Cleaning device control method and apparatus, medium, program product and cleaning device

Abstract

A cleaning device control method and apparatus, a medium, a program product, and a cleaning device. The cleaning device comprises a first cleaning member and a second cleaning member. The method comprises: controlling the cleaning device to rotate a first predetermined angle in a first predetermined direction so as to drive the first cleaning member to perform first cleaning on a predetermined area (210); and controlling the cleaning device to rotate a second predetermined angle in a second predetermined direction so as to drive the second cleaning member to perform second cleaning on the predetermined area, the second predetermined direction being opposite to the first predetermined direction (220). The cleaning device control method can increase the cleaning coverage rate of cleaning devices.

Description

Control method, device, medium, program product and cleaning equipment for cleaning equipment CROSS-REFERENCE TO RELATED APPLICATIONS

[0001] This application claims priority to the application number 202410323349.2 filed with the State Intellectual Property Office of China on March 20, 2024, entitled “Control method, device, medium, program product and cleaning equipment for cleaning equipment,” the entire contents of which are incorporated herein by reference. Technical Field

[0002] The present application relates to the technical field of cleaning equipment, and in particular to a control method, device, medium, program product and cleaning equipment for cleaning equipment. Background Art

[0003] With the continuous development of automation and artificial intelligence technologies, various cleaning equipment such as sweepers and mops are becoming widely used. The cleaning scenarios faced by cleaning equipment during the cleaning process are complex and varied. However, due to the limitations of the cleaning equipment's own size and geometric shape, some cleaning areas may be missed by the cleaning equipment when cleaning certain cleaning scenarios, reducing the cleaning coverage rate of the cleaning equipment.

[0004] It should be noted that the information disclosed in the above background technology section is only used to enhance the understanding of the background of this application, and therefore may include information that does not constitute prior art known to ordinary technicians in this field. Summary of the Invention

[0005] Embodiments of the present application provide a control method, apparatus, medium, program product, and cleaning equipment for cleaning equipment.

[0006] Other features and advantages of the present application will become apparent from the following detailed description, or may be learned in part by practice of the present application.

[0007] According to a first aspect of an embodiment of the present application, a control method for a cleaning device is provided, wherein the cleaning device includes a first cleaning member and a second cleaning member, and the method includes: controlling the cleaning device to rotate in a first predetermined direction by a first predetermined angle to drive the first cleaning member to perform a first cleaning on a predetermined area; controlling the cleaning device to rotate in a second predetermined direction by a second predetermined angle to drive the second cleaning member to perform a second cleaning on the predetermined area, wherein the second predetermined direction is opposite to the first predetermined direction.

[0008] In some embodiments of the present application, based on the aforementioned scheme, the method further includes: obtaining environmental data of the cleaning device; based on the environmental data, determining whether the cleaning area where the cleaning device is currently located includes the predetermined area; if the cleaning area where the cleaning device is currently located includes the predetermined area, determining the first predetermined angle, and determining the second predetermined angle.

[0009] In some embodiments of the present application, based on the aforementioned scheme, determining the first predetermined angle includes: controlling the cleaning device to rotate in the first predetermined direction according to a first set angle; determining whether the first cleaning member collides with an obstacle during the rotation of the cleaning device; and determining the first predetermined angle based on whether the first cleaning member collides with an obstacle.

[0010] In some embodiments of the present application, based on the aforementioned scheme, the cleaning device also includes a first in-place detection device, and determining whether the first cleaning member collides with an obstacle includes: if the detection data of the first in-place detection device changes, determining that the first cleaning member collides with an obstacle.

[0011] In some embodiments of the present application, based on the aforementioned scheme, determining whether the first cleaning member collides with an obstacle includes: determining whether the first driving current that drives the first cleaning member to perform the cleaning action overcurrents; if the first driving current overcurrents, it is determined that the first cleaning member collides with an obstacle.

[0012] In some embodiments of the present application, based on the aforementioned scheme, determining the first predetermined angle according to whether the first cleaning member collides with an obstacle includes: if the first cleaning member collides with an obstacle, obtaining the angle at which the cleaning device has rotated in the first predetermined direction when the first cleaning member collides with the obstacle as a first reference angle; and determining the first predetermined angle based on the first reference angle.

[0013] In some embodiments of the present application, based on the aforementioned scheme, determining the first predetermined angle based on the first reference angle includes: controlling the cleaning device to rotate the first reference angle in the second predetermined direction; returning to execute the step of controlling the cleaning device to rotate in the first predetermined direction until a set number of first reference angles are determined; adjusting the first reference angle to obtain the first predetermined angle, the first predetermined angle being smaller than the first reference angle.

[0014] In some embodiments of the present application, based on the aforementioned scheme, determining the first predetermined angle based on the first reference angle includes: controlling the cleaning device to rotate the first reference angle in the second predetermined direction; returning to execute the step of controlling the cleaning device to rotate in the first predetermined direction until a set number of first reference angles are determined; and determining the first reference angle as the first predetermined angle.

[0015] In some embodiments of the present application, based on the aforementioned scheme, determining the first predetermined angle according to whether the first cleaning member collides with an obstacle includes: if the first cleaning member does not collide with an obstacle, determining the first set angle as the first predetermined angle.

[0016] In some embodiments of the present application, based on the aforementioned scheme, determining the second predetermined angle includes: controlling the cleaning device to rotate in the second predetermined direction according to the second set angle; determining whether the second cleaning member collides with an obstacle during the rotation of the cleaning device; and determining the second predetermined angle based on whether the second cleaning member collides with an obstacle.

[0017] In some embodiments of the present application, based on the aforementioned solution, the cleaning device further includes a second in-place detection device, and determining whether the second cleaning member collides with an obstacle includes: if the detection data of the second in-place detection device changes, determining that the second cleaning member collides with an obstacle.

[0018] In some embodiments of the present application, based on the aforementioned scheme, determining whether the second cleaning member collides with an obstacle includes: determining whether the second driving current that drives the second cleaning member to perform the cleaning action overcurrents; if the second driving current overcurrents, it is determined that the second cleaning member collides with an obstacle.

[0019] In some embodiments of the present application, based on the aforementioned scheme, the second predetermined angle is determined according to whether the second cleaning member collides with an obstacle, including: if the second cleaning member collides with an obstacle, obtaining the angle by which the cleaning device has rotated in the second predetermined direction when the second cleaning member collides with the obstacle as the second reference angle; and determining the second predetermined angle based on the second reference angle.

[0020] In some embodiments of the present application, based on the aforementioned scheme, determining the second predetermined angle based on the second reference angle includes: controlling the cleaning device to rotate the second reference angle in the first predetermined direction; returning to execute the step of controlling the cleaning device to rotate in the second predetermined direction until a set number of second reference angles are determined; adjusting the second reference angle to obtain the second predetermined angle, and the second predetermined angle is smaller than the second reference angle.

[0021] In some embodiments of the present application, based on the aforementioned scheme, determining the second predetermined angle based on the second reference angle includes: controlling the cleaning device to rotate the second reference angle in the first predetermined direction; returning to execute the step of controlling the cleaning device to rotate in the second predetermined direction until a set number of second reference angles are determined; and determining the second reference angle as the second predetermined angle.

[0022] In some embodiments of the present application, based on the aforementioned scheme, determining the second predetermined angle according to whether the second cleaning member collides with an obstacle includes: if the second cleaning member does not collide with an obstacle, determining the second set angle as the second predetermined angle.

[0023] In some embodiments of the present application, based on the aforementioned scheme, after controlling the cleaning device to rotate in a second predetermined direction by a second predetermined angle, the method further includes: controlling the cleaning device to move a set distance in a predetermined cleaning direction; returning to execute the step of controlling the cleaning device to rotate in a first predetermined direction by a first predetermined angle until the cleaning of the predetermined area is completed, or an obstacle is detected in the predetermined cleaning direction.

[0024] In some embodiments of the present application, based on the aforementioned solution, the predetermined area includes a low space area.

[0025] In some embodiments of the present application, based on the aforementioned solution, the spatial height of the low space area is less than or equal to the body height of the cleaning equipment.

[0026] According to a second aspect of an embodiment of the present application, a control device for a cleaning device is provided, wherein the cleaning device includes a first cleaning member and a second cleaning member, and the device includes: a first control unit for controlling the cleaning device to rotate in a first predetermined direction by a first predetermined angle to drive the first cleaning member to perform a first cleaning on a predetermined area; a second control unit for controlling the cleaning device to rotate in a second predetermined direction by a second predetermined angle to drive the second cleaning member to perform a second cleaning on the predetermined area, wherein the second predetermined direction is opposite to the first predetermined direction.

[0027] According to a third aspect of an embodiment of the present application, a computer-readable storage medium is provided, characterized in that at least one program code is stored in the computer-readable storage medium, and 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 application, a computer program product is provided, which includes computer instructions stored in a computer-readable storage medium and suitable for being read and executed by a processor, so that a computer device having the processor executes any method described in the first aspect above.

