Control method and control apparatus for floor cleaning device, and floor cleaning device

Abstract

The present disclosure relates to the technical field of floor cleaning devices, and in particular to a control method and control apparatus for a floor cleaning device, and a floor cleaning device. The control method for a floor cleaning device comprises: controlling the floor cleaning device to clean an area to be cleaned on the basis of a bow-shaped cleaning route; and determining that the floor cleaning device has moved to the boundary of the area to be cleaned and is at a corner position of the bow-shaped cleaning route, and controlling the floor cleaning device to perform a first turning operation so that the coverage range of a cleaning member of the floor cleaning device covers at least a portion of a cleaning blind area, wherein the cleaning blind area is an area between the boundary line of the coverage range of the cleaning member and the boundary of the area to be cleaned when the floor cleaning device cleans the area to be cleaned on the basis of an edge-following cleaning route. The technical solution of the present invention reduces the area of the cleaning blind area, and improves the cleaning effect of the floor cleaning device.

Description

Control method and control device of floor cleaning device and floor cleaning device

[0001] The present disclosure claims priority to the Chinese patent application No. 202410832545.2, filed on June 25, 2024, and entitled "Control method and control device of floor cleaning device and floor cleaning device", the entire content of which is incorporated herein by reference. TECHNICAL FIELD

[0002] The present disclosure relates to the technical field of floor cleaning devices, and in particular, to a control method and control device of a floor cleaning device and a floor cleaning device. BACKGROUND

[0003] With the progress of science and technology and the development of economy, floor cleaning devices have gradually entered people's families. Dust and debris accumulated on the floor can be cleaned by floor cleaning devices, freeing people's hands.

[0004] In related technologies, when a floor cleaning device cleans the floor, the boundary of the area to be cleaned, such as the boundary of a room or the boundary of an obstacle profile, is usually set to maintain a certain distance from the boundary of the area to be cleaned in order to avoid the floor cleaning device from colliding with the obstacle or the wall of the room and damaging the floor cleaning device. In addition, due to the size and installation position of the cleaning element of the floor cleaning device, the coverage range of the cleaning element is limited, and especially at the boundary of the area to be cleaned, the problem of missed sweeping or missed mopping is prone to occur. SUMMARY

[0005] (I) Technical problem to be solved

[0006] The technical problem to be solved by the present disclosure is to solve the problem of missed sweeping or missed mopping at the boundary of the area to be cleaned, such as the boundary of a room or the boundary of an obstacle profile, when a floor cleaning device cleans the floor. In order to avoid the floor cleaning device from colliding with the obstacle or the wall of the room and damaging the floor cleaning device, a certain distance is usually set between the floor cleaning device and the boundary of the area to be cleaned. In addition, due to the size and installation position of the cleaning element of the floor cleaning device, the coverage range of the cleaning element is limited, and especially at the boundary of the area to be cleaned, the problem of missed sweeping or missed mopping is prone to occur.

[0007] (II) Technical solutions

[0008] To solve the above technical problems, the present disclosure provides a control method and control device of a floor cleaning device and a floor cleaning device, which reduces the area of the cleaning blind area and improves the cleaning effect of the floor cleaning device.

[0009] In a first aspect, the present disclosure provides a control method of a floor cleaning device, comprising:

[0010] controlling the floor cleaning device to clean the to-be-cleaned area based on the arc cleaning route;

[0011] determining that the floor cleaning device travels to a boundary of the to-be-cleaned area and is at a corner position of the arc cleaning route, and controlling the floor cleaning device to perform a first turning operation so that a coverage range of a cleaning member of the floor cleaning device covers at least a partial cleaning blind area;

[0012] The cleaning blind area is an area between a boundary line of the coverage range of the cleaning member and a boundary of the to-be-cleaned area when the floor cleaning device cleans the to-be-cleaned area based on the along-side cleaning route.

[0013] In some optional implementations, after controlling the floor cleaning device to perform the first turning operation, the method further includes:

[0014] controlling the floor cleaning device to continue traveling along the arc cleaning route;

[0015] After the floor cleaning device performs the first turning operation, a front end of the floor cleaning device is oriented in the same direction as a subsequent traveling direction of the floor cleaning device.

[0016] In some optional implementations, after controlling the floor cleaning device to perform the first turning operation, the method further includes:

[0017] controlling the floor cleaning device to perform a second turning operation so that the front end of the floor cleaning device is oriented in a traveling direction of the arc cleaning route;

[0018] controlling the floor cleaning device to continue traveling along the arc cleaning route;

[0019] After the floor cleaning device performs the first turning operation, a front end of the floor cleaning device is oriented in a different direction from a subsequent traveling direction of the floor cleaning device.

[0020] In some optional implementations, the controlling the floor cleaning device to continue traveling along the arc cleaning route includes:

[0021] controlling the floor cleaning device to perform a third turning operation after traveling a preset distance;

[0022] After the floor cleaning device performs the third turning operation, a front end of the floor cleaning device is oriented in the same direction as a traveling direction of the arc cleaning route.

[0023] In some optional implementations, the first turning operation includes: controlling the ground cleaning device to rotate by a sum of an integer multiple of 360 degrees and 90 degrees, or to rotate by a sum of an integer multiple of 360 degrees and 270 degrees.

[0024] In some optional implementations, the controlling the ground cleaning device to perform the first turning operation includes:

[0025] controlling the ground cleaning device to rotate by a preset angle, the preset angle being greater than 90 degrees.

