Method and apparatus for controlling cleaning device, cleaning device, and storage medium

Abstract

The present disclosure provides a method and apparatus for controlling a cleaning device, a cleaning device, and a storage medium. The cleaning device comprises a device body, a first cleaning assembly and / or a second cleaning assembly. The method comprises: acquiring information of an obstacle on a travel route of the cleaning device, the obstacle being a cylindrical obstacle; on the basis of the information of the obstacle, controlling the cleaning device to execute a column-circling action; and, by means of the column-circling action, enabling the first cleaning assembly and / or the second cleaning assembly to form a movement trajectory surrounding the obstacle, the movement trajectory comprising one of the following: a spiral shape formed by a plurality of blades that diffuse outward approximately centered on the obstacle; and a circle or a circumscribed polygon that approximately uses the outer contour of the obstacle as an edge. According to the present disclosure, column-circling cleaning is enabled.

Description

Control method and device of cleaning equipment, cleaning equipment and storage medium

[0001] Cross-reference to related applications

[0002] The present disclosure is based on and claims priority from Chinese Patent Application No. 202410869585.4 filed on June 28, 2024, the content of which is hereby incorporated by reference in its entirety into the present disclosure. TECHNICAL FIELD

[0003] The present disclosure relates to the technical field of self-walking equipment, in particular to a control method and device of cleaning equipment, cleaning equipment and storage medium. BACKGROUND

[0004] In recent years, with the popularity of automatic cleaning equipment, the functions of automatic cleaning equipment are also becoming more and more diverse, and in particular, the application of automatic cleaning equipment integrating multiple functions such as sweeping, dust collection, mopping, dust removal, and mop cleaning is also becoming more and more common.

[0005] SUMMARY

[0006] The purpose of the present disclosure is to provide a control method and device of cleaning equipment, cleaning equipment and storage medium, which can solve the technical problem of incomplete cleaning around columnar obstacles. The specific solutions are as follows:

[0007] Some embodiments of the present disclosure provide a control method of a cleaning equipment, the cleaning equipment comprising an equipment body, a first cleaning component and / or a second cleaning component, characterized in that the method comprises:

[0008] Obtaining obstacle information on a travel route of the cleaning equipment, the obstacle being a columnar obstacle;

[0009] Based on the obstacle information, controlling the cleaning equipment to perform a column-encircling action;

[0010] The first cleaning component and / or the second cleaning component form a movement trajectory around the obstacle through the column-encircling action, wherein the movement trajectory comprises one of the following:

[0011] a spiral shape composed of a plurality of blades approximately spreading outward from the center of the obstacle;

[0012] a circular shape or an inscribed polygon with the outer contour of the obstacle as the edge.

[0013] In some embodiments, the spiral shape comprises a plurality of rotationally symmetric blades.

[0014] In some embodiments, the number of the plurality of blades is greater than or equal to 4.

[0015] In some embodiments, the number of the plurality of blades is greater than or equal to 4 and less than or equal to 10.

[0016] In some embodiments, the spiral shape is a circle or a circumscribed polygon around the outer contour of the obstacle on the side close to the obstacle.

[0017] In some embodiments, the distance of the blade from the side close to the obstacle to the side away from the obstacle is not greater than the width of the device body.

[0018] In some embodiments, the width of the blade is not greater than the width of the first cleaning assembly.

[0019] In some embodiments, the side of the blade away from the obstacle is a circular arc shape.

[0020] In some embodiments, the end of the blade away from the obstacle presents a tendency to turn in a clockwise direction.

[0021] In some embodiments, the controlling the cleaning device to perform a column- around action based on the obstacle information comprises:

[0022] The controlling the cleaning device to perform at least one of the following actions based on the obstacle information comprises:

[0023] The device body travels towards the obstacle and moves to a position close to but not in contact with the obstacle;

[0024] On the travel route of the cleaning device, the cleaning device is caused to travel in a direction along a common tangent line tangent to the obstacle;

[0025] The cleaning device rotates around the periphery of the obstacle.

[0026] In some embodiments, the causing the cleaning device to travel in a direction along a common tangent line tangent to the obstacle on the travel route of the cleaning device comprises:

[0027] The travel direction of the cleaning device is adjusted so that the side of the first cleaning assembly close to the obstacle is tangent to the obstacle in the travel direction.

[0028] In some embodiments, the adjusting the travel direction of the cleaning device so that the side of the first cleaning assembly close to the obstacle is tangent to the obstacle in the travel direction comprises:

[0029] A common tangent line of the device body and the side of the first cleaning assembly close to the obstacle is determined, and the travel direction of the cleaning device is adjusted so that the common tangent line is tangent to the obstacle.

[0030] In some embodiments, based on the obstacle information, the controlling the cleaning device further performs the following actions:

[0031] controlling the cleaning device to travel a preset distance, the preset distance being configured to at least cause the first cleaning component to clean along the edge of the obstacle.