[0029] According to a fifth aspect of an embodiment of the present application, a cleaning device is provided, which includes a first cleaning part and a second cleaning part, and includes 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.

[0030] The technical solution of the present application, in the process of controlling a cleaning device including a first cleaning member and a second cleaning member to clean a predetermined area, includes: controlling the cleaning device to rotate a first predetermined angle in a first predetermined direction to drive the first cleaning member to perform a first cleaning on the predetermined area; and controlling the cleaning device to rotate a second predetermined angle in a second predetermined direction to drive the second cleaning member to perform a second cleaning on the predetermined area, wherein the second predetermined direction is opposite to the first predetermined direction.

[0031] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The accompanying drawings are incorporated into and constitute a part of the specification, illustrating embodiments consistent with the present application and, together with the specification, explaining the principles of the present application. Obviously, the drawings described below are only some embodiments of the present application, and those skilled in the art can derive other drawings based on these drawings without inventive effort. In the drawings:

[0033] FIG1 shows a schematic structural diagram of a cleaning device according to an embodiment of the present application;

[0034] FIG2 is a schematic flow chart showing a method for controlling a cleaning device according to an embodiment of the present application;

[0035] FIG3 shows a detailed flowchart of determining a first predetermined angle and a second predetermined angle according to an embodiment of the present application;

[0036] FIG4 shows a detailed flowchart of determining a first predetermined angle according to an embodiment of the present application;

[0037] FIG5 shows a schematic diagram of a scene at a first setting angle according to an embodiment of the present application;

[0038] FIG6 is a schematic diagram showing a scenario of determining a first predetermined angle according to an embodiment of the present application;

[0039] FIG7 shows a detailed flowchart of determining a second predetermined angle according to an embodiment of the present application;

[0040] FIG8 shows a schematic diagram of a scene at a second setting angle according to an embodiment of the present application;

[0041] FIG9 is a schematic diagram showing a scenario of determining a second predetermined angle according to an embodiment of the present application;

[0042] FIG10 is a schematic diagram showing an overall scenario of cleaning a predetermined area according to an embodiment of the present application;

[0043] FIG11 shows a block diagram of a control device for a cleaning device according to an embodiment of the present application;

[0044] FIG12 shows a schematic structural diagram of a cleaning device according to an embodiment of the present application. DETAILED DESCRIPTION

[0045] 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 application will be thorough and complete and will fully convey the concepts of the example embodiments to those skilled in the art.

[0046] In addition, described feature, structure or characteristic can be combined in one or more embodiments in any suitable manner.In the following description, many specific details are provided so as to provide a full understanding of the embodiments of the present application. However, it will be appreciated by those skilled in the art that the technical scheme of the present application can be put into practice without one or more of the specific details, or other methods, components, devices, steps etc. can be adopted. In other cases, known methods, devices, implementations or operations are not shown or described in detail to avoid blurring the various aspects of the application.

[0047] 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.

[0048] 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.

[0049] 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.

[0050] It should be noted that the terms "first," "second," and the like in the specification and claims of this application 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 application described herein can be implemented in an order other than that illustrated or described.

[0051] To make the purpose, technical solutions, and advantages of this application more clear, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the described embodiments are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0052] It should be noted that this application does not limit the area type of the predetermined area mentioned.

[0053] In some embodiments, the predetermined area may include a low-rise space area, which refers to a space area whose height is lower than a set height threshold.

[0054] For example, the space under the table, the space under the stool, etc.

[0055] In some embodiments, the low space area can be a space area whose height is less than or equal to the height of the cleaning device. It is understandable that in this scenario, the cleaning device cannot enter the low space area, resulting in the inability to clean the low space area.

[0056] For example, the space area under the bed, the space area under the TV cabinet, the space area at the edge below the refrigerator, the space area under the coffee table, the space area under the sofa, the space area at the edge below the cabinet, etc.

[0057] It should also be noted that the cleaning equipment mentioned in this application includes but is not limited to sweepers, mops, sweepers and mops all-in-one machines and other smart devices with cleaning functions.

[0058] It should also be noted that the cleaning equipment mentioned in this application includes a first cleaning part and a second cleaning part. The first cleaning part and the second cleaning part can have a telescopic function, so that when there is no need to clean the predetermined area, the first cleaning part and the second cleaning part can be retracted to change the space area occupied by the cleaning equipment.

[0059] The first cleaning member may be a side brush, a mop, or other cleaning member with a cleaning function. The specific details are not limited in this application.

[0060] The second cleaning member may be a side brush, a mop, or other cleaning member with a cleaning function. The specific details are not limited in this application.

[0061] The types of the first cleaning member and the second cleaning member may be the same or different, and this application does not limit this in detail.

[0062] For example, the first cleaning member may be a retractable side brush, and the second cleaning member may be a retractable mop.

[0063] In order to enable those skilled in the art to better understand the technical solution of the present application, an optional structure of the cleaning device in the present application is described below with reference to FIG1 .

[0064] 1 , which shows a schematic structural diagram of a cleaning device according to an embodiment of the present application.

[0065] In Figure 1, cleaning device 10 includes a first cleaning member 12 and a second cleaning member 13. First cleaning member 12 is a retractable side brush, and second cleaning member 13 is a retractable mop. Cleaning device 10 can be equipped with two sets of retractable mops and two sets of retractable side brushes. This allows for selective deployment of the side brushes and mops appropriate for a specific area based on the relative position of the area and the cleaning device.

[0066] In FIG1 , the ray 11 starts from the tail of the cleaning device and extends toward the nose of the cleaning device.

[0067] In some embodiments, the first cleaning member 12 and the second cleaning member 13 may be located on the same side of the ray 11. Therefore, the first cleaning member and the second cleaning member that match the predetermined area and are located on the same side may be controlled to be extended according to the relative position between the predetermined area and the cleaning device. As shown in (2) in FIG1 , the illustrated scenario is that the first cleaning member 12 and the second cleaning member 13 located on the same side of the ray 11 are extended.

[0068] The following will describe some embodiments of the present application 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.

[0069] 2 , which shows a flow chart of a method for controlling a cleaning device according to an embodiment of the present application, specifically comprising the following steps 210 to 220:

[0070] Step 210 : Control the cleaning device to rotate in a first predetermined direction and at a first predetermined angle to drive the first cleaning member to perform a first cleaning on a predetermined area.

[0071] 2 , step 220 is to control the cleaning device to rotate in a second predetermined direction and at a second predetermined angle to drive the second cleaning member to perform a second cleaning on the predetermined area. The second predetermined direction is opposite to the first predetermined direction.

[0072] It should be noted that when the cleaning device executes step 210, the first cleaning member is in an extended state, that is, the body of the cleaning device does not completely cover the first cleaning member; when the cleaning device executes step 220, the second cleaning member is in an extended state, that is, the body of the cleaning device does not completely cover the second cleaning member.

[0073] In some embodiments, the first predetermined direction may be a counterclockwise direction or a clockwise direction. It is understood that if the first predetermined direction is a clockwise direction, then the second predetermined direction is a counterclockwise direction.

[0074] In some embodiments, the first cleaning is adapted to the cleaning function of the first cleaning member, and the second cleaning is adapted to the cleaning function of the second cleaning member. For example, if the first cleaning member is a retractable side brush, then the retractable side brush is provided with a dust suction port, and thus the first cleaning is to clean the garbage in the predetermined area, and the cleaned garbage will enter the dust suction port; if the first cleaning member is a retractable mop, then the first cleaning is to mop the predetermined area.

[0075] In one embodiment, when the cleaning device is performing a cleaning task, upon detecting that the cleaning area includes a predetermined area, the cleaning device actively cleans the predetermined area, and then performs the above steps 210 and 220.

[0076] In another embodiment, after the cleaning device receives a cleaning instruction from a user to clean a predetermined area, the cleaning device may execute the above steps 210 and 220 while completing the cleaning instruction.

[0077] In one embodiment, the first predetermined angle and the second predetermined angle may be set by a user, such as through a client APP.

[0078] In another embodiment, the first predetermined angle and the second predetermined angle may be determined by executing the steps shown in FIG. 3 .

[0079] 3 , which shows a detailed flow chart of determining the first predetermined angle and the second predetermined angle according to an embodiment of the present application, specifically including the following steps 310 to 330:

[0080] Step 310: Acquire environmental data of the cleaning equipment.

[0081] In this embodiment, the cleaning equipment can collect environmental data of its own location based on the sensors installed on it, such as one or more visual sensors, line laser obstacle avoidance sensors, wall sensors, etc.; it can also obtain environmental data of its own location based on a pre-built cleaning map, or it can obtain the environmental data based on other methods. Specifically, this application does not limit this.