[0026] In some optional implementations, the controlling the ground cleaning device to perform the first turning operation includes: controlling the ground cleaning device to rotate by 180 degrees clockwise or counterclockwise;

[0027] The controlling the ground cleaning device to perform the second turning operation includes: controlling the ground cleaning device to rotate by 90 degrees clockwise or counterclockwise.

[0028] In some optional implementations, the determining that the ground cleaning device travels to the boundary of the to-be-cleaned area includes:

[0029] determining that a distance between the ground cleaning device and the boundary of the to-be-cleaned area reaches a first threshold.

[0030] In some optional implementations, the first threshold is 3-10 centimeters.

[0031] In some optional implementations, the first threshold is less than a second threshold.

[0032] The second threshold is a distance between the ground cleaning device and the boundary of the to-be-cleaned area when the ground cleaning device cleans the to-be-cleaned area based on an edge-following cleaning route.

[0033] In some optional implementations, before the controlling the ground cleaning device to clean the to-be-cleaned area based on the arc-shaped cleaning route, the method further includes:

[0034] controlling the ground cleaning device to clean the to-be-cleaned area based on an edge-following cleaning route.

[0035] In a second aspect, the embodiments of the present disclosure further provide a control device of a ground cleaning device, including:

[0036] a control module, configured to control the ground cleaning device to clean a to-be-cleaned area based on an arc-shaped cleaning route;

[0037] determining that the ground cleaning device travels to a boundary of the to-be-cleaned area and is at a corner position of the arc-shaped cleaning route, and controlling the ground cleaning device to perform a first turning operation so that a coverage range of a cleaning member of the ground cleaning device covers at least a partial cleaning blind area;

[0038] The cleaning blind area is an area between a boundary line of the coverage range of the cleaning member and a boundary of the to-be-cleaned area when the ground cleaning device cleans the to-be-cleaned area based on the edge cleaning route.

[0039] In a third aspect, the embodiments of the present disclosure further provide a computer readable storage medium, which stores programs or instructions; the programs or instructions cause a computer to perform the steps of the method in the first aspect.

[0040] In a fourth aspect, the embodiments of the present disclosure further provide a ground cleaning device, which comprises a processor and a memory, and the processor performs the steps of the method in the first aspect by invoking programs or instructions stored in the memory.

[0041] (III) Advantages

[0042] The above technical solutions provided by the embodiments of the present disclosure have the following advantages compared with the prior art:

[0043] By controlling the ground cleaning device to perform the first turning operation in place, the boundary line of the coverage range of the cleaning member is closer to the boundary of the to-be-cleaned area, the distance between the boundary line of the coverage range of the cleaning member and the boundary of the to-be-cleaned area is reduced, and the cleaning member can cover at least the cleaning blind area during the performance of the first turning operation, thereby reducing the area of the cleaning blind area and improving the cleaning effect of the ground cleaning device.

[0044] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present disclosure. BRIEF DESCRIPTION OF DRAWINGS

[0045] The accompanying drawings, which are incorporated into and form part of the specification, illustrate embodiments consistent with the present disclosure and, together with the specification, serve to explain the principles of the present disclosure.

[0046] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure or the prior art, the drawings needed in the embodiments or the prior art description will be briefly introduced as follows. Obviously, for those skilled in the art, other drawings can also be obtained without creative labor based on these drawings.

[0047] FIG. 1 is a flowchart of a control method of a ground cleaning device according to an embodiment of the present disclosure.

[0048] Fig. 2 is a schematic diagram of an arcuate cleaning route according to an embodiment of the present disclosure;

[0049] Fig. 3 is a schematic diagram of a bottom structure of a floor cleaning device according to an embodiment of the present disclosure;

[0050] Fig. 4 is a schematic diagram of an edge cleaning route according to an embodiment of the present disclosure;

[0051] Fig. 5 is a schematic diagram of an orientation of a floor cleaning device before a first turning operation is performed according to an embodiment of the present disclosure;

[0052] Fig. 6 is a schematic diagram of an orientation of a floor cleaning device after a first turning operation is performed according to an embodiment of the present disclosure;

[0053] Fig. 7 is a schematic diagram of an orientation of another floor cleaning device after a first turning operation is performed according to an embodiment of the present disclosure;

[0054] Fig. 8 is a schematic diagram of an orientation of another floor cleaning device after a first turning operation is performed according to an embodiment of the present disclosure;

[0055] Fig. 9 is a schematic diagram of an orientation of a floor cleaning device after a second turning operation is performed according to an embodiment of the present disclosure;

[0056] Fig. 10 is a schematic diagram of an orientation of a floor cleaning device before a third turning operation is performed according to an embodiment of the present disclosure;

[0057] Fig. 11 is a schematic diagram of an orientation of a floor cleaning device after a third turning operation is performed according to an embodiment of the present disclosure;

[0058] Fig. 12 is a schematic diagram of a cleaning route of a floor cleaning device according to an embodiment of the present disclosure;

[0059] Fig. 13 is a schematic diagram of a structure of a control device of a floor cleaning device according to an embodiment of the present disclosure;

[0060] Fig. 14 is a schematic diagram of a structure of a floor cleaning device according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0061] Embodiments of the present disclosure will be described in more detail with reference to the drawings. While certain embodiments of the present disclosure will be shown and described in connection with the drawings, it will be understood that the present disclosure can be embodied in various forms and should not be construed as being limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and fully convey the scope of the present disclosure to those skilled in the art.