[0032] In some embodiments, the controlling the cleaning device to travel a preset distance, the preset distance being configured to at least cause the first cleaning component to clean along the edge of the obstacle, comprises:

[0033] controlling the cleaning device to travel a preset distance, the preset distance being configured to at least cause the first cleaning component to travel beyond a position tangent to the obstacle along the edge of the obstacle.

[0034] In some embodiments, the cleaning device rotates around the periphery of the obstacle, comprising:

[0035] controlling the cleaning device to rotate in a clockwise or counterclockwise direction.

[0036] In some embodiments, the first cleaning component comprises a rotating mop, the rotating mop being located at the right rear of the device body.

[0037] In some embodiments, when the rotating mop is in a working state, an outer edge of the rotating mop is in a tangent position with a right side edge of the device body.

[0038] In some embodiments, the first cleaning component is a mopping component.

[0039] In some embodiments, the cylindrical obstacle has a maximum outer diameter less than 1 meter.

[0040] In some embodiments, the obtaining the obstacle information on the travel route of the cleaning device comprises:

[0041] obtaining the obstacle information on the travel route of the cleaning device based on a sensor and / or an image acquisition device.

[0042] In some embodiments, the second cleaning component is a sweeping component.

[0043] Some embodiments of the present disclosure further provide a control device of a cleaning device, the cleaning device comprising a device body, a first cleaning component, and / or a second cleaning component, the device comprising:

[0044] an obtaining unit configured to obtain obstacle information on a travel route of the cleaning device, the obstacle being a cylindrical obstacle;

[0045] The control unit is configured to control the cleaning device to perform a column-encircling action based on the obstacle information.

[0046] The forming unit is configured to form a movement track around the obstacle for the first cleaning assembly and / or the second cleaning assembly through the column-encircling action, wherein the movement track comprises one of:

[0047] a spiral shape constituted by a plurality of blades that approximate to spread outwards from the center of the obstacle;

[0048] a circle shape that approximates to the edge of the outer contour of the obstacle.

[0049] Some embodiments of the present disclosure provide a cleaning device, comprising a processor and a memory, wherein the memory stores computer program instructions capable of being executed by the processor, and the processor implements the method steps of any one of the above embodiments when executing the computer program instructions.

[0050] Some embodiments of the present disclosure provide a non-transitory computer readable storage medium, which stores computer program instructions, and the computer program instructions implement the method steps of any one of the above embodiments when invoked and executed by a processor.

[0051] The above scheme of the embodiments of the present disclosure can have the following beneficial effects:

[0052] The control method of the cleaning device provided by the embodiments of the present disclosure can form a spiral movement track around the column-shaped obstacle for the cleaning device through the control of the column-encircling action of the cleaning device based on the obstacle information, so that the cleaning device cleans around the edge of the column-shaped obstacle and can clean the dead angle of the edge of the column-shaped obstacle. BRIEF DESCRIPTION OF DRAWINGS

[0053] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and serve to explain the principles of the present disclosure. It is readily apparent to one skilled in the art that the following description in the drawings is merely some embodiments of the present disclosure, and other drawings can be obtained by those skilled in the art without creative labor on the basis of these drawings. In the drawings:

[0054] FIG. 1 is a flowchart of a control method of a cleaning device according to some embodiments of the present disclosure;

[0055] FIG. 2 is a structural schematic diagram of a cleaning device according to some embodiments of the present disclosure;

[0056] FIG. 3 is a flowchart of a control method of a cleaning device according to some other embodiments of the present disclosure;

[0057] FIG. 4 is a schematic diagram of a cleaning process of the cleaning device according to some embodiments of the present disclosure;

[0058] FIG. 5 is another schematic diagram of a cleaning process of the cleaning device according to some embodiments of the present disclosure;

[0059] FIG. 6 is a schematic diagram of a cleaning trajectory of the cleaning device according to some embodiments of the present disclosure;

[0060] FIG. 7 is a flowchart of a control method of the cleaning device according to some embodiments of the present disclosure;

[0061] FIG. 8 is a schematic diagram of a cleaning process of the cleaning device according to some embodiments of the present disclosure;

[0062] FIG. 9 is another schematic diagram of a cleaning process of the cleaning device according to some embodiments of the present disclosure;

[0063] FIG. 10 is a structural diagram of a control device of the cleaning device according to some embodiments of the present disclosure;

[0064] FIG. 11 is a schematic diagram of a connection structure of the cleaning device according to some embodiments of the present disclosure.

[0065] Legend of reference signs:

[0066] Device body 100, first cleaning assembly 110, second cleaning assembly 120, obstacle 200, spiral shape 300, blade 310, first end 311, second end 312. DETAILED DESCRIPTION

[0067] In order to make the technical solutions and technical effects of the present disclosure clearer, the present disclosure will be further described in detail below with reference to the drawings. Obviously, the described embodiments are only some of the embodiments of the present disclosure, but not all the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the scope of protection of the present disclosure.