[0082] Continuing to refer to FIG. 3 , in step 320 , it is determined whether the cleaning area where the cleaning device is currently located includes the predetermined area based on the environmental data.

[0083] Continuing to refer to FIG. 3 , in step 330 , if the cleaning area where the cleaning device is currently located includes the predetermined area, the first predetermined angle is determined, and the second predetermined angle is determined.

[0084] In this application, when the cleaning equipment needs to clean a predetermined area, it will determine whether the cleaning area where the cleaning equipment is currently located includes the predetermined area to be cleaned through the acquired environmental data. If it is determined that the predetermined area is included, the first predetermined angle and the second predetermined angle will be determined.

[0085] It should be noted that the present application does not limit the specific timing and number of times of determining the first predetermined angle and the second predetermined angle.

[0086] In the first embodiment, for cleaning the predetermined area, the first predetermined angle and the second predetermined angle may be determined only once. For example, the first predetermined angle and the second predetermined angle are determined before cleaning the predetermined area, and then the first predetermined angle and the second predetermined angle are always used during the cleaning process of the predetermined area.

[0087] In the second embodiment, for cleaning a predetermined area, a first predetermined angle and a second predetermined angle are determined before cleaning the predetermined area. Thereafter, during the cleaning process of the predetermined area, the first predetermined angle and the second predetermined angle can be determined and updated according to a preset time interval or a preset cleaning distance interval.

[0088] In a third embodiment, for cleaning a predetermined area, a first predetermined angle and a second predetermined angle are determined before cleaning the predetermined area. Thereafter, during the cleaning of the predetermined area, if the first cleaning member and / or the second cleaning member encounter an obstacle during rotation, the first predetermined angle and the second predetermined angle are re-determined and updated again.

[0089] In the present application, the first predetermined angle may be determined by executing the steps shown in FIG. 4 .

[0090] 4 , which shows a detailed flowchart of determining the first predetermined angle according to an embodiment of the present application, specifically includes the following steps 410 to 430:

[0091] Step 410: Control the cleaning device to rotate in the first predetermined direction according to the first set angle.

[0092] In some embodiments, to accurately determine the first predetermined angle, upon detecting that the direction of the cleaning device's head is in the predetermined cleaning direction for cleaning the predetermined area, the cleaning device may be controlled to rotate in the first predetermined direction according to the first set angle. Specifically, step 410 may be executed after the cleaning device's beam 11 is parallel to the edge of the predetermined area.

[0093] It should be noted that in step 410, the magnitude of the first set angle is associated with the installation position of the first cleaning member in the cleaning device. When the cleaning device rotates in the first predetermined direction at the first set angle, the first cleaning member achieves the maximum cleaning coverage of the predetermined area. That is, the first set angle is the maximum effective angle at which the first cleaning member can clean the predetermined area. For example, the first set angle may be 45°.

[0094] The first set angle is described in detail below with reference to FIG. 5 .

[0095] In Figure 5, there is no obstacle in the predetermined area 14, such as the space under a low sofa. When the ray 11 of the cleaning device 10 is parallel to the edge 141 of the predetermined area 14, the predetermined area 14 is located on a side close to the first cleaning member 12 and the second cleaning member 13 of the cleaning device 10.

[0096] With clockwise as the first predetermined direction, the cleaning device 10 in (1) of FIG5 is controlled to start rotating clockwise in situ. During the clockwise rotation of the cleaning device 10 in situ, the first cleaning member 12 will gradually approach the predetermined area 14. When the clockwise rotation angle reaches angle a, the scene shown in (2) of FIG5 is presented, that is, the first cleaning member 12 begins to enter the predetermined area 14. Then, as the clockwise rotation angle of the cleaning device 10 in situ increases, the overlapping area between the first cleaning member 12 and the predetermined area 14 will gradually increase until the clockwise rotation angle in situ reaches angle a. The angle reaches angle b, presenting the scene shown in (3) in FIG4 , that is, the overlapping area between the first cleaning member 12 and the predetermined area 14 reaches a maximum value; if the cleaning device 10 is then controlled to rotate clockwise in situ, the first cleaning member 12 will gradually move away from the predetermined area 14, that is, the overlapping area between the first cleaning member 12 and the predetermined area 14 will gradually decrease, for example, presenting the scene shown in (4) in FIG5 , in (4) in FIG5 , the overlapping area between the first cleaning member 12 and the predetermined area 14 is smaller than the overlapping area corresponding to (3) in FIG5 .

[0097] Therefore, it can be understood that in FIG5 , the first set angle is angle b.

[0098] 4 , step 420 : during the rotation of the cleaning device, it is determined whether the first cleaning member collides with an obstacle.

[0099] It is understandable that there may be obstacles in the predetermined area. For example, in a kitchen cleaning scenario, if the edge area under the cabinet is used as the predetermined area, the first cleaning member may collide with the skirting board during rotation due to the presence of the cabinet skirting board in the predetermined area. Therefore, the skirting board is an obstacle in the predetermined area. For another example, if the space area under the sofa is used as the predetermined area, then when cleaning the predetermined area, the sofa legs under the sofa may also collide with the first cleaning member. Therefore, the sofa legs are also obstacles in the predetermined area.

[0100] In one embodiment, in step 420, determining whether the first cleaning member has collided with an obstacle can be performed using a first in-position detection device provided in the cleaning device. Specifically, if the detection data of the first in-position detection device changes, it is determined that the first cleaning member has collided with an obstacle; if the detection data of the first in-position detection device does not change, it is determined that the first cleaning member has not collided with an obstacle.

[0101] In this embodiment, the first in-position detection device may be installed on the first cleaning member.

[0102] In this embodiment, the first in-position detection device may be an in-position sensor, a potentiometer, or the like.

[0103] In this embodiment, it should be noted that the first in-place detection device can detect whether the first cleaning member collides with an obstacle. If the first cleaning member does not collide with the obstacle, the detection data of the first in-place detection device can reflect that the first cleaning member is in a non-in-place state. If the first cleaning member collides with the obstacle, the detection data of the first in-place detection device can reflect that the first cleaning member is in an in-place state. Furthermore, if it is detected that the detection data of the first in-place detection device changes from non-in-place state data to in-place state data, it is determined that the first cleaning member has collided with an obstacle.

[0104] In another embodiment, in step 420, determining whether the first cleaning member collides with an obstacle can also be achieved by performing the following steps: determining whether the first driving current that drives the first cleaning member to perform the cleaning action overcurrents; if the first driving current overcurrents, determining that the first cleaning member collides with an obstacle; if the first driving current does not overcurrent, determining that the first cleaning member does not collide with an obstacle.

[0105] In this embodiment, it should be noted that the first cleaning member generally requires a drive motor to perform a cleaning action. Therefore, it is possible to determine whether the first cleaning member has collided with an obstacle by detecting the first drive current of the drive motor corresponding to the first cleaning member. If the first cleaning member collides with an obstacle, the increased resistance may cause the first drive current to overcurrent.

[0106] To sum up, in the process of determining the first predetermined angle, the first in-place detection device or the first driving current can be used to determine whether the first cleaning member collides with an obstacle. Since the first in-place detection device and the driving motor corresponding to the first cleaning member are devices that have been configured in the cleaning equipment itself, in this application, the first predetermined angle is determined with the help of the devices already configured in the cleaning equipment without the need to add other devices, which can save the configuration cost of the cleaning equipment.

[0107] Continuing to refer to FIG. 4 , in step 430 , the first predetermined angle is determined based on whether the first cleaning member collides with an obstacle.

[0108] In one embodiment, if the first cleaning member does not collide with an obstacle, the first set angle is determined as the first predetermined angle.

[0109] It can be understood that if the first cleaning member is not detected to collide with an obstacle during the process of the cleaning device rotating in the first predetermined direction by the first set angle, it means that the first cleaning member will not collide with an obstacle when it extends into the predetermined area to reach the maximum overlapping area. Therefore, under this condition, the first set angle is determined as the first predetermined angle, which can not only ensure that the first cleaning member does not cause collision damage to the first cleaning member during the first cleaning of the predetermined area, but also achieve the maximum cleaning coverage of the predetermined area.

[0110] In another embodiment, if the first cleaning member collides with an obstacle, the angle at which the cleaning device has rotated in the first predetermined direction when the first cleaning member collides with the obstacle is obtained as a first reference angle; and the first predetermined angle is determined based on the first reference angle.

[0111] In this embodiment, specific implementations for determining the first predetermined angle based on the first reference angle include at least the following four implementations:

[0112] A first implementation manner: determining the first reference angle as the first predetermined angle.

[0113] A second implementation manner: adjusting the first reference angle to obtain the first predetermined angle, wherein the first predetermined angle is smaller than the first reference angle.

[0114] The first reference angle may be adjusted by subtracting a third set angle from the first reference angle to obtain a first predetermined angle. The third set angle may be a smaller angle value such as 0°, 1°, or 2°.