[0062] The term "include" and variations thereof, as used in this document, mean "to include, without limitation." The term "based on" means "based at least in part on." The term "one embodiment" means "at least one embodiment." The term "another embodiment" means "at least one additional embodiment." The term "some embodiments" means "at least some embodiments." Related terms shall be construed accordingly. It should be noted that "a" or "an" entity as used herein means "one or more" entities. By the term "exemplary" or "example" is meant "an example of" or "one example of." The terms "first," "second," "third," etc. are used merely as labels, and are not intended to impose numerical requirements on their objects.

[0063] It should be noted that the modification of "one", "multiple" mentioned in the present disclosure is illustrative and not restrictive, and those skilled in the art should understand that unless the context clearly indicates otherwise, it should be understood as "one or more".

[0064] In the related art, when the floor cleaning device cleans the floor, the boundary of the to-be-cleaned area, such as the boundary of a room or the boundary of an obstacle profile, in order to avoid the floor cleaning device from colliding with the obstacle or the wall of the room and damaging the floor cleaning device, the floor cleaning device is usually arranged to maintain a certain distance from the boundary of the to-be-cleaned area. In addition, due to the size and installation position of the cleaning element of the floor cleaning device, the coverage range of the cleaning element is limited, and especially at the boundary of the to-be-cleaned area, the problem of missing scanning is prone to occur.

[0065] In order to solve the above problems, the present embodiment provides a control method of a floor cleaning device. FIG. 1 is a flowchart of a control method of a floor cleaning device provided by an embodiment of the present disclosure. The control method of the floor cleaning device can be applied to an application scenario in which the floor cleaning device needs to be controlled, and the method can be executed by a control device of the floor cleaning device provided by the present embodiment. The control device of the floor cleaning device can be realized in the form of software and / or hardware. FIG. 1 is a flowchart of a control method of a floor cleaning device provided by an embodiment of the present disclosure. As shown in FIG. 1, the control method includes the following steps:

[0066] S101, controlling the floor cleaning device to clean the to-be-cleaned area based on the arc cleaning route; determining that the floor cleaning device travels to the boundary of the to-be-cleaned area and is at a corner position of the arc cleaning route, and controlling the floor cleaning device to perform a first turning operation to make the coverage range of the cleaning element of the floor cleaning device cover at least part of the cleaning blind area;

[0067] The cleaning blind area is an area between a boundary line of the coverage range of the cleaning element and the boundary of the to-be-cleaned area when the floor cleaning device cleans the to-be-cleaned area based on the edge cleaning route.

[0068] Fig. 2 is a schematic diagram of an arc-shaped cleaning route according to an embodiment of the present disclosure. As shown in Fig. 2, the arc-shaped cleaning route refers to that the floor cleaning device moves from a starting point A to an ending point B in an arc shape to clean the to-be-cleaned area. The specific moving direction of the floor cleaning device 1 is shown by arrows in Fig. 2, and the boundary 3 of the to-be-cleaned area is shown by a thick solid line in Fig. 2. The floor cleaning device 1 cleans the to-be-cleaned area based on the arc-shaped cleaning route, which can complete the cleaning task with high coverage, and has the characteristics of short path, short cleaning time and high coverage. It should be noted that only one way of setting the starting point and the ending point in the arc-shaped cleaning route is shown in Fig. 2, and the starting point and the ending point can also be set at other positions in the arc-shaped cleaning route, and the to-be-cleaned area can be cleaned in other directions. The embodiments of the present disclosure do not limit this.

[0069] Fig. 3 is a schematic diagram of the bottom structure of a floor cleaning device according to an embodiment of the present disclosure. As shown in Fig. 3, the cleaning element 10 of the floor cleaning device 1 is arranged at the tail of the floor cleaning device 1, and the bottom of the floor cleaning device 1 is provided with necessary mechanical structures. The cleaning element 10 of the floor cleaning device 1 is away from the left edge and the right edge of the body of the floor cleaning device 1. For example, the distance between the left edge DD' of the body of the floor cleaning device 1 and the left edge EE' of the cleaning element 10 is h1.

[0070] Fig. 4 is a schematic diagram of an edge-following cleaning route according to an embodiment of the present disclosure. The dashed box in Fig. 4 is an edge-following route, and the specific moving direction of the floor cleaning device 1 is shown by arrows. When the floor cleaning device 1 cleans the to-be-cleaned area based on the edge-following cleaning route, the floor cleaning device 1 moves along the boundary 3 of the to-be-cleaned area, for example, the boundary of a room or the contour of an obstacle, and cleans the area near the boundary of the room or the contour of the obstacle by the cleaning element 10. In addition, in order to avoid collision between the floor cleaning device 1 and the boundary 3 of the to-be-cleaned area, a certain distance is generally kept between the floor cleaning device 1 and the boundary 3 of the to-be-cleaned area in the edge-following cleaning route, for example, h2 shown in Fig. 4.

[0071] As can be seen from Figs. 3 and 4, due to the limitation of the installation position and size of the cleaning element 10 and the distance kept between the floor cleaning device 1 and the boundary 3 of the to-be-cleaned area, the distance between the edge of the cleaning element 10, i.e., the boundary line of the coverage range of the cleaning element 10, and the boundary 3 of the to-be-cleaned area is, for example, h1+h2. Therefore, the to-be-cleaned area within this distance will form a cleaning blind area 2 as shown by the shaded area in Fig. 4, i.e., the coverage area of the cleaning element 10 is limited, resulting in the problem of floor cleaning omission.