[0068] The terms used in the embodiments of the present disclosure are merely for the purpose of describing particular embodiments and are not intended to limit the present disclosure. The singular forms "a", "an" and "the" used in the embodiments of the present disclosure and the appended claims are also intended to include the plural forms, unless the context clearly indicates otherwise. "Plural" generally includes at least two.

[0069] It should be understood that the term "and / or" used herein only describes an association relationship of associated objects, which means that there can be three relationships, for example, A and / or B, which can represent the three cases of A alone, A and B together, and B alone. In addition, the character " / " herein generally represents an "or" relationship between the front and rear associated objects.

[0070] It is also important to note that the terms "comprising", "containing" or any other similar term are intended to encompass non-exclusive inclusions, such that a product or an apparatus that comprises a list of elements does not include only those elements, but can also include other elements not expressly listed or inherent to such product or apparatus. An element preceded by "comprises a" does not, without further restrictions, exclude the presence of additional identical elements in the product or apparatus that includes the element.

[0071] The cleaning device is not thorough enough in cleaning the elongated obstacle during the execution of the cleaning task. In particular, when the sweeper with an extended mop moves along the elongated obstacle, the mop is on the right rear side of the body, so that the edge of the elongated obstacle is not swept when turning. The elongated obstacle may be, for example, a table leg or a chair leg.

[0072] Therefore, the cleaning device is not thorough enough in cleaning the surrounding of the elongated obstacle due to the special structure of the elongated obstacle, and there are often dead angles, which brings a poor experience to the user.

[0073] To solve the problem of missed sweeping, the present disclosure provides a control method of a cleaning device, the cleaning device comprising a device body, a first cleaning assembly and / or a second cleaning assembly, the method comprising: obtaining obstacle information on a travel route of the cleaning device, the obstacle being a columnar obstacle; based on the obstacle information, controlling the cleaning device to perform a column-encircling action; and through the column-encircling action, causing the first cleaning assembly and / or the second cleaning assembly to form a movement trajectory surrounding the obstacle, wherein the movement trajectory comprises one of:

[0074] a spiral shape constituted by a plurality of leaves approximately spreading outward from the center of the obstacle;

[0075] a circular shape or a circumscribed polygon approximately taking the outer contour of the obstacle as the edge.

[0076] The control method of the cleaning device provided by the embodiments of the present disclosure can cause the cleaning device to form a spiral-shaped movement trajectory around the columnar obstacle based on the obstacle information and through the control of the column-encircling action of the cleaning device, so that the cleaning device cleans around the edge of the columnar obstacle and can clean the dead angles of the edge of the columnar obstacle.

[0077] The optional embodiments of the present disclosure will be described in detail below with reference to the accompanying drawings.

[0078] As shown in FIG. 1, some embodiments of the present disclosure provide a control method of a cleaning device, the cleaning device comprising a device body, a first cleaning assembly and / or a second cleaning assembly, the method comprising:

[0079] Step S102: obtaining obstacle information on a travel route of the cleaning device, the obstacle being a columnar obstacle;

[0080] Step S104: controlling the cleaning device to perform a column-avoiding action based on the obstacle information;

[0081] Step S106: forming a movement trajectory of the first cleaning assembly and / or the second cleaning assembly around the obstacle through the column-avoiding action, wherein the movement trajectory comprises a spiral shape formed by a plurality of leaves approximately spreading outwards from the center of the obstacle.

[0082] The cleaning device described in the present disclosure can be a floor mopping robot, a sweeping and mopping integrated robot, or the like. The cleaning device comprises at least a device body and a cleaning assembly arranged on the device body. The device body can be configured to move automatically along a target direction on an operation surface, or can rotate in place in a clockwise or counterclockwise direction. The operation surface can be a surface to be cleaned by the cleaning device. In some embodiments, the cleaning device can be a floor mopping robot, and the automatic cleaning device works on a ground surface, which is the operation surface. The cleaning device can also be a window cleaning robot, and the cleaning device works on the outer surface of a glass of a building, which is the operation surface. The cleaning device can also be a pipe cleaning robot, and the cleaning device works on the inner surface of a pipe, which is the operation surface. The following description in the present disclosure is made by taking a sweeping and mopping robot as an example.

[0083] As shown in FIG. 2, in order to more clearly describe the behavior of the cleaning device, the following direction definitions are made with the cleaning device as the reference: a lateral axis Y, a front-rear axis X, and a central vertical axis Z. The opposite direction of the arrow along the front-rear axis X is marked as “rearward”, and the direction of the arrow along the front-rear axis X is marked as “forward”. The lateral axis Y is the direction along the width of the cleaning device, and the opposite direction of the arrow along the lateral axis Y is marked as “rightward”, and the direction of the arrow along the lateral axis Y is marked as “leftward”. The vertical axis Z is the direction extending vertically along the cleaning device, and the opposite direction of the arrow along the vertical axis Z is marked as “downward”, and the direction of the arrow along the vertical axis Z is marked as “upward”. Specifically, in the cleaning device, AB is front-rearward, A is forward and B is rearward, and CD is left-rightward, C is leftward and D is rightward.