[0115] The first reference angle may also be adjusted by multiplying the first reference angle by a preset ratio to obtain the first predetermined angle. The preset ratio may be a value such as 1, 0.99, or 0.98.

[0116] Specifically, this application does not limit the method for adjusting the first reference angle. It is understandable that since the first cleaning member will collide with an obstacle when the cleaning device rotates at the first predetermined angle to reach the first reference angle, the first predetermined angle is adjusted to a smaller value so that the cleaning device can avoid colliding with obstacles within the predetermined area when subsequently cleaning the predetermined area, thereby effectively protecting the first cleaning member and furniture in the user's home.

[0117] A third embodiment is to control the cleaning device to rotate the first reference angle in the second predetermined direction; return to execute the step of controlling the cleaning device to rotate in the first predetermined direction until a set number of first reference angles are determined; adjust the first reference angle to obtain the first predetermined angle, and the first predetermined angle is smaller than the first reference angle.

[0118] In this embodiment, the set number can be 1, 2 or other numbers.

[0119] It can be understood that in this embodiment, if it is detected that the first cleaning member collides with an obstacle, then by controlling the cleaning device to rotate the first reference angle in the second predetermined direction, the cleaning device can be returned to the state when the first predetermined angle was initially determined, that is, the ray 11 of the cleaning device 10 is parallel to the edge of the predetermined area.

[0120] It can also be understood that in this embodiment, by controlling the cleaning device to repeatedly perform the step of rotating in the first predetermined direction, it is possible to avoid erroneous judgment when the cleaning device detects whether the first cleaning member collides with an obstacle, thereby improving the accuracy of the determined first predetermined angle.

[0121] A fourth implementation method is to control the cleaning device to rotate the first reference angle in the second predetermined direction; return to execute the step of controlling the cleaning device to rotate in the first predetermined direction until a set number of first reference angles are determined; and determine the first reference angle as the first predetermined angle.

[0122] Comparing the first embodiment described above, in which the first predetermined angle is determined based on the first reference angle, with the fourth embodiment, the first predetermined angle in the fourth embodiment is determined by controlling the cleaning device to repeatedly perform actions after the first cleaning member collides with the obstacle, whereas in the first embodiment, the first predetermined angle is determined directly after the first cleaning member collides with the obstacle. Furthermore, in neither the first nor the fourth embodiment does the first reference angle need to be adjusted.

[0123] Comparing the second embodiment described above, in which the first predetermined angle is determined based on the first reference angle, with the third embodiment, the first predetermined angle in the third embodiment is determined by controlling the cleaning device to repeatedly perform actions after the first cleaning member collides with the obstacle, whereas in the second embodiment, the first predetermined angle is determined directly after the first cleaning member collides with the obstacle. Furthermore, both the second and third embodiments adjust the first reference angle.

[0124] The following is an overall description of the embodiment of determining the first predetermined angle in this application with reference to FIG6 :

[0125] 6 , which shows a schematic diagram of a scenario for determining a first predetermined angle according to an embodiment of the present application.

[0126] In FIG6 , the first set angle is angle b.

[0127] In ( 1 ) of FIG. 6 , an obstacle 16 exists in the predetermined area 15 , and the ray 11 of the cleaning device 10 is parallel to the edge 161 of the predetermined area 15 .

[0128] When the cleaning device 10 is in the state shown in the (1) scene in FIG6 , the cleaning device 10 is controlled to rotate clockwise in place (i.e., the first predetermined direction) according to the angle b. During the clockwise rotation of the cleaning device 10 in place, it is determined whether the first cleaning member 12 collides with the obstacle 16. When the cleaning device 10 rotates clockwise in place by the angle A, it is determined that the first cleaning member 12 of the cleaning device 10 collides with the obstacle 16, presenting the state shown in the (2) scene in FIG6 . The first predetermined angle of the cleaning device 10 can then be determined based on the angle A.

[0129] In (3) in Figure 6, there is an obstacle 18 in the predetermined area 17, and the ray 11 of the cleaning device 10 is parallel to the edge 19 of the predetermined area 17. Comparing (3) in Figure 6 with (1) in Figure 6, assuming that the distance between the obstacle 16 in the predetermined area 15 and the edge 161 of the predetermined area 15 is the first distance, and the distance between the obstacle 18 in the predetermined area 17 and the edge 19 of the predetermined area 17 is the second distance, then the first distance is smaller than the second distance.

[0130] When the cleaning device 10 is in the state shown in the (3) scene in Figure 6, the cleaning device 10 is controlled to rotate clockwise on the spot according to the angle b, and during the clockwise rotation of the cleaning device 10 on the spot, it is determined whether the first cleaning member 12 collides with the obstacle 18. When the cleaning device 10 rotates clockwise on the spot by the angle b, it is still determined that the first cleaning member 12 does not collide with the obstacle 18, presenting the state shown in the (4) scene in Figure 6, and then the angle b can be directly used as the first predetermined angle of the cleaning device 10.

[0131] In summary, according to the first predetermined angle determined in the above embodiment, when the cleaning device performs the first cleaning on the predetermined area, it not only ensures that the first cleaning member does not scratch against obstacles, but also enables the first cleaning member to achieve maximum cleaning coverage of the predetermined area.

[0132] In the present application, the second predetermined angle may be determined through the steps shown in FIG. 7 .

[0133] 7 , which shows a detailed flowchart of determining the second predetermined angle according to an embodiment of the present application, specifically includes the following steps 710 to 730:

[0134] Step 710: Control the cleaning device to rotate in the second predetermined direction according to the second set angle.

[0135] In some embodiments, after the cleaning device completes determining the first predetermined angle, the cleaning device may be controlled to execute step 710. That is, when the cleaning device 10 begins to execute step 710, the state of the cleaning device 10 may be the state presented in the scene (2) in FIG. 6 , or the state presented in the scene (4) in FIG. 6 .

[0136] It should be noted that, in step 710, the second set angle is associated with the installation position of the second cleaning member in the cleaning device, and is associated with the determined first predetermined angle.

[0137] If the first predetermined angle is the first set angle, the second set angle is the sum of the fourth set angle and the first set angle.

[0138] If the first predetermined angle is obtained by the first reference angle, the second set angle is the sum of the first reference angle and the fourth set angle.

[0139] The magnitude of the fourth set angle is associated with the installation position of the second cleaning member in the cleaning device. When the cleaning device rotates in the second predetermined direction at the fourth set angle, the second cleaning member achieves maximum cleaning coverage of the predetermined area. That is, the fourth set angle is the maximum effective angle at which the second cleaning member can clean the predetermined area. For example, the second set angle may be 45°.

[0140] The fourth setting angle is described in detail below with reference to FIG. 8 .

[0141] In FIG8 , there is no obstacle in the predetermined area 20 . When the ray 11 of the cleaning device 10 is parallel to the edge 21 of the predetermined area 20 , the predetermined area 20 is located on a side close to the first cleaning member 12 and the second cleaning member 13 of the cleaning device 10 .

[0142] With the counterclockwise direction as the second predetermined direction, the cleaning device 10 in (1) of FIG8 is controlled to start rotating counterclockwise in situ. During the process of the cleaning device 10 rotating counterclockwise in situ, the second cleaning member 13 will first gradually approach the predetermined area 20. When the counterclockwise rotation angle reaches angle d, the scene shown in (2) of FIG8 is presented, that is, the second cleaning member 13 begins to enter the predetermined area 20. Then, as the counterclockwise rotation angle of the cleaning device 10 in situ increases, the overlapping area between the second cleaning member 13 and the predetermined area 20 will gradually increase until the cleaning device 10 rotates counterclockwise in situ. When the angle reaches angle e, the scene shown in (3) in Figure 8 is presented, that is, the overlapping area between the second cleaning member 13 and the predetermined area 20 reaches a maximum value; if the cleaning device 10 is then controlled to rotate counterclockwise in place, the second cleaning member 13 will gradually move away from the predetermined area 20, that is, the overlapping area between the second cleaning member 13 and the predetermined area 20 will gradually decrease, for example, the scene shown in (4) in Figure 8 is presented. In (4) in Figure 8, the overlapping area between the second cleaning member 13 and the predetermined area 20 is smaller than the corresponding overlapping area in (3) in Figure 8.

[0143] Therefore, it can be understood that in FIG8 , the fourth set angle is angle e.

[0144] Furthermore, if the first predetermined angle is the first set angle, the sum of the first set angle and angle e can be used as the second set angle; if the first predetermined angle is not the first set angle, the sum of the first reference angle and angle e can be used as the second set angle.

[0145] Continuing to refer to FIG. 7 , in step 720 , during the rotation of the cleaning device, it is determined whether the second cleaning member collides with an obstacle.