[0072] To solve this problem, the embodiment of the present disclosure provides that when the floor cleaning device 1 travels to the boundary 3 of the area to be cleaned and is at the corner position of the arc-shaped cleaning route, for example, at the corner position C in FIG. 2, the floor cleaning device 1 is controlled to perform a first turning operation. FIG. 5 is a schematic diagram of an orientation of a floor cleaning device before the floor cleaning device performs a first turning operation according to an embodiment of the present disclosure, and FIG. 6 is a schematic diagram of an orientation of a floor cleaning device after the floor cleaning device performs a first turning operation according to an embodiment of the present disclosure. In combination with FIGS. 5 and 6, after the floor cleaning device 1 performs the first turning operation, the cleaning member 10 is changed from the downward orientation in FIG. 5 to the upward orientation shown in FIG. 6 by way of example, the boundary of the coverage range of the cleaning member 10 is closer to the boundary 3 of the area to be cleaned, and the distance between the boundary of the coverage range of the cleaning member 10 and the boundary 3 of the area to be cleaned is reduced, so that the cleaning member 10 can cover at least the cleaning blind area 2 during the performance of the first turning operation, thereby reducing the area of the cleaning blind area 2 and improving the cleaning effect of the floor cleaning device 1.

[0073] It should be noted that FIG. 6 only shows an orientation of the floor cleaning device 1 after the floor cleaning device 1 performs the first turning operation by way of example, and the specific orientation of the floor cleaning device 1 after the floor cleaning device 1 performs the first turning operation is not limited in the embodiment of the present disclosure, and can meet the cleaning requirements of the floor cleaning device 1.

[0074] Optionally, after the floor cleaning device performs the first turning operation, the method further includes: controlling the floor cleaning device to continue traveling along the arc-shaped cleaning route; wherein after the floor cleaning device performs the first turning operation, the front end of the floor cleaning device faces the subsequent traveling direction of the floor cleaning device.

[0075] FIG. 7 is a schematic diagram of an orientation of a floor cleaning device after the floor cleaning device performs a first turning operation according to another embodiment of the present disclosure. In combination with FIGS. 5 and 7, when the floor cleaning device 1 travels to the boundary 3 of the area to be cleaned and is at the corner position C of the arc-shaped cleaning route, the cleaning member 10 of the floor cleaning device 1 faces downward, the floor cleaning device 1 is controlled to perform a first turning operation, and the floor cleaning device 1 is controlled to rotate clockwise, for example, by 450 degrees, at the spot. For example, in the orientation in FIG. 7, during the rotation of the floor cleaning device 1 by 450 degrees, the cleaning member 10 located at the tail of the floor cleaning device 1 will undergo a process of changing from facing downward to facing upward, then to facing downward again, and finally to facing left. When the cleaning member 10 faces upward, the boundary of the cleaning member 10 is closer to the boundary 3 of the area to be cleaned, and at least part of the cleaning blind area 2 can be cleaned, thereby reducing the area of the cleaning blind area 2 and improving the cleaning effect of the floor cleaning device 1.

[0076] In addition, after the ground cleaning device 1 performs the first turning operation, the front end of the ground cleaning device 1 faces the right side, which is the same as the direction of the subsequent travel direction of the arc-shaped cleaning route, and the ground cleaning device 1 can directly travel forward and continue to clean the to-be-cleaned area based on the arc-shaped cleaning route, thereby improving the working efficiency of the ground cleaning device 1.

[0077] Optionally, after the ground cleaning device performs the first turning operation, the method further comprises: controlling the ground cleaning device to perform a second turning operation, so that the front end of the ground cleaning device faces the subsequent travel direction of the ground cleaning device; and controlling the ground cleaning device to continue to travel along the arc-shaped cleaning route; wherein, after the ground cleaning device performs the first turning operation, the front end of the ground cleaning device faces a direction different from the travel direction of the arc-shaped cleaning route.

[0078] FIG. 8 is a schematic diagram of the orientation of the ground cleaning device after performing the first turning operation according to another embodiment of the present disclosure. In combination with FIGS. 5 and 8, when the ground cleaning device 1 travels to the boundary 3 of the to-be-cleaned area and is located at the corner position C of the arc-shaped cleaning route, the cleaning element 10 located at the tail of the ground cleaning device 1 faces downward. The ground cleaning device 1 is controlled to perform the first turning operation, for example, the ground cleaning device 1 is controlled to rotate 270 degrees clockwise. The cleaning element 10 of the ground cleaning device 1 will go through a process of changing from facing downward to facing upward and then to facing right. When the front end of the ground cleaning device 1 faces downward, i.e., the cleaning element 10 located at the tail of the ground cleaning device 1 faces upward, the boundary of the cleaning element 10 is closer to the boundary 3 of the to-be-cleaned area, which can clean at least part of the cleaning blind area 2. Thus, the area of the cleaning blind area 2 can be reduced, and the cleaning effect of the ground cleaning device 1 is improved.

[0079] FIG. 9 is a schematic diagram of the orientation of the ground cleaning device after performing the second turning operation according to an embodiment of the present disclosure. In combination with FIGS. 5, 8 and 9, since the travel direction of the front end of the ground cleaning device 1 is different from the travel direction of the arc-shaped cleaning route after the ground cleaning device 1 performs the first turning operation, after the ground cleaning device 1 performs the first turning operation, the ground cleaning device 1 is controlled to continue to perform the second turning operation, for example, the ground cleaning device 1 is controlled to rotate, for example, 180 degrees clockwise or counterclockwise on the basis of the direction shown in FIG. 8, so that the front end of the ground cleaning device 1 changes from facing left to facing right, which is the same as the direction of the travel direction of the arc-shaped cleaning route, and the ground cleaning device 1 continues to clean the to-be-cleaned area.