[0084] In some embodiments, the cleaning device comprises a device body and a first cleaning component. The first cleaning component is, for example, a rotating circular mop that extends out of the device body when in operation and retracts into the device body when not in operation. The rotating circular mop extends out of the device body to a position substantially behind the right side of the device body, i.e., within the range of BD in FIG. 2, and rotates to sweep the floor as the cleaning device moves. Optionally, the outer edge of the rotating mop is in the same horizontal plane as the right side edge (point D) of the device body when the rotating mop is in operation.

[0085] In some embodiments, the cleaning device further comprises a second cleaning component, which is, for example, a brush component arranged on the front right side of the device body, i.e., within the range of AD in FIG. 2, and configured to clean the edge of the obstacle as the cleaning device moves or rotates.

[0086] In some embodiments, in step S102, the obstacle information on the route of the cleaning device is obtained, and the obstacle is a columnar obstacle, including: obtaining the obstacle information on the route of the cleaning device based on sensors and / or image acquisition devices.

[0087] The cleaning device has various sensors and image acquisition devices, etc. The sensors include, for example, stress sensors arranged on the buffer structure of the cleaning device, laser radars, TOF components, etc. The cleaning device detects obstacles and positions on the route by various sensors and image acquisition devices, etc. When the cleaning device obtains the position information of the obstacle, the position coordinates of the cleaning device itself and the position coordinates of the obstacle can be determined by a cleaning map, so as to determine the positional relationship between the two, including but not limited to the closest distance between the two, the forward direction of the cleaning device, etc. When it is determined by the sensors that the current obstacle is a columnar obstacle, including but not limited to a cylindrical obstacle, the control method of the present disclosure can be executed.

[0088] In some embodiments, the obstacle of the present disclosure is a columnar obstacle, for example, a cylindrical obstacle, a prismatic obstacle such as a quadrangular prism, a hexagonal prism, etc. Optionally, the diameter of the cylindrical obstacle is less than 1 meter and greater than 2 centimeters. The obstacle with a diameter greater than 1 meter is far larger than the size of the cleaning device body, and the cleaning of the corners of the obstacle can be performed by a wall-following cleaning mode. The corners of the columnar obstacle with a diameter less than 2 centimeters are too small to be ignored. The columnar obstacle includes but is not limited to table legs, sofa legs, chair legs, etc.

[0089] In some embodiments, as shown in FIG. 3, in step S104, based on the obstacle information, the cleaning device is controlled to perform a column-encircling action, including: based on the obstacle information, the cleaning device is controlled to perform at least one of the following actions:

[0090] Step S1041: The device body moves towards the obstacle and moves to a position almost in contact with the obstacle.

[0091] Step S1043: The cleaning device is caused to move in a direction of a common tangent line tangent to the obstacle on a moving route of the cleaning device.

[0092] Step S1045: The cleaning device rotates around a periphery of the obstacle.

[0093] It can be understood that the above steps S1041, S1043 and S1045 do not have a certain sequence relationship, and any one or more steps can be executed according to a control logic, or one or more steps can be repeatedly executed, and the present disclosure does not limit this.

[0094] In some embodiments, in step S1041, the device body moves towards the obstacle and moves to a position almost in contact with the obstacle but not completely in contact, at this time, the device body has a preset small gap with the obstacle, for example, 1-5 mm, so that the cleaning device can clean the peripheral area of the obstacle as much as possible.

[0095] In some embodiments, in step S1043, causing the cleaning device to move in a direction of a common tangent line tangent to the obstacle on a moving route of the cleaning device includes adjusting a moving direction of the cleaning device, so that the first cleaning component is tangent to the obstacle in the moving direction near one side of the obstacle.

[0096] In some embodiments, the adjusting of the moving direction of the cleaning device so that the first cleaning component is tangent to the obstacle in the moving direction near one side of the obstacle includes determining a common tangent line of the device body and the first cleaning component near one side of the obstacle, and adjusting the moving direction of the cleaning device so that the common tangent line is tangent to the obstacle.

