place or distributed across multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0214] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present disclosure is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for enabling a computer device (which can be a personal computer, a server or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present disclosure. The aforementioned storage medium includes: various media that can store computer program instructions, such as a USB flash drive, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk or an optical disk.

[0215] The foregoing description is merely an embodiment of the present disclosure and is not intended to limit the present disclosure. Those skilled in the art will readily appreciate that the present disclosure may be modified and varied in various ways. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present disclosure shall be within the scope of the claims of the present disclosure.

Claims

1. A cleaning equipment control method, wherein: The cleaning device includes a retractable cleaning member, and the method includes: If the cleaning device detects an obstacle angle in the current traveling direction, then obtaining geometric data of the obstacle angle; Determining, based on the geometric data, an action strategy suitable for cleaning the obstacle angle, the action strategy including a telescopic strategy of the cleaning member and / or a rotation strategy of the cleaning device body; Based on the action strategy, the cleaning device is controlled to perform a cleaning action to clean the area where the obstacle angle is located.

2. The method according to claim 1, wherein: Determining, based on the geometric data, an action strategy suitable for cleaning the obstacle angle includes: Determining the angle of the obstacle angle according to the geometric data; An action strategy matching the angle is determined to be suitable for cleaning the obstacle angle.

3. The method according to claim 2, wherein: If the angle is greater than the first set angle and less than the second set angle, or the angle is equal to the second set angle, controlling the cleaning device to perform a cleaning action includes: In a first cleaning stage, the cleaning member is controlled to shrink to a first amplitude, and the cleaning device body is controlled to rotate to a first angle; In the second cleaning stage, the cleaning member is controlled to extend to a second extent, and the cleaning device body is controlled to rotate to a second angle.

4. The method according to claim 3, wherein: The first angle, the second angle, and the included angle satisfy: X = 180° - x1 - x2 Among them, X represents the angle; x1 represents the first angle; x2 represents the second angle.

5. The method according to claim 3, wherein: The obstacle angle is composed of a first angle side and a second angle side, wherein the first angle side is parallel to the current traveling direction; the controlling the cleaning member to shrink by a first amplitude, and the controlling the cleaning device body to rotate by a first angle, comprises: Controlling the cleaning member to shrink to a first amplitude; After the cleaning member contracts by a first amplitude, the cleaning device body is controlled to rotate by a first angle, so that the cleaning member and the cleaning device body are simultaneously in a tangent state with the first angled edge.

6. The method according to claim 3, wherein: The obstacle angle is composed of a first angle side and a second angle side, wherein the first angle side is parallel to the current traveling direction; the controlling the cleaning member to shrink by a first amplitude, and the controlling the cleaning device body to rotate by a first angle, comprises: The cleaning member is controlled to retract to a first amplitude, and the cleaning device body is simultaneously controlled to rotate to a first angle, wherein the retracting speed of the cleaning member and the rotational angular velocity of the cleaning device body satisfy: the cleaning member and the cleaning device body are simultaneously in a tangent state with the first angled edge.

7. The method according to claim 3, wherein: The extension time of the cleaning member in the second cleaning stage and the rotational angular velocity of the cleaning device body in the second cleaning stage satisfy: x2 = w × t Wherein, x2 represents the second angle; w represents the rotational angular velocity of the cleaning device body in the second cleaning stage; and t represents the extension time of the cleaning member in the second cleaning stage.

8. The method according to claim 3, wherein: The obstacle angle is composed of a first angle side and a second angle side, the first angle side is parallel to the current direction of travel; the extension speed of the cleaning member in the second cleaning stage and the rotational angular velocity of the cleaning device body in the second cleaning stage satisfy: Before the cleaning member extends to the second amplitude, the cleaning member and the cleaning device body are simultaneously in a tangent state with the first angled edge; When the cleaning device body rotates by the second angle, the cleaning member and the cleaning device body are simultaneously in a tangent state with the second angled edge.

9. The method according to any one of claims 2 to 8, wherein: The obstacle angle is composed of a first angle side and a second angle side, the first angle side is parallel to the current traveling direction, and the action strategy also includes a traveling strategy of the cleaning device body; If the angle is greater than the second set angle and less than 180°, controlling the cleaning device to perform a cleaning action includes: In the third cleaning stage, the cleaning member is controlled to shrink by a third amplitude, and the cleaning device body is controlled to rotate by a third angle, so that the direction of the cleaning device is parallel to the second angle side; In the fourth cleaning stage, the cleaning member is controlled to extend to a fourth extent, and the cleaning device body is controlled to move along the direction of the second angled edge.

10. The method according to any one of claims 2 to 8, wherein: The obstacle angle is composed of a first angle side and a second angle side, the first angle side is parallel to the current traveling direction, and the action strategy also includes a traveling strategy of the cleaning device body; If the angle is greater than 180°, controlling the cleaning device to perform a cleaning action includes: In the fifth cleaning stage, the cleaning device body is controlled to travel a preset distance in the current traveling direction; In the sixth cleaning stage, the cleaning device body is controlled to rotate at a fourth angle so that the cleaning device moves along the direction of the second angled side.

11. The method according to claim 10, wherein: The preset distance traveled by the cleaning device body in the fifth cleaning stage satisfies: The tail of the cleaning device body is tangent to the extension line of the second angled side.

12. The method according to claim 10, wherein: The fourth angle and the included angle satisfy: x = 180° - X Wherein, x represents the fourth angle; X represents the included angle.

13. A cleaning equipment control device, wherein: The cleaning device comprises a retractable cleaning member, and the device comprises: An acquisition unit, configured to acquire geometric data of an obstacle angle if the cleaning device detects the obstacle angle in the current traveling direction; A determination unit, configured to determine, based on the geometric data, an action strategy suitable for cleaning the obstacle angle, wherein the action strategy includes a telescopic strategy of the cleaning member and / or a rotation strategy of the cleaning device body; The control unit is used to control the cleaning device to perform a cleaning action based on the action strategy to clean the area where the obstacle angle is located.

14. A computer-readable storage medium, wherein: The computer-readable storage medium stores at least one program code, and the at least one program code is loaded and executed by a processor to implement the operations performed by the method according to any one of claims 1 to 12.

15. A cleaning device, wherein: The method comprises one or more processors and one or more memories, wherein at least one program code is stored in the one or more memories, and the at least one program code is loaded and executed by the one or more processors to implement the method according to any one of claims 1 to 12.

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