[0080] It should be noted that the specific rotation angle of the ground cleaning device 1 in the first turning operation and the second turning operation can be set according to the actual cleaning requirements of the ground cleaning device 1, and the present disclosure does not limit the same.

[0081] Optionally, the control of the ground cleaning device to continue to travel along the arc cleaning route comprises: controlling the ground cleaning device to perform a third turning operation after traveling a preset distance; wherein, after the ground cleaning device performs the third turning operation, the front end of the ground cleaning device faces the same direction as the traveling direction of the arc cleaning route.

[0082] FIG. 10 is a schematic view of the orientation of the ground cleaning device before performing the third turning operation according to an embodiment of the present disclosure, and FIG. 11 is a schematic view of the orientation of the ground cleaning device after performing the third turning operation according to an embodiment of the present disclosure. As shown in FIG. 10, when the ground cleaning device 1 travels a preset distance, for example, one body position, and reaches another corner position F of the arc cleaning route, the front end of the ground cleaning device 1 faces the right side. The ground cleaning device 1 is controlled to perform a third turning operation. For example, as shown in FIG. 11, the ground cleaning device 1 is controlled to rotate 90 degrees clockwise, so that the front end of the ground cleaning device 1 faces downward, and the ground cleaning device 1 continues to perform the cleaning work.

[0083] It should be noted that the third turning operation can also be other rotation directions and angles, as long as the front end of the ground cleaning device 1 faces the same direction as the traveling direction of the arc cleaning route, and the present disclosure does not limit this.

[0084] Optionally, the first turning operation comprises: the ground cleaning device rotating 360 degrees multiplied by an integer plus 90 degrees, or the ground cleaning device rotating 360 degrees multiplied by an integer plus 270 degrees.

[0085] In some embodiments, as shown in FIG. 5, when the ground cleaning device 1 performs the first turning operation, the cleaning element 10 located at the tail of the ground cleaning device 1 will pass through the process of changing from facing downward to facing upward and then to facing downward again during the process of the ground cleaning device 1 rotating 360 degrees clockwise or counterclockwise. When the cleaning element 10 faces upward, as shown in FIG. 6, the boundary of the cleaning element 10 is closer to the boundary 3 of the to-be-cleaned area, which can clean at least part of the cleaning blind area 2, thereby reducing the area of the cleaning blind area 2 and improving the cleaning effect of the ground cleaning device 1. After the ground cleaning device 1 rotates 360 degrees clockwise or counterclockwise, the front end of the ground cleaning device 1 faces upward. For example, in the orientation shown in FIG. 5, the ground cleaning device 1 is controlled to rotate 90 degrees clockwise, so that the front end of the ground cleaning device 1 faces the right side, which is the same as the subsequent traveling direction of the ground cleaning device 1. The ground cleaning device 1 can directly travel forward and continue to clean the to-be-cleaned area based on the arc cleaning route, thereby improving the working efficiency of the ground cleaning device 1.

[0086] In some embodiments, as shown in FIG. 5, when the ground cleaning device 1 performs the first turning operation, the ground cleaning device 1 is first controlled to rotate 360 degrees clockwise or counterclockwise, and the specific rotation manner can be understood with reference to the above embodiments, which will not be described herein. Then the ground cleaning device 1 is controlled to rotate 270 degrees counterclockwise, so that the front end of the ground cleaning device 1 faces the right side, which is the same as the subsequent travel direction of the ground cleaning device 1, and the ground cleaning device 1 can directly travel forward and continue to clean the to-be-cleaned area based on the arc-shaped cleaning route, thereby improving the working efficiency of the ground cleaning device 1.

[0087] Optionally, the control of the ground cleaning device to perform the first turning operation comprises: controlling the ground cleaning device to rotate a preset angle, and the preset angle is greater than 90 degrees.

[0088] For example, as shown in FIG. 5, when the ground cleaning device 1 travels to the corner position C, according to the planning of the arc-shaped cleaning route, the front end of the ground cleaning device 1 needs to change from facing upward to facing the right side, at this time, there is a certain distance between the left side edge of the cleaning element 10 of the ground cleaning device 1 and the left side edge of the body of the ground cleaning device 1, and there is a certain distance between the ground cleaning device 1 and the boundary 3 of the to-be-cleaned area, and the cleaning element 10 cannot clean this area, thereby forming a cleaning blind area 2. The ground cleaning device 1 is controlled to rotate a preset angle, and the preset angle is greater than 90 degrees, and in the process of rotation, the cleaning element 10 of the ground cleaning device 1 can reduce the distance between the boundary line of the coverage range of the cleaning element 10 and the boundary 3 of the to-be-cleaned area, so that the cleaning element 10 can clean at least part of the cleaning blind area 2, thereby reducing the area of the cleaning blind area 2 and improving the cleaning effect of the ground cleaning device 1.

[0089] Optionally, the control of the ground cleaning device to perform the first turning operation comprises: controlling the ground cleaning device to rotate 180 degrees clockwise or counterclockwise; and the control of the ground cleaning device to perform the second turning operation comprises: controlling the ground cleaning device to rotate 90 degrees clockwise or counterclockwise.