[0097] As shown in FIG. 4, when the cleaning device performs the cleaning task by the first cleaning assembly 110, the first cleaning assembly 110 is in the extended state, at this time, the rightmost edge of the first cleaning assembly 110 is on the same common tangent MN as the rightmost edge of the device body 100. After the cleaning device determines the positional relationship with the obstacle 200, it dynamically adjusts the positional relationship between the device body 100 and the obstacle 200 based on the positional relationship, and adjusts the position of the cleaning device based on the common tangent MN so that the tangent MN is also tangent to the obstacle 200. At this time, the obstacle 200 is located approximately on the right side of the device body 100, and as the cleaning device advances, the obstacle 200 moves along the tangent MN relative to the cleaning device, that is, as the cleaning device moves, the first cleaning assembly 110 will clean one side edge of the obstacle 200 along the tangent MN. Since the present disclosure controls the tangent MN movement of the obstacle 200 and the cleaning device, the cleaning device can accurately clean the root edge of the obstacle 200, avoiding the missed scanning of the root edge position of the obstacle 200. The root edge generally refers to the surrounding area of the intersection of the obstacle and the ground, for example, a circle around the table leg at the position where the table leg contacts the ground.

[0098] In some embodiments, in step S104, based on the obstacle information, the control of the cleaning device further performs the following actions: controlling the cleaning device to advance a preset distance, the preset distance being configured to at least enable the first cleaning assembly to clean along the obstacle edge.

[0099] In some embodiments, controlling the cleaning device to advance a preset distance, the preset distance being configured to at least enable the first cleaning assembly to clean along the obstacle edge, includes: controlling the cleaning device to advance a preset distance, the preset distance being configured to at least enable the first cleaning assembly to advance along the obstacle edge beyond the position tangent to the obstacle.

[0100] As shown in FIG. 4, after determining the position of the cleaning device and the obstacle 200, the cleaning device is controlled to advance in the direction of the tangent MN until the first cleaning assembly 110 advances along the root edge of the obstacle 200 and cleans the edge corner, until the tangent point position of the first cleaning assembly 110 and the obstacle 200 is exceeded, at this time the cleaning device advances further, since the cleaning position of the first cleaning assembly 110 has exceeded the root edge position of the obstacle 200, a conventional cleaning strategy can be used for cleaning. At this time, in order to continue to clean the root edge of the obstacle 200, the cleaning device is controlled to stop advancing and perform subsequent actions. It can be understood that through this step, at least one side of the root edge position of the column-shaped obstacle can be cleaned, and if it is necessary to clean the position within one circle of the column-shaped obstacle, the action can be repeatedly performed.

[0101] In some embodiments, in step S1045, the cleaning device rotates around the periphery of the obstacle, including controlling the cleaning device to rotate in a clockwise or counterclockwise direction. Again, the first cleaning assembly is tangent to the obstacle on the travel route. The rotation disclosed in the present disclosure includes rotation within a range around the device body, such as rotation or rotation or twisting within a range of more than 30% of the size of the device body.

[0102] As shown in FIG. 5, the cleaning device advances until the first cleaning assembly 110 exceeds the tangent point position tangent to the obstacle 200, stops advancing, and controls the cleaning device to rotate in a clockwise direction. At this time, the first cleaning assembly 110 also rotates in a clockwise direction. After rotation, the cleaning device and the first cleaning assembly 110 have left the position tangent to the obstacle, and in order to clean the root position of the obstacle 200, it is necessary to determine the positional relationship between the cleaning device and the obstacle 200 again, and to make the first cleaning assembly, the cleaning device, and the obstacle again on the common tangent line MN, which is understood with reference to FIG. 4. After determining the tangential relationship of the first cleaning assembly, the cleaning device, and the obstacle, the cleaning device is controlled to advance in the tangent direction, so that the edge on the other side of the obstacle can be cleaned again. Repeat the above steps to complete the column action of the cleaning device, and achieve the complete cleaning of the periphery of the cylindrical obstacle.

[0103] In some embodiments, in step S106, the first cleaning assembly forms a movement trajectory around the obstacle through the column action, wherein the movement trajectory includes a spiral shape composed of a plurality of blades that approximately spread outward from the center of the obstacle. The spiral shape includes a plurality of rotationally symmetric blades.

[0104] As shown in FIG. 6, during the execution of the above step S104, the first cleaning assembly 110 forms a movement trajectory around the obstacle 200 around the obstacle. The movement trajectory is approximately a spiral shape 300 with the obstacle 200 as the center, which basically covers the area around the root of the cylindrical obstacle 200, so that the edge area of the root of the obstacle is completely cleaned. The spiral-shaped movement trajectory enables the first cleaning assembly to complete the complete cleaning of the edge of the root of the obstacle with the shortest travel distance, and also enables the cleaning device to complete the cleaning around the obstacle with the shortest travel distance, saving energy and improving cleaning efficiency.

[0105] In some embodiments, the spiral shape 300 comprises a plurality of rotationally symmetrical blades 310, each of which has a first end 311 on the side close to the obstacle 200 and a second end 312 on the side away from the obstacle 200. The direction of the blade 310 from the first end 311 to the second end 312 can be linear, arcuate, or a combination of linear and arcuate, without limitation. Optionally, the plurality of blades are rotationally symmetrical, so as to save control resources of the cleaning device and achieve efficient cleaning.