[0146] It is understandable that there may be obstacles in the predetermined area. Therefore, when the cleaning device rotates in the second predetermined direction, the second cleaning member may collide with the obstacles.

[0147] In one embodiment, in step 720, determining whether the second cleaning member has collided with an obstacle can be performed using a second in-place detection device provided in the cleaning device. Specifically, if the detection data of the second in-place detection device changes, it is determined that the second cleaning member has collided with an obstacle; if the detection data of the second in-place detection device does not change, it is determined that the second cleaning member has not collided with an obstacle.

[0148] In this embodiment, the second in-position detection device may be installed on the second cleaning member.

[0149] In this embodiment, the second in-place detection device may be an in-place sensor, a potentiometer, or the like.

[0150] In this embodiment, it should be noted that the second in-place detection device can detect whether the second cleaning member collides with an obstacle. If the second cleaning member does not collide with the obstacle, the detection data of the second in-place detection device can reflect that the second cleaning member is in a non-in-place state. If the second cleaning member collides with the obstacle, the detection data of the second in-place detection device can reflect that the second cleaning member is in an in-place state. Furthermore, if it is detected that the detection data of the second in-place detection device changes from non-in-place state data to in-place state data, it is determined that the second cleaning member has collided with an obstacle.

[0151] In another embodiment, in step 720, determining whether the second cleaning member collides with an obstacle can also be achieved by performing the following steps: determining whether the second driving current that drives the second cleaning member to perform the cleaning action overcurrents; if the second driving current overcurrents, determining that the second cleaning member collides with an obstacle; if the second driving current does not overcurrent, determining that the second cleaning member does not collide with an obstacle.

[0152] In this embodiment, it should be noted that the second cleaning member generally requires a drive motor to perform a cleaning action. Therefore, it is possible to determine whether the second cleaning member has collided with an obstacle by detecting the second drive current of the drive motor corresponding to the second cleaning member. If the second cleaning member collides with an obstacle, the increased resistance may cause the second drive current to overcurrent.

[0153] To sum up, in the process of determining the second predetermined angle, the second in-place detection device or the second driving current can be used to determine whether the second cleaning member collides with an obstacle. Since the second in-place detection device and the driving motor corresponding to the second cleaning member are devices already configured in the cleaning equipment itself, in this application, the second predetermined angle is determined with the help of the devices already configured in the cleaning equipment without the need to add other devices, which can save the configuration cost of the cleaning equipment.

[0154] Continuing to refer to FIG. 7 , in step 730 , the second predetermined angle is determined according to whether the second cleaning member collides with an obstacle.

[0155] In one embodiment, if the second cleaning member does not collide with the obstacle, the second set angle is determined as the second predetermined angle.

[0156] It can be understood that if the second cleaning member is not detected to collide with an obstacle during the process of the cleaning device rotating in the second predetermined direction by the second set angle, it means that the second cleaning member will not collide with an obstacle when it extends into the predetermined area to reach the maximum overlapping area. Therefore, under this condition, the second set angle is determined as the second predetermined angle, which can not only ensure that the second cleaning member does not cause collision damage during the second cleaning of the predetermined area, but also achieve the maximum cleaning coverage of the predetermined area.

[0157] In another embodiment, if the second cleaning member collides with an obstacle, the angle at which the cleaning device has rotated in the second predetermined direction when the second cleaning member collides with the obstacle is obtained as a second reference angle; and the second predetermined angle is determined based on the second reference angle.

[0158] In this embodiment, specific implementations of determining the second predetermined angle based on the second reference angle include at least the following four implementations:

[0159] A first implementation manner: determining the second reference angle as the second predetermined angle.

[0160] A second implementation manner: adjusting the second reference angle to obtain the second predetermined angle, wherein the second predetermined angle is smaller than the second reference angle.

[0161] The second reference angle may be adjusted by subtracting a third set angle from the second reference angle to obtain a second predetermined angle. The third set angle may be a smaller angle value such as 0°, 1°, or 2°.

[0162] The second reference angle may also be adjusted by multiplying the second reference angle by a preset ratio to obtain a second predetermined angle. The preset ratio may be a value such as 1, 0.99, or 0.98.

[0163] Specifically, this application does not limit the method for adjusting the second reference angle. It is understandable that since the second cleaning member will collide with an obstacle when the cleaning device rotates at the second predetermined angle to reach the second reference angle, the second predetermined angle is adjusted to a smaller value, so that the cleaning device can avoid scratching obstacles in the predetermined area when subsequently cleaning the predetermined area, thereby effectively protecting the second cleaning member and furniture in the user's home.

[0164] A third embodiment is to control the cleaning device to rotate the second reference angle in the first predetermined direction; return to execute the step of controlling the cleaning device to rotate in the second predetermined direction until a set number of second reference angles are determined; adjust the second reference angle to obtain the second predetermined angle, and the second predetermined angle is smaller than the second reference angle.

[0165] In this embodiment, the set number can be 1, 2 or other numbers.

[0166] It can be understood that in this embodiment, if it is detected that the second cleaning member collides with an obstacle when the cleaning device rotates to the second reference angle, then by controlling the cleaning device to rotate the second reference angle in the first predetermined direction, the cleaning device can be returned to the state when the second predetermined angle was initially determined, that is, the state of the cleaning device when the first predetermined angle was determined.

[0167] It can also be understood that in this embodiment, by controlling the cleaning device to repeatedly perform the step of rotating in the second predetermined direction, it is possible to avoid erroneous judgment when the cleaning device detects whether the second cleaning member collides with an obstacle, thereby improving the accuracy of the determined second predetermined angle.

[0168] A fourth implementation method is to control the cleaning device to rotate in the first predetermined direction to the second reference angle; return to execute the step of controlling the cleaning device to rotate in the second predetermined direction until a set number of second reference angles are determined; and determine the second reference angle as the second predetermined angle.

[0169] Comparing the first embodiment, which determines the second predetermined angle based on the second reference angle, with the fourth embodiment, the second predetermined angle in the fourth embodiment is determined by controlling the cleaning device to repeatedly perform actions after the second cleaning member collides with the obstacle, while in the first embodiment, the second predetermined angle is determined directly after the second cleaning member collides with the obstacle. Furthermore, in neither the first nor the fourth embodiment, the second reference angle is adjusted.

[0170] Comparing the second embodiment described above, in which the second predetermined angle is determined based on the second reference angle, with the third embodiment, the second predetermined angle in the third embodiment is determined by controlling the cleaning device to repeatedly perform actions after the second cleaning member collides with the obstacle, whereas in the second embodiment, the second predetermined angle is determined directly after the second cleaning member collides with the obstacle. Furthermore, both the second and third embodiments involve adjusting the second reference angle.

[0171] The following is a detailed description of the embodiment of determining the second predetermined angle in the present application with reference to FIG9 :

[0172] 9 , which shows a schematic diagram of a scenario for determining a second predetermined angle according to an embodiment of the present application.

[0173] In FIG. 9 , the fourth setting angle is angle D, and it is assumed that the first setting angle is angle b.

[0174] The state shown in the scene (1) in Figure 9 is: the cleaning device 10 has completed the determination of the first predetermined angle. Since the distance between the obstacle 16 in the predetermined area 15 and the edge 161 of the predetermined area 15 is small, the cleaning device 10 determines that the first cleaning member 12 has collided with the obstacle 16 after rotating clockwise by angle A in place. Therefore, for the scene shown in (1) in Figure 9, the first predetermined angle is determined for the cleaning device 10 based on angle A. Therefore, in the process of determining the second predetermined angle, the second set angle is the sum of angle A and angle D.

[0175] When the cleaning device 10 is in the state shown in the (1) scene in FIG9 , the cleaning device 10 is controlled to rotate counterclockwise in place (i.e., in the second predetermined direction) according to the second set angle (the sum of angle A and angle D), and during the counterclockwise rotation of the cleaning device 10 in place, it is determined whether the second cleaning member 13 collides with the obstacle 16. When the cleaning member 10 rotates counterclockwise in place by angle A + angle B, it is determined that the second cleaning member 13 of the cleaning device 10 has collided with the obstacle 16, presenting the state shown in the (2) scene in FIG9 . Then, angle A + angle B is the second reference angle, and the second predetermined angle can be determined based on angle A + angle B.

[0176] The state shown in the scene (3) in Figure 9 is: the cleaning device 10 has completed the determination of the first predetermined angle. Since the distance between the obstacle 18 in the predetermined area 17 and the edge 19 of the predetermined area 17 is large, the cleaning device 10 rotates clockwise by an angle b (the first set angle) in situ, and then determines that the first cleaning member 12 has not collided with the obstacle 18. Therefore, for the scene shown in (3) in Figure 9, the second set angle is determined for the cleaning device 10 based on the angle b, and the second set angle is the sum of the angle b and the angle D.