[0090] For example, in combination with FIGS. 5 and 6, when the ground cleaning device 1 travels to the boundary 3 of the to-be-cleaned area and is at the corner position C of the arc-shaped cleaning route, the front end of the ground cleaning device 1 faces upward, and the cleaning element 10 of the ground cleaning device 1 faces downward, the ground cleaning device 1 is controlled to rotate, for example, 180 degrees clockwise or counterclockwise in place, and the cleaning element 10 of the ground cleaning device 1 will change from facing downward to facing upward, and when the cleaning element 10 of the ground cleaning device 1 faces upward, the distance between the boundary line of the coverage range of the cleaning element 10 and the boundary 3 of the to-be-cleaned area is reduced, so that the cleaning element 10 can clean at least part of the cleaning blind area 2, thereby reducing the area of the cleaning blind area 2 and improving the cleaning effect of the ground cleaning device 1.

[0091] Since the travel direction of the front end of the floor cleaning device 1 is different from the travel direction of the arc-shaped cleaning route after the floor cleaning device 1 performs the first turning operation, with reference to FIG. 6, the front end of the floor cleaning device 1 is directed downward, while the travel direction of the arc-shaped cleaning route is directed to the right, therefore, after controlling the floor cleaning device 1 to perform the first turning operation, the floor cleaning device 1 is controlled to rotate counterclockwise by, for example, 90 degrees, with reference to FIG. 9, so that the front end of the floor cleaning device 1 is turned from being directed downward to being directed to the right, which is the same as the direction of the arc-shaped cleaning route, and the cleaning of the to-be-cleaned area continues.

[0092] Optionally, the determining that the floor cleaning device travels to the boundary of the to-be-cleaned area comprises: determining that the distance between the floor cleaning device and the boundary of the to-be-cleaned area reaches a first threshold value.

[0093] Specifically, a distance measuring device can be installed in the floor cleaning device, for example, to measure the distance between the floor cleaning device and the boundary of the to-be-cleaned area, such as a wall. In order to avoid collision between the floor cleaning device and the boundary of the to-be-cleaned area, when it is obtained that the distance between the floor cleaning device and the boundary of the to-be-cleaned area reaches the first threshold value, the floor cleaning device is controlled to stop moving forward and perform the first turning operation. In this way, the problem of collision between the floor cleaning device and the boundary of the to-be-cleaned area is avoided, the operation safety of the floor cleaning device is improved, and the user experience is improved.

[0094] Optionally, the first threshold value is 3-10 cm.

[0095] Illustratively, a laser radar distance measuring device can be installed in the floor cleaning device, for example, the laser radar distance measuring device has higher accuracy, and after the distance between the floor cleaning device and the boundary of the to-be-cleaned area reaches the first threshold value and the floor cleaning device is at the corner position of the arc-shaped cleaning route, the floor cleaning device is controlled to perform the first turning operation, so that the floor cleaning device can be closer to the boundary of the to-be-cleaned area than the existing floor cleaning device, the first threshold value range can be 3-10 cm, for example, the floor cleaning device can be as close as possible to the boundary of the to-be-cleaned area, the area of the cleaning blind spot is reduced, that is, the area of the missed scanning of the floor cleaning device is reduced, and the cleaning effect of the floor cleaning device is improved.

[0096] Optionally, the first threshold value is less than a second threshold value; wherein the second threshold value is the distance between the floor cleaning device and the boundary of the to-be-cleaned area when the floor cleaning device cleans the to-be-cleaned area based on the edge cleaning route.

[0097] FIG. 12 is a schematic view of a cleaning route of a ground cleaning device according to an embodiment of the present disclosure. In FIG. 12, the distance between the ground cleaning device 1 and the boundary of the to-be-cleaned area is, for example, L1 when the ground cleaning device 1 cleans the to-be-cleaned area based on an edge-following cleaning route, and the distance between the ground cleaning device 1 and the boundary 3 of the to-be-cleaned area is, for example, L2 when the ground cleaning device 1 cleans the to-be-cleaned area based on an arc-shaped cleaning route, where L1 is less than L2. Compared with the edge-following cleaning route, when the ground cleaning device 1 cleans the to-be-cleaned area based on the arc-shaped cleaning route, the distance between the ground cleaning device 1 and the boundary of the to-be-cleaned area is closer, the cleaning range covered by the cleaning member of the ground cleaning device 1 is wider, the area of the cleaning blind spot is smaller, that is, the area missed by the ground cleaning device 1 is smaller, and the cleaning effect of the ground cleaning device 1 is improved.

[0098] Optionally, before controlling the ground cleaning device to clean the to-be-cleaned area based on the arc-shaped cleaning route, the method further includes: controlling the ground cleaning device to clean the to-be-cleaned area based on an edge-following cleaning route.

[0099] Specifically, the ground cleaning device is controlled to clean the to-be-cleaned area based on the edge-following cleaning route. On the one hand, the ground cleaning device can clean the to-be-cleaned area multiple times, so that the ground, especially the position close to the boundary of the to-be-cleaned area, can be cleaned more thoroughly, and the cleaning effect of the ground cleaning device is further improved. On the other hand, when the ground cleaning device cleans based on the edge-following cleaning route, the ground cleaning device can also identify the layout of the entire room, so that the ground cleaning device can avoid obstacles when cleaning the to-be-cleaned area, and the problem of collision between the ground cleaning device and the obstacles is avoided, the working efficiency of the ground cleaning device is improved, and the use safety of the ground cleaning device is improved.