[0106] In some embodiments, the number of blades is greater than or equal to 4. Optionally, the number of blades is greater than or equal to 4 and less than or equal to 10. If the number of blades is less than 4, it will not be enough to cover all positions of the edge of the root of the obstacle, and a closed cleaning cannot be formed, resulting in a missed scanning position. If the number of blades is too large, it will increase the movement of the cleaning device, increase power consumption and control resources, and reduce cleaning efficiency.

[0107] In some embodiments, the movement trajectory of the spiral shape close to the side of the obstacle is a circle or a polygon around the outer contour of the obstacle, so that the cleaning device can clean as close to the root of the obstacle as possible and reduce the missed scanning space.

[0108] In some embodiments, the distance of the movement trajectory of the spiral shape 300 from the side close to the obstacle 200 to the side away from the obstacle 200 is not greater than the width of the device body. That is, the distance of the blade 310 from the first end 311 to the second end 312 is not greater than the width of the device body, so that the cleaning device can complete the cleaning of the edge of the root of the obstacle 200 while performing the minimum rotation movement, thereby reducing the power consumption of the cleaning device, reducing the control resources of the cleaning device, and improving the cleaning efficiency. Optionally, the distance of the spiral shape 300 from the side close to the obstacle 200 to the side away from the obstacle 200 is more than 50% of the width of the device body, so as to further reduce the power consumption of the cleaning device, reduce the control resources of the cleaning device, and improve the cleaning efficiency.

[0109] In some embodiments, the width of the blade 310 is not greater than the width of the first cleaning assembly. The blade 310 is a trajectory formed by the movement of the first cleaning assembly, and therefore, generally, the width of the trajectory formed by the first cleaning assembly in one movement is not greater than the width of the first cleaning assembly, so as to ensure that the cleaning of the to-be-cleaned position can be completed after one movement of the first cleaning assembly. In addition, the cleaning device can complete the movement around the column by performing one rotation control strategy, thereby avoiding repeated movement and adjustment of the posture of the cleaning device, saving control resources, and improving the cleaning efficiency.

[0110] In some embodiments, the side of the blade away from the obstacle is circular arc-shaped. The curvature of the circular arc is smaller than the curvature of the body of the cleaning device, so that the cleaning device can complete the posture adjustment by autorotation, perform the column cleaning, further save the control resources, and improve the cleaning efficiency.

[0111] The control method of the cleaning device provided by the above embodiments of the present disclosure can save the control resources and improve the cleaning efficiency, and efficiently clean the dead angle of the edge of the columnar obstacle.

[0112] In some embodiments, as shown in FIG. 7, the control method of the cleaning device provided by some embodiments of the present disclosure includes a device body, a first cleaning component, and / or a second cleaning component, and the method includes:

[0113] Step S102': obtaining obstacle information on the travel route of the cleaning device, the obstacle being a columnar obstacle;

[0114] Step S104': controlling the cleaning device to perform a column cleaning action based on the obstacle information;

[0115] Step S106': forming a movement trajectory of the first cleaning component and / or the second cleaning component around the obstacle by the column cleaning action, wherein the movement trajectory includes a circle or an inscribed polygon with an edge approximating the outer contour of the obstacle.

[0116] In step S102', step S104', refer to the above-mentioned step S102, step S104, and no further description is given herein. In step S106', the first cleaning component is a mopping component, and the movement trajectory is a circle or an inscribed polygon with an edge approximating the outer contour of the obstacle.

[0117] In some embodiments, as shown in FIG. 8, the cleaning device includes a device body 100 and a first cleaning component 110. The first cleaning component 110 includes a mopping component, and the diameter of the mopping component is smaller than that of a rotating circular mop. The mopping component extends out of the device body 100 when working and is retracted into the device body when not working. When the mopping component extends out of the device body 100, it is located on the right side of the device body 100 (for example, on the side of point D deviated from point B). The mopping component rotates to mop the ground as the cleaning device travels. Optionally, when the mopping component is in the working state, the right edge of the mopping component extends 1-5 cm beyond the right side of the device body (point D).

[0118] As shown in FIG. 8, when the cleaning device performs a cleaning task by the first cleaning assembly 110, the first cleaning assembly 110 is in an extended state, at this time, the rightmost edge of the first cleaning assembly 110 has a tangent MN approximately along the forward direction of the cleaning device, after the cleaning device determines the positional relationship with the obstacle 200, it dynamically adjusts the positional relationship between the device body 100 and the obstacle 200 based on the positional relationship, and adjusts the position of the cleaning device based on the tangent MN so that the tangent MN is also tangent to the obstacle 200. At this time, the obstacle 200 is approximately located on the right side of the device body 100, and as the cleaning device advances, the obstacle 200 moves along the tangent MN relative to the cleaning device, that is, the first cleaning assembly 110 cleans one side edge of the obstacle 200 along the tangent MN.