[0177] When the cleaning device 10 is in the state shown in the (3) scene in Figure 9, the cleaning device 10 is controlled to rotate counterclockwise on the spot according to the second set angle, and during the counterclockwise rotation of the cleaning device 10 on the spot, it is determined whether the second cleaning member 13 collides with the obstacle 18. When the cleaning device 10 rotates counterclockwise on the spot by angle b + angle D, it is still determined that the second cleaning member 13 does not collide with the obstacle 18, presenting the state shown in the (4) scene in Figure 9, and then the angle b + angle D can be directly used as the second predetermined angle of the cleaning device 10.

[0178] In summary, according to the second predetermined angle determined in the above embodiment, when the cleaning device performs the second cleaning on the predetermined area, it not only ensures that the second cleaning member does not collide with obstacles, but also enables the second cleaning member to achieve maximum cleaning coverage of the predetermined area.

[0179] In this application, after completing the above step 220, the following steps 230 to 240 may also be performed:

[0180] Step 230: Control the cleaning device to move a set distance in a predetermined cleaning direction.

[0181] Step 240 , returning to the step of controlling the cleaning device to rotate in a first predetermined direction by a first predetermined angle until the cleaning of the predetermined area is completed or an obstacle is detected in the predetermined cleaning direction.

[0182] In this embodiment, in order to further improve the cleaning coverage of the cleaning device for the predetermined area, the set distance can be set to be smaller, such as 9 cm, 10 cm, 11 cm, etc.

[0183] It should be noted that, in this embodiment, if an obstacle is detected in the predetermined cleaning direction of the cleaning device, the cleaning device needs to be controlled to execute a cleaning strategy to avoid the obstacle. Furthermore, after bypassing the obstacle, the predetermined area can continue to be cleaned.

[0184] In this embodiment, the predetermined cleaning direction may be the direction of the edge of the predetermined area. For example, in the scenario shown in (1) in FIG9 , the predetermined cleaning direction is parallel to the edge 161 of the predetermined area 15 , so that the cleaning device can move along the edge 161 , and after moving a set distance, by executing steps 210 and 220 again, the first cleaning member and the second cleaning member perform the first cleaning and the second cleaning on different positions of the predetermined area.

[0185] It should be noted that, in this embodiment, after the cleaning device completes step 230 , it may perform other actions before performing step 240 .

[0186] For example, if after executing step 230, the cleaning device detects that the first cleaning member collides with an obstacle while the cleaning device rotates by a first predetermined angle in a first predetermined direction, or detects that the second cleaning member collides with an obstacle while the cleaning device rotates by a second predetermined angle in a second predetermined direction, then new first predetermined angles and second predetermined angles can be re-determined for the cleaning device, and step 240 can be executed after the new first predetermined angles and second predetermined angles are determined.

[0187] For example, after executing step 230, the cleaning device is controlled to first determine the first predetermined angle and the second predetermined angle, and then the cleaning device is controlled to execute step 240, that is, after the cleaning device moves a set distance along the predetermined cleaning direction, the first predetermined angle and the second predetermined angle are first determined, and then the first cleaning member is controlled to perform the first cleaning on the predetermined area, and the second cleaning member is controlled to perform the second cleaning on the predetermined area.

[0188] An embodiment of the present application will be described in detail below with reference to FIG10 .

[0189] The cleaning device 10 determines that the predetermined area 23 needs to be cleaned. When the cleaning device 10 moves to position 1 of the predetermined area 23, as shown in the scene (1) in Figure 10, the cleaning device 10 is controlled to determine the first predetermined angle and the second predetermined angle.

[0190] After determining the first predetermined angle and the second predetermined angle, the cleaning device 10 is controlled to move a set distance along the predetermined cleaning direction 22, so that the cleaning device 10 moves to position 2 of the predetermined area 23, as shown in the state of the (2) scene in Figure 10, and the cleaning device 10 is continued to be controlled to rotate in a clockwise direction (i.e., the first predetermined direction) by the first predetermined angle, so that the first cleaning member 12 performs a first cleaning on the predetermined area 23. After completing the first cleaning of the predetermined area 23, the state is presented as shown in the (3) scene in Figure 10.

[0191] Furthermore, the cleaning device 10 is continued to be controlled to rotate in a counterclockwise direction (i.e., a second predetermined direction) so that the second cleaning member 13 performs a second cleaning on the predetermined area 23. After completing the second cleaning of the predetermined area 23, the cleaning device 10 presents the state shown in the (4) scene in Figure 10.

[0192] Furthermore, the moving direction of the cleaning device 10 is adjusted to be consistent with the predetermined cleaning direction, that is, the cleaning device 10 in (4) in FIG. 10 is controlled to rotate clockwise in situ, so as to reach the state shown in the scene (5) in FIG. 10 .

[0193] Furthermore, the cleaning device 10 is controlled to move a set distance in the predetermined cleaning direction 22 to reach position 3 of the predetermined area 23 , and then the first cleaning member and the second cleaning member can continue to perform the first cleaning and the second cleaning at position 3 of the predetermined area 23 .

[0194] To sum up, based on the technical solution of the present application, the first cleaning member and the second cleaning member of the cleaning equipment can be controlled to perform the first cleaning and the second cleaning on the predetermined area at different positions in the predetermined area, and during the first cleaning and the second cleaning process, since the cleaning is performed according to the first predetermined angle and the second predetermined angle, the predetermined area can be covered and cleaned to the greatest extent.

[0195] In the technical solutions provided in some embodiments of the present application, in the process of controlling a cleaning device including a first cleaning member and a second cleaning member to clean a predetermined area, it includes: controlling the cleaning device to rotate in a first predetermined direction by a first predetermined angle to drive the first cleaning member to perform a first cleaning on the predetermined area; and controlling the cleaning device to rotate in a second predetermined direction by a second predetermined angle to drive the second cleaning member to perform a second cleaning on the predetermined area, the second predetermined direction being opposite to the first predetermined direction.

[0196] In the present application, when the cleaning device rotates in a first predetermined direction, the first cleaning member is synchronously driven to rotate, so that during the rotation of the first cleaning member, the first cleaning member can perform a first cleaning of the predetermined area. Similarly, when the cleaning device rotates in a second predetermined direction, the second cleaning member is synchronously driven to rotate, so that during the rotation of the second cleaning member, the second cleaning member can perform a second cleaning of the low space. Therefore, based on the technical solution of the present application, by utilizing the rotation of the cleaning device in different directions to prompt the first cleaning member and the second cleaning member to clean the predetermined area, the cleaning coverage rate of the cleaning device for cleaning the predetermined area can be improved, thereby improving the user experience of the cleaning device.

[0197] Based on the same inventive concept, the present application provides a control device for a cleaning device, which can be used to execute the control method for the cleaning device in the above-mentioned embodiment of the present application. For details not disclosed in the present application embodiment, please refer to the embodiment of the control method for the cleaning device in the above-mentioned embodiment of the present application.

[0198] 11 , which shows a block diagram of a control device for a cleaning device according to an embodiment of the present application, wherein the cleaning device includes a first cleaning member and a second cleaning member.

[0199] As shown in FIG11 , a control device 1100 for a cleaning device according to an embodiment of the present application includes a first control unit 1101 and a second control unit 1102 .

[0200] Among them, the first control unit 1101 is used to control the cleaning device to rotate in a first predetermined direction by a first predetermined angle to drive the first cleaning member to perform a first cleaning on the predetermined area; the second control unit 1102 is used to control the cleaning device to rotate in a second predetermined direction by a second predetermined angle to drive the second cleaning member to perform a second cleaning on the predetermined area, and the second predetermined direction is opposite to the first predetermined direction.

[0201] In some embodiments of the present application, based on the aforementioned scheme, the control device of the cleaning equipment also includes a determination unit, which is used to: obtain environmental data of the cleaning equipment; determine whether the cleaning area where the cleaning equipment is currently located includes the predetermined area based on the environmental data; if the cleaning area where the cleaning equipment is currently located includes the predetermined area, determine the first predetermined angle, and determine the second predetermined angle.

[0202] In some embodiments of the present application, based on the aforementioned scheme, the determination unit is also used to: control the cleaning device to rotate in the first predetermined direction according to a first set angle; determine whether the first cleaning member collides with an obstacle during the rotation of the cleaning device; and determine the first predetermined angle based on whether the first cleaning member collides with an obstacle.

[0203] In some embodiments of the present application, based on the aforementioned solution, the cleaning device further includes a first in-place detection device, and the determination unit is further configured to determine that the first cleaning member collides with an obstacle if detection data of the first in-place detection device changes.

[0204] In some embodiments of the present application, based on the aforementioned scheme, the determination unit is further used to: determine whether the first driving current that drives the first cleaning member to perform the cleaning action overcurrents; if the first driving current overcurrents, determine that the first cleaning member collides with an obstacle.