[0100] According to the embodiments of the present disclosure, the ground cleaning device is controlled to perform the first turning operation in place, so that the boundary line of the coverage range of the cleaning member is closer to the boundary of the to-be-cleaned area, the distance between the boundary line of the coverage range of the cleaning member and the boundary of the to-be-cleaned area is reduced, and the cleaning member can cover at least the cleaning blind spot during the performance of the first turning operation, so that the area of the cleaning blind spot can be reduced, and the cleaning effect of the ground cleaning device is improved.

[0101] The embodiment of the present disclosure further provides a control device of a floor cleaning device. FIG. 13 is a structural schematic diagram of a control device of a floor cleaning device according to an embodiment of the present disclosure. As shown in FIG. 13, the control device of the floor cleaning device comprises a control module 1301. The control module 1301 is configured to control the floor cleaning device to clean a to-be-cleaned area based on an arc cleaning route. The control module 1301 is further configured to determine that the floor cleaning device travels to a boundary of the to-be-cleaned area and is located at a corner position of the arc cleaning route, and control the floor cleaning device to perform a first turning operation, so that a coverage range of a cleaning member of the floor cleaning device covers at least part of a cleaning blind area. The cleaning blind area is an area between a boundary line of the coverage range of the cleaning member and a boundary of the to-be-cleaned area when the floor cleaning device cleans the to-be-cleaned area based on an edge cleaning route.

[0102] The device provided by the above-mentioned embodiments of the present disclosure is based on the same inventive concept as the method provided by the embodiments of the present disclosure, and has the same beneficial effects, which will not be repeated here.

[0103] The embodiment of the present disclosure further provides a computer readable storage medium, which stores programs or instructions, and the programs or instructions make the computer execute the steps of any one of the methods provided in the above-mentioned embodiments.

[0104] In some embodiments, the computer executable instructions, when executed by the computer processor, can also be used to execute the technical solutions of any one of the above-mentioned methods provided by the embodiments of the present disclosure, and realize the corresponding beneficial effects.

[0105] From the above description of the embodiments, those skilled in the art can clearly understand that the present disclosure can be realized by means of software and necessary universal hardware, and of course can also be realized by hardware, but in many cases the former is a better implementation. Based on such understanding, the technical solutions of the present disclosure can be embodied in the form of a software product, which can be stored in a computer readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a FLASH memory, a hard disk, or an optical disc, and includes a number of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods of various embodiments of the present disclosure.

[0106] FIG. 14 is a structural schematic diagram of a ground cleaning device according to an embodiment of the present disclosure. As shown in FIG. 14, the ground cleaning device includes a processor 1401 and a memory 1402. The processor 1401 executes the steps of the method according to any of the above embodiments by invoking the program or instructions stored in the memory 1402, and thus has the beneficial effects of the above embodiments, which will not be repeated here.

[0107] Specifically, as shown in FIG. 14, the ground cleaning device can be configured to include at least one processor 1401, at least one memory 1402, and at least one communication interface 1403. The various components in the ground cleaning device are coupled together by a bus system 1404. The communication interface 1403 is configured to transmit information between the ground cleaning device and an external device. It can be understood that the bus system 1404 is configured to realize the connection and communication between the components. In addition to a data bus, the bus system 1404 can also include a power bus, a control bus, and a status signal bus. However, for the sake of clarity, all the buses are marked as the bus system 1404 in FIG. 14.

[0108] It can be understood that the memory 1402 in the embodiment can be a volatile memory or a non-volatile memory, or can include both volatile and non-volatile memories. In some embodiments, the memory 1402 stores the following elements: executable units or data structures, or a subset thereof, or an extended set thereof operating system and application programs. In the embodiment of the present disclosure, the processor 1401 executes the steps of the method according to any of the embodiments of the present disclosure by invoking the program or instructions stored in the memory 1402.

[0109] The method according to the embodiment of the present disclosure can be applied to the processor 1401 or implemented by the processor 1401. The processor 1401 can be an integrated circuit chip having a processing capability of signals. In the implementation process, each step of the above method can be completed by the integrated logic circuit or the instruction in the form of software in the processor 1401. The processor 1401 described above can be a general processor, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic device, a discrete gate or transistor logic device, a discrete hardware component. The general processor can be a microprocessor or the processor can also be any conventional processor or the like.

[0110] The steps of the method provided by the embodiments of the present disclosure can be directly embodied as hardware coding processor to execute, or be executed by a combination of hardware and software units in the coding processor. The software unit can be located in the random access memory, the flash memory, the read only memory, the programmable read only memory, the electrically erasable programmable memory, the register, and other mature storage mediums in the field. The storage medium is located in the storage 1402, and the processor 1401 reads information in the storage 1402 to combine the hardware to complete the steps of the method.

[0111] The ground cleaning device can also include one physical component or a plurality of physical components to generate instructions according to the processor 1401 when executing the method provided by the embodiments of the present disclosure. Different physical components can be arranged in the ground cleaning device or outside the ground cleaning device, such as a cloud server. Each physical component cooperates with the processor 1401 and the storage 1402 to realize the function of the ground cleaning device in the embodiments.

[0112] It should be noted that, in this document, the relationship terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between the entities or operations. Moreover, the terms "include", "contain" or any other variants thereof are intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such process, method, article or device. Without more limitations, the element defined by the statement "including a" does not exclude the presence of another same element in the process, method, article or device including the element.