[0119] As shown in FIG. 9, after determining the position of the cleaning device and the obstacle 200, the cleaning device is controlled to advance until the first cleaning assembly 110 travels along the edge of the obstacle 200 and cleans the edge corners thereof until it exceeds the position tangent to the obstacle 200, and the cleaning device is controlled to rotate so that the first cleaning assembly 110 moves around the obstacle 200, and through continuous rotation, a circular motion track around the outer contour of the obstacle is formed.

[0120] The control method of the cleaning device provided by the above-mentioned embodiments of the present disclosure, since the first cleaning assembly is a side-drag and is located on the right side of the cleaning device body, it protrudes to the right side of the cleaning device body when performing a cleaning task, therefore, when cleaning the edge part of the columnar obstacle, the first cleaning device forms a circular motion track around the outer contour of the obstacle by continuously controlling the rotation of the cleaning device, thereby completing the cleaning of the root area of the columnar obstacle at one time.

[0121] The control device of the cleaning device provided by the embodiments of the present disclosure is used to perform the control method as described in the above embodiments, the same technical features have the same technical effects, which will not be described here. The cleaning device includes a device body, a first cleaning assembly and / or a second cleaning assembly, as shown in FIG. 10, the control device includes:

[0122] The acquisition unit 1001 is configured to acquire obstacle information on the travel route of the cleaning device, the obstacle being a columnar obstacle;

[0123] The control unit 1003 is configured to control the cleaning device to perform a round-the-column action based on the obstacle information;

[0124] The forming unit 1005 is configured to form, by the column-encircling action, a movement track of the first cleaning assembly and / or the second cleaning assembly around the obstacle, wherein the movement track comprises one of: a spiral shape constituted by a plurality of blades approximately spreading outwards from the center of the obstacle; a circular shape or a circumscribed polygonal shape approximately with the outer contour of the obstacle as a boundary.

[0125] Some embodiments of the present disclosure provide a cleaning device, comprising a processor and a memory, the memory storing computer program instructions capable of being executed by the processor, and the processor executes the computer program instructions to implement the method steps of any one of the above embodiments.

[0126] Some embodiments of the present disclosure provide a non-transitory computer readable storage medium, storing computer program instructions, and the computer program instructions, when invoked and executed by a processor, implement the method steps of any one of the above embodiments.

[0127] As shown in FIG. 11, the cleaning device can include a processing device (e.g., a central processing unit, a graphics processing unit, etc.) 1101, which can perform various appropriate actions and processes according to programs stored in a read-only memory (ROM) 1102 or loaded from a storage device 1108 into a random access memory (RAM) 1103. In the RAM 1103, various programs and data required for base station operation are also stored. The processing device 1101, the ROM 1102, and the RAM 1103 are connected to each other through a bus 1104. An input / output (I / O) interface 1105 is also connected to the bus 1104.

[0128] Generally, the following devices can be connected to the I / O interface 1105: an input device 1106 including, for example, a touch screen, a touchpad, a keyboard, a mouse, a camera, a microphone, an accelerometer, a gyroscope, etc.; an output device 1107 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; a storage device 1108 including, for example, a hard disk, etc.; and a communication device 1109. The communication device 1109 can allow the base station to communicate wirelessly or wiredly with other devices to exchange data.

[0129] The computer program product of the present disclosure can be a computer program embodied on a non-transitory computer readable medium. When the program runs on a computer, the flowchart and / or block diagram in the flowchart and / or block diagram can be implemented.

[0130] Finally, it should be noted that each of the embodiments described in this specification has at least one technical effect and advan tage that is both structural and functional in nature. For example, according to the embodiments disclosed herein, the system and method can be used to improve the efficiency of the system and the quality of the service provided by the system. In addition, the system and method can also be used to improve the user experience and the user's satisfaction with the system.

[0131] The above embodiments are only used to illustrate the technical solutions of the present disclosure, rather than limit them. Although the present disclosure has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that the technical solutions recorded in the foregoing embodiments can still be modified, or some technical features can be replaced by equivalent replacements. These modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present disclosure.

Claims

1. A control method for a cleaning device, the cleaning device comprising a device body, a first cleaning component, and / or a second cleaning component, characterized in that, The method includes: Obtain information about obstacles along the path of the cleaning equipment, wherein the obstacles are cylindrical obstacles; Based on the obstacle information, the cleaning equipment is controlled to perform a column-around movement; The orbital motion causes the first cleaning component and / or the second cleaning component to form a motion trajectory around the obstacle, wherein the motion trajectory includes one of the following: It is approximately a spiral shape formed by multiple blades radiating outward from the obstacle as the center; Approximately a circle or circumscribed polygon with the outer contour of the obstacle as its edge.