[0205] In some embodiments of the present application, based on the aforementioned scheme, the determination unit is also used to: if the first cleaning member collides with an obstacle, obtain the angle by which the cleaning device has rotated in the first predetermined direction when the first cleaning member collides with the obstacle as a first reference angle; and determine the first predetermined angle based on the first reference angle.

[0206] In some embodiments of the present application, based on the aforementioned scheme, the determination unit is also used to: control the cleaning device to rotate the first reference angle in the second predetermined direction; return to execute the step of controlling the cleaning device to rotate in the first predetermined direction until a set number of first reference angles are determined; adjust the first reference angle to obtain the first predetermined angle, and the first predetermined angle is less than or equal to the first reference angle.

[0207] In some embodiments of the present application, based on the aforementioned scheme, the determination unit is also used to: control the cleaning device to rotate the first reference angle in the second predetermined direction; return to execute the step of controlling the cleaning device to rotate in the first predetermined direction until a set number of first reference angles are determined; and determine the first reference angle as the first predetermined angle.

[0208] In some embodiments of the present application, based on the aforementioned solution, the determining unit is further configured to: determine the first set angle as the first predetermined angle if the first cleaning member does not collide with an obstacle.

[0209] In some embodiments of the present application, based on the aforementioned scheme, the determination unit is also used to: control the cleaning device to rotate in the second predetermined direction according to a second set angle; determine whether the second cleaning member collides with an obstacle during the rotation of the cleaning device; and determine the second predetermined angle based on whether the second cleaning member collides with an obstacle.

[0210] In some embodiments of the present application, based on the aforementioned solution, the cleaning device further includes a second in-place detection device, and the determination unit is further configured to determine that the second cleaning member collides with an obstacle if detection data of the second in-place detection device changes.

[0211] In some embodiments of the present application, based on the aforementioned scheme, the determination unit is further used to: determine whether the second driving current that drives the second cleaning member to perform the cleaning action overcurrents; if the second driving current overcurrents, determine that the second cleaning member collides with an obstacle.

[0212] In some embodiments of the present application, based on the aforementioned scheme, the determination unit is also used to: if the second cleaning member collides with an obstacle, obtain the angle by which the cleaning device has rotated in the second predetermined direction when the second cleaning member collides with the obstacle as a second reference angle; and determine the second predetermined angle based on the second reference angle.

[0213] In some embodiments of the present application, based on the aforementioned scheme, the determination unit is also used to: control the cleaning device to rotate the second reference angle in the first predetermined direction; return to execute the step of controlling the cleaning device to rotate in the second predetermined direction until a set number of second reference angles are determined; adjust the second reference angle to obtain the second predetermined angle, and the second predetermined angle is less than or equal to the second reference angle.

[0214] In some embodiments of the present application, based on the aforementioned scheme, the determination unit is also used to: control the cleaning device to rotate the second reference angle in the first predetermined direction; return to execute the step of controlling the cleaning device to rotate in the second predetermined direction until a set number of second reference angles are determined; and determine the second reference angle as the second predetermined angle.

[0215] In some embodiments of the present application, based on the aforementioned solution, the determining unit is further configured to: determine the second set angle as the second predetermined angle if the second cleaning member does not collide with an obstacle.

[0216] In some embodiments of the present application, based on the aforementioned scheme, the determination unit is also used to: control the cleaning device to travel a set distance in a predetermined cleaning direction; return to execute the step of controlling the cleaning device to rotate a first predetermined angle in a first predetermined direction until the cleaning of the predetermined area is completed, or an obstacle is detected in the predetermined cleaning direction.

[0217] In some embodiments of the present application, based on the aforementioned solution, the predetermined area includes a low space area.

[0218] In some embodiments of the present application, based on the aforementioned solution, the spatial height of the low space area is less than or equal to the body height of the cleaning equipment.

[0219] Based on the same inventive concept, an embodiment of the present application 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 method described above.

[0220] Based on the same inventive concept, embodiments of the present application further provide a computer program product or computer program, which includes computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the computer device to perform the control method for the cleaning device described in the above embodiments.

[0221] Based on the same inventive concept, an embodiment of the present application also provides a cleaning device.

[0222] Referring to Figure 12, a structural schematic diagram of a cleaning device according to an embodiment of the present application is shown, wherein the cleaning device includes a first cleaning member and a second cleaning member. The cleaning device also includes one or more memories 1204, one or more processors 1202, and at least one computer program (computer program instruction) stored on the memory 1204 and executable on the processor 1202. When the processor 1202 executes the computer program, the method described above is implemented.

[0223] In FIG12 , a bus architecture (represented by bus 1200) is shown. Bus 1200 may include any number of interconnected buses and bridges. Bus 1200 links various circuits together, including one or more processors represented by processor 1202 and memory represented by memory 1204. Bus 1200 may also link various other circuits together, 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 1205 provides an interface between bus 1200 and receiver 1201 and transmitter 1203. Receiver 1201 and transmitter 1203 may be the same component, namely a transceiver, which provides a unit for communicating with various other devices over a transmission medium. Processor 1202 is responsible for managing bus 1200 and general processing, while memory 1204 may be used to store data used by processor 1202 when performing operations.

[0224] 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 as one or more instructions or codes on or transmitted via a computer-readable medium. Other examples and implementations are within the scope and spirit of this application 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.

[0225] In the several embodiments provided in this application, 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.

[0226] 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.

[0227] 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 application 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 execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disk or optical disk, etc. Various media that can store computer program instructions.

[0228] In the present application, when the cleaning device rotates in a first predetermined direction, the first cleaning member will be driven to rotate synchronously, so that during the rotation of the first cleaning member, the first cleaning member will perform a first cleaning on the predetermined area. Similarly, when the cleaning device rotates in a second predetermined direction, the second cleaning member will be driven to rotate synchronously, so that during the rotation of the second cleaning member, the second cleaning member will perform a second cleaning on the low space. Therefore, based on the technical solution of the present application, the first cleaning member and the second cleaning member are prompted to clean the predetermined area by utilizing the rotation of the cleaning device in different directions, thereby improving the cleaning coverage rate of the cleaning device for cleaning the predetermined area, thereby improving the user experience of the cleaning device.

[0229] The foregoing is merely an embodiment of the present application and is not intended to limit the present application. Various modifications and variations are possible for those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present application shall be included within the scope of the claims of the present application.

Claims

1. A method for controlling a cleaning device, wherein: The cleaning device includes a first cleaning member and a second cleaning member, and the method includes: Controlling the cleaning device to rotate in a first predetermined direction and at a first predetermined angle to drive the first cleaning member to perform a first cleaning on a predetermined area; The cleaning device is controlled to rotate in a second predetermined direction and at a second predetermined angle to drive the second cleaning member to perform a second cleaning on the predetermined area, wherein the second predetermined direction is opposite to the first predetermined direction.

2. The method according to claim 1, wherein The method further comprises: Obtaining environmental data of the cleaning equipment; Based on the environmental data, determining whether the cleaning area currently located by the cleaning device includes the predetermined area; If the cleaning area where the cleaning device is currently located includes the predetermined area, the first predetermined angle is determined, and the second predetermined angle is determined.

3. The method according to claim 2, wherein: The determining the first predetermined angle includes: According to a first set angle, controlling the cleaning device to rotate in the first predetermined direction; During the rotation of the cleaning device, determining whether the first cleaning member collides with an obstacle; The first predetermined angle is determined according to whether the first cleaning member collides with an obstacle.

4. The method according to claim 3, wherein: The cleaning device further includes a first in-position detection device, and the determining whether the first cleaning member collides with an obstacle includes: If the detection data of the first in-position detection device changes, it is determined that the first cleaning member collides with an obstacle.

5. The method according to claim 3, wherein The determining whether the first cleaning member collides with an obstacle includes: determining whether an overcurrent occurs in a first driving current for driving the first cleaning member to perform a cleaning action; If the first driving current overflows, it is determined that the first cleaning member collides with an obstacle.

6. The method according to claim 3, wherein: The determining of the first predetermined angle according to whether the first cleaning member collides with an obstacle includes: If the first cleaning member collides with an obstacle, obtaining an angle at which the cleaning device has rotated in the first predetermined direction when the first cleaning member collides with the obstacle as a first reference angle; Based on the first reference angle, the first predetermined angle is determined.

7. The method according to claim 6, wherein: The determining the first predetermined angle based on the first reference angle includes: Controlling the cleaning device to rotate the first reference angle in the second predetermined direction; Returning to the step of controlling the cleaning device to rotate in the first predetermined direction until a set number of first reference angles are determined; The first reference angle is adjusted to obtain the first predetermined angle, where the first predetermined angle is smaller than the first reference angle.

8. The method according to claim 6, wherein: The determining the first predetermined angle based on the first reference angle includes: Controlling the cleaning device to rotate the first reference angle in the second predetermined direction; Returning to the step of controlling the cleaning device to rotate in the first predetermined direction until a set number of first reference angles are determined; The first reference angle is determined as the first predetermined angle.