[0113] The above is only a specific embodiment of the present disclosure, which enables those skilled in the art to understand or implement the present disclosure. Various modifications of these embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present disclosure. Therefore, the present disclosure will not be limited to these embodiments herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein. Industrial applicability

[0114] The control method of the ground cleaning device provided by the present disclosure includes: controlling the ground cleaning device to clean a to-be-cleaned area based on an arc cleaning route; determining that the ground cleaning device travels to a boundary of the to-be-cleaned area and is at a corner position of the arc cleaning route, and controlling the ground cleaning device to perform a first turning operation to make the coverage range of the cleaning member of the ground cleaning device cover at least part of a cleaning blind area; wherein the cleaning blind area is an area between a boundary line of the coverage range of the cleaning member and the boundary of the to-be-cleaned area when the ground cleaning device cleans the to-be-cleaned area based on an edge cleaning route. Through the technical solution of the present disclosure, the area of the cleaning blind area is reduced, and the cleaning effect of the ground cleaning device is improved.

Claims

1. A control method for a floor cleaning device, characterized in that, include: The ground cleaning equipment is controlled to clean the area to be cleaned based on an arc-shaped cleaning path. Once it is determined that the floor cleaning equipment has traveled to the boundary of the area to be cleaned and is at the corner of the arc-shaped cleaning route, the floor cleaning equipment is controlled to perform a first turning operation so that the cleaning components of the floor cleaning equipment cover at least part of the cleaning blind spot; The cleaning blind spot is the area between the boundary line of the coverage area of ​​the cleaning device and the boundary of the area to be cleaned when the floor cleaning equipment cleans the area to be cleaned based on the edge cleaning route.

2. The control method for the floor cleaning equipment according to claim 1, characterized in that, After controlling the floor cleaning equipment to perform the first steering operation, the method further includes: Control the ground cleaning equipment to continue moving along the bow-shaped cleaning path; Wherein, after the ground cleaning equipment performs the first turning operation, the front end of the ground cleaning equipment faces the same direction as the subsequent travel direction of the ground cleaning equipment.

3. The control method for the floor cleaning equipment according to claim 1, characterized in that, After controlling the floor cleaning equipment to perform the first steering operation, the method further includes: Control the floor cleaning equipment to perform a second steering operation, so that the front end of the floor cleaning equipment faces the subsequent direction of travel of the floor cleaning equipment; Control the ground cleaning equipment to continue moving along the bow-shaped cleaning path; Wherein, after the ground cleaning equipment performs the first turning operation, the front end of the ground cleaning equipment faces a different direction than the travel direction of the bow-shaped cleaning route.

4. The control method for the floor cleaning equipment according to claim 2 or 3, characterized in that, Controlling the floor cleaning equipment to continue moving along the arc-shaped cleaning path includes: After the ground cleaning equipment has traveled a preset distance, it performs a third turning operation; After the ground cleaning equipment performs the third turning operation, the front end of the ground cleaning equipment faces the same direction as the travel direction of the bow-shaped cleaning route.

5. The control method for the floor cleaning equipment according to claim 2, characterized in that, The first steering operation includes: controlling the floor cleaning equipment to rotate by an integer multiple of 360 degrees plus 90 degrees, or controlling the floor cleaning equipment to rotate by an integer multiple of 360 degrees plus 270 degrees.

6. The control method for the floor cleaning equipment according to claim 3, characterized in that, The control of the floor cleaning equipment to perform a first steering operation includes: The floor cleaning equipment is controlled to rotate at a preset angle, which is greater than 90 degrees.

7. The control method for the floor cleaning equipment according to claim 3, characterized in that, The control of the floor cleaning equipment to perform the first steering operation includes: controlling the floor cleaning equipment to rotate 180 degrees clockwise or counterclockwise; The control of the floor cleaning equipment to perform the second steering operation includes controlling the floor cleaning equipment to rotate 90 degrees clockwise or counterclockwise.

8. The control method for the floor cleaning equipment according to claim 1, characterized in that, Determining the boundary of the area to be cleaned where the floor cleaning equipment has traveled includes: The distance between the ground cleaning equipment and the boundary of the area to be cleaned is determined to reach a first threshold.

9. The control method for the floor cleaning equipment according to claim 8, characterized in that, The first threshold is 3-10 cm.

10. The control method for the floor cleaning equipment according to claim 8, characterized in that, The first threshold is less than the second threshold; The second threshold is the distance between the floor cleaning equipment and the boundary of the area to be cleaned when the floor cleaning equipment cleans the area to be cleaned based on the edge cleaning route.

11. The control method for the floor cleaning equipment according to claim 1, characterized in that, Before controlling the floor cleaning equipment to clean the area to be cleaned based on an arc-shaped cleaning path, the method further includes: The ground cleaning equipment is controlled to clean the area to be cleaned based on the edge cleaning route.

12. A control device for a floor cleaning equipment, characterized in that, include: The control module is used to control the floor cleaning equipment to clean the area to be cleaned based on the arc-shaped cleaning route; Once it is determined that the floor cleaning equipment has traveled to the boundary of the area to be cleaned and is at the corner of the arc-shaped cleaning route, the floor cleaning equipment is controlled to perform a first turning operation so that the cleaning components of the floor cleaning equipment cover at least part of the cleaning blind spot; The cleaning blind spot is the area between the boundary line of the coverage area of ​​the cleaning device and the boundary of the area to be cleaned when the floor cleaning equipment cleans the area to be cleaned based on the edge cleaning route.

13. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a program or instructions; the program or instructions cause the computer to perform the steps of the method as described in any one of claims 1 to 11.

14. A floor cleaning device, characterized in that, It includes a processor and a memory, wherein the processor executes the steps of the method as described in any one of claims 1 to 11 by invoking a program or instruction stored in the memory.

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