2. The method according to claim 1, characterized in that, The spiral shape comprises multiple rotationally symmetrical blades.

3. The method according to claim 1 or 2, characterized in that, The number of the plurality of blades is greater than or equal to 3.

4. The method according to any one of claims 1-3, characterized in that, The number of the plurality of blades is greater than or equal to 3 and less than or equal to 10.

5. The method according to any one of claims 1-4, characterized in that, The spiral shape is a circle or circumscribed polygon surrounding the outer contour of the obstacle on the side closest to the obstacle.

6. The method according to any one of claims 1-5, characterized in that, The distance from the side of the blade closest to the obstacle to the side furthest from the obstacle is no greater than the width of the device body.

7. The method according to any one of claims 1-6, characterized in that, The width of the blade does not exceed the width of the first cleaning component.

8. The method according to any one of claims 1-7, characterized in that, The side of the blade furthest from the obstacle is arc-shaped.

9. The method according to any one of claims 1-8, characterized in that, The end of the blade furthest from the obstacle tends to turn clockwise.

10. The method according to any one of claims 1-9, characterized in that, The step of controlling the cleaning equipment to perform a column-around movement based on the obstacle information includes: Based on the obstacle information, control the cleaning equipment to perform at least one of the following actions: The main body of the device moves toward the obstacle and moves to a position that is close to but does not touch the obstacle; Along the path of the cleaning equipment, the cleaning equipment is made to travel in the direction of a common tangent line that is tangent to the obstacle; The cleaning equipment rotates around the perimeter of the obstacle.

11. The method according to claim 10, characterized in that, The step of making the cleaning equipment travel along a common tangent line tangent to the obstacle on its travel path includes: Adjust the direction of travel of the cleaning equipment so that the side of the first cleaning component adjacent to the obstacle is tangent to the obstacle in the direction of travel.

12. The method according to claim 11, characterized in that, Adjusting the travel direction of the cleaning equipment so that the side of the first cleaning component adjacent to the obstacle is tangent to the obstacle in the travel direction includes: Determine the common tangent line between the device body and the first cleaning component on the side adjacent to the obstacle, and adjust the traveling direction of the cleaning device so that the common tangent line is tangent to the obstacle.

13. The method according to any one of claims 10-12, characterized in that, Based on the obstacle information, the cleaning equipment is also controlled to perform the following actions: The cleaning device is controlled to travel a preset distance, the preset distance being configured to at least cause the first cleaning component to clean along the edge of the obstacle.

14. The method according to claim 13, characterized in that, Controlling the cleaning device to travel a preset distance, the preset distance being configured to at least cause the first cleaning component to clean along the edge of the obstacle, includes: The cleaning device is controlled to travel a preset distance, the preset distance being configured such that the first cleaning component travels along the edge of the obstacle beyond a position tangent to the obstacle.

15. The method according to any one of claims 10-14, characterized in that, The cleaning equipment rotates around the perimeter of the obstacle, including: Control the cleaning equipment to rotate clockwise or counterclockwise.

16. The method according to any one of claims 1-15, characterized in that, The first cleaning component includes a rotating mop located at the right rear of the device body.

17. The method according to claim 15, characterized in that, When the rotary mop is in operation, its outer edge is aligned with the right edge of the device body.

18. The method according to any one of claims 1-17, characterized in that, The first cleaning component is a mopping component.

19. The method according to any one of claims 1-18, characterized in that, The maximum outer diameter of the cylindrical obstacle is less than 1 meter.

20. The method according to any one of claims 1-19, characterized in that, The step of obtaining obstacle information along the path of the cleaning equipment includes: Information on obstacles along the path of the cleaning equipment is obtained using sensors and / or image acquisition devices.

21. The method according to any one of claims 1-20, characterized in that, The second cleaning component is a brush assembly.

22. A control device for a cleaning equipment, the cleaning equipment comprising an equipment body, a first cleaning component, and / or a second cleaning component, characterized in that, The device includes: The acquisition unit is configured to acquire obstacle information on the travel path of the cleaning equipment, wherein the obstacle is a cylindrical obstacle; The control unit is configured to control the cleaning equipment to perform a pole-circling action based on the obstacle information; The forming unit is configured to cause the first cleaning component and / or the second cleaning component to form a motion trajectory around the obstacle through the orbital motion, wherein the motion trajectory includes one of the following: It is approximately a spiral shape formed by multiple blades radiating outward from the obstacle as the center; Approximately a circle or circumscribed polygon with the outer contour of the obstacle as its edge.

23. A cleaning device, comprising a processor and a memory, characterized in that, The memory stores computer program instructions that can be executed by the processor, and when the processor executes the computer program instructions, it implements the steps of the method as described in any one of claims 1-21.

24. A non-transitory computer-readable storage medium, characterized in that, The system stores computer program instructions that, when invoked and executed by a processor, implement the steps of the method as described in any one of claims 1-21.

Images