9. The method according to claim 3, wherein: The determining of the first predetermined angle according to whether the first cleaning member collides with an obstacle includes: If the first cleaning member does not collide with an obstacle, the first set angle is determined as the first predetermined angle.

10. The method according to claim 2, wherein: The determining the second predetermined angle includes: According to a second set angle, controlling the cleaning device to rotate in the second predetermined direction; During the rotation of the cleaning device, determining whether the second cleaning member collides with an obstacle; The second predetermined angle is determined according to whether the second cleaning member collides with an obstacle.

11. The method according to claim 10, wherein: The cleaning device further includes a second in-position detection device, and the determining whether the second cleaning member collides with an obstacle includes: If the detection data of the second in-position detection device changes, it is determined that the second cleaning member collides with an obstacle.

12. The method according to claim 10, wherein: The determining whether the second cleaning member collides with an obstacle includes: determining whether an overcurrent occurs in a second driving current for driving the second cleaning member to perform a cleaning action; If the second driving current overflows, it is determined that the second cleaning member collides with an obstacle.

13. The method according to claim 10, wherein: The determining of the second predetermined angle according to whether the second cleaning member collides with an obstacle includes: If the second cleaning member collides with an obstacle, obtaining an angle at which the cleaning device has rotated in the second predetermined direction when the second cleaning member collides with the obstacle as a second reference angle; Based on the second reference angle, the second predetermined angle is determined.

14. The method according to claim 13, wherein: The determining the second predetermined angle based on the second reference angle includes: Controlling the cleaning device to rotate according to the first predetermined direction and the second reference angle; Returning to the step of controlling the cleaning device to rotate in the second predetermined direction until a set number of second reference angles are determined; The second reference angle is adjusted to obtain the second predetermined angle, where the second predetermined angle is smaller than the second reference angle.

15. The method according to claim 13, wherein: The determining the second predetermined angle based on the second reference angle includes: Controlling the cleaning device to rotate according to the first predetermined direction and the second reference angle; Returning to the step of controlling the cleaning device to rotate in the second predetermined direction until a set number of second reference angles are determined; The second reference angle is determined as the second predetermined angle.

16. The method according to claim 10, wherein The determining of the second predetermined angle according to whether the second cleaning member collides with an obstacle includes: If the second cleaning member does not collide with the obstacle, the second set angle is determined as the second predetermined angle.

17. The method according to claim 1, wherein After controlling the cleaning device to rotate in a second predetermined direction and by a second predetermined angle, the method further includes: Controlling the cleaning device to travel a set distance in a predetermined cleaning direction; The step of controlling the cleaning device to rotate in a first predetermined direction and by a first predetermined angle is returned to execution until the cleaning of the predetermined area is completed or an obstacle is detected in the predetermined cleaning direction.

18. The method according to any one of claims 1 to 17, wherein: The predetermined area includes a low-lying space area.

19. The method according to claim 18, wherein The space height of the low space area is less than or equal to the body height of the cleaning equipment.

20. A control device for a cleaning device, wherein: The cleaning device comprises a first cleaning member and a second cleaning member, and the device comprises: a first control unit, configured to control the cleaning device to rotate in a first predetermined direction and by a first predetermined angle, so as to drive the first cleaning member to perform a first cleaning on a predetermined area; The second control unit is used to control the cleaning device to rotate in a second predetermined direction and at a second predetermined angle to drive the second cleaning member to perform a second cleaning on the predetermined area, wherein the second predetermined direction is opposite to the first predetermined direction.

21. The device according to claim 20, wherein The device further comprises: A determining unit, wherein the determining unit is configured to: Obtaining environmental data of the cleaning equipment; Based on the environmental data, determining whether the cleaning area currently located by the cleaning device includes the predetermined area; If the cleaning area where the cleaning device is currently located includes the predetermined area, the first predetermined angle is determined, and the second predetermined angle is determined.

22. The device according to claim 21, wherein The determining unit is further configured to: According to a first set angle, controlling the cleaning device to rotate in the first predetermined direction; During the rotation of the cleaning device, determining whether the first cleaning member collides with an obstacle; The first predetermined angle is determined according to whether the first cleaning member collides with an obstacle.

23. The device according to claim 22, wherein The cleaning device further includes a first in-place detection device, and the determination unit is further configured to: If the detection data of the first in-position detection device changes, it is determined that the first cleaning member collides with an obstacle.

24. The apparatus according to claim 22, wherein The determining unit is further configured to: determining whether an overcurrent occurs in a first driving current for driving the first cleaning member to perform a cleaning action; If the first driving current overflows, it is determined that the first cleaning member collides with an obstacle.

25. The apparatus according to claim 22, wherein The determining unit is further configured to: If the first cleaning member collides with an obstacle, obtaining an angle at which the cleaning device has rotated in the first predetermined direction when the first cleaning member collides with the obstacle as a first reference angle; Based on the first reference angle, the first predetermined angle is determined.

26. The device according to claim 25, wherein The determining unit is further configured to: Controlling the cleaning device to rotate the first reference angle in the second predetermined direction; Returning to the step of controlling the cleaning device to rotate in the first predetermined direction until a set number of first reference angles are determined; The first reference angle is adjusted to obtain the first predetermined angle, where the first predetermined angle is less than or equal to the first reference angle.

27. The apparatus according to claim 25, wherein The determining unit is further configured to: Controlling the cleaning device to rotate the first reference angle in the second predetermined direction; Returning to the step of controlling the cleaning device to rotate in the first predetermined direction until a set number of first reference angles are determined; The first reference angle is determined as the first predetermined angle.

28. The apparatus according to claim 22, wherein The determining unit is further configured to: If the first cleaning member does not collide with an obstacle, the first set angle is determined as the first predetermined angle.

29. The apparatus according to claim 21, wherein The determining unit is further configured to: According to a second set angle, controlling the cleaning device to rotate in the second predetermined direction; During the rotation of the cleaning device, determining whether the second cleaning member collides with an obstacle; The second predetermined angle is determined according to whether the second cleaning member collides with an obstacle.

30. The apparatus according to claim 29, wherein The cleaning device further includes a second in-place detection device, and the determination unit is further configured to: If the detection data of the second in-position detection device changes, it is determined that the second cleaning member collides with an obstacle.

31. The apparatus according to claim 29, wherein The determining unit is further configured to: determining whether an overcurrent occurs in a second driving current for driving the second cleaning member to perform a cleaning action; If the second driving current overflows, it is determined that the second cleaning member collides with an obstacle.

32. The apparatus of claim 29, wherein: The determining unit is further configured to: If the second cleaning member collides with an obstacle, obtaining an angle at which the cleaning device has rotated in the second predetermined direction when the second cleaning member collides with the obstacle as a second reference angle; Based on the second reference angle, the second predetermined angle is determined.

33. The apparatus according to claim 32, wherein the determining unit is further configured to: Controlling the cleaning device to rotate according to the first predetermined direction and the second reference angle; Returning to the step of controlling the cleaning device to rotate in the second predetermined direction until a set number of second reference angles are determined; The second reference angle is adjusted to obtain the second predetermined angle, where the second predetermined angle is less than or equal to the second reference angle.

34. The apparatus according to claim 32, wherein the determining unit is further configured to: Controlling the cleaning device to rotate according to the first predetermined direction and the second reference angle; Returning to the step of controlling the cleaning device to rotate in the second predetermined direction until a set number of second reference angles are determined; The second reference angle is determined as the second predetermined angle.

35. The apparatus of claim 29, wherein The determining unit is further configured to: If the second cleaning member does not collide with the obstacle, the second set angle is determined as the second predetermined angle.

36. The apparatus of claim 20, wherein: The determining unit is further configured to: Controlling the cleaning device to travel a set distance in a predetermined cleaning direction; The step of controlling the cleaning device to rotate in a first predetermined direction and by a first predetermined angle is returned to execution until the cleaning of the predetermined area is completed or an obstacle is detected in the predetermined cleaning direction.

37. The device according to any one of claims 20 to 36, wherein The predetermined area includes a low-lying space area.

38. The apparatus according to claim 37, wherein The space height of the low space area is less than or equal to the body height of the cleaning equipment.

39. A computer-readable storage medium, wherein: At least one program code is stored in the computer-readable storage medium, and the at least one program code is loaded and executed by the processor to implement the operations performed by the method according to any one of claims 1 to 19.

40. A computer program product, wherein The computer program product includes computer instructions stored in a computer-readable storage medium and adapted to be read and executed by a processor, so as to enable a computer device having the processor to perform the method according to any one of claims 1 to 19.

41. A cleaning device, wherein: The cleaning device includes a first cleaning member and a second cleaning member, as well as 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 19.

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