Cleaning device control method and apparatus, and cleaning device

Abstract

A cleaning device control method and apparatus, and a cleaning device. The method comprises: before a cleaning device executes a straight-line movement action, controlling the cleaning device to execute an adjustment action, wherein the adjustment action comprises the cleaning device executing an action over at least one straight-line segment and / or an action over at least one non-straight-line segment (S110); and during the process of the cleaning device executing the adjustment action, a turning assembly rotating in a direction that deviates from the direct front of the cleaning device (S120).

Description

Cleaning device control method and apparatus, and cleaning device

[0001] Cross Reference to Related Applications

[0002] The present disclosure claims priority to Chinese Patent Application No. 2024110525974, filed on August 01, 2024, the entire contents of which are incorporated herein by reference. TECHNICAL FIELD

[0003] The present disclosure relates to the technical field of smart home, and more particularly, to a cleaning device control method, a cleaning device control apparatus, and a cleaning device. BACKGROUND

[0004] In the prior art, when a smart cleaning device such as a sweeping robot encounters an obstacle during execution of a working process, the universal wheel is usually extended to overcome the obstacle, but multiple attempts may be required to successfully overcome the obstacle. If a certain posture does not pass the obstacle, the universal wheel needs to be retracted to accelerate through the obstacle again, and the universal wheel turns to the front direction, i.e., the front direction of the cleaning device, during the retraction process. When the universal wheel is directed to the front direction, the resistance caused by the collision with the obstacle is very large, which is very unfavorable for the machine to pass through the obstacle. Therefore, there is an urgent need for a new technical solution to solve the above technical problems.

[0005] SUMMARY

[0006] A series of simplified concepts are introduced in the summary section, which will be further described in detail in the detailed description section. The summary section of the present disclosure does not mean to attempt to limit the key features and essential technical features of the claimed technical solution, nor to determine the protection scope of the claimed technical solution.

[0007] According to a first aspect of the present disclosure, a cleaning device control method is provided, the cleaning device comprising a moving assembly and a steering assembly, the control method comprising: before the cleaning device performs a straight-line moving action, controlling the cleaning device to perform an adjustment action, wherein the adjustment action comprises the cleaning device performing at least one straight-line action and / or at least one non-straight-line action; during the adjustment action performed by the cleaning device, controlling the steering assembly to turn towards a direction deviating from the front direction of the cleaning device.

[0008] According to a second aspect of the present disclosure, a cleaning device control apparatus is also provided, the cleaning device comprising a moving assembly and a steering assembly, the control apparatus comprising: an adjustment control unit configured to control the cleaning device to perform an adjustment action before the cleaning device performs a straight-line moving action, wherein the adjustment action comprises the cleaning device performing at least one straight-line action and / or at least one non-straight-line action; a turning control unit configured to control the steering assembly to turn towards a direction deviating from the front direction of the cleaning device during the adjustment action performed by the cleaning device.

[0009] According to a third aspect of the present disclosure, there is also provided a cleaning device for performing the cleaning device control method as described above.

[0010] The cleaning device control method of the present disclosure, other advantages, objects and features of the present disclosure will be in part apparent and in part explicit from the following description. BRIEF DESCRIPTION OF DRAWINGS

[0011] The accompanying drawings, which are incorporated herein and constitute part of the specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0012] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure or the prior art, the accompanying drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced. Obviously, for those of ordinary skill in the art, other drawings can also be obtained from these drawings without creative labor.

[0013] Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of exemplary implementations. The accompanying drawings are intended to only illustrate exemplary implementations and are not intended to limit the present disclosure. Moreover, the same reference numbers in the entire drawings indicate the same components. In the drawings:

[0014] FIG. 1 shows a schematic flow chart of a cleaning device control method according to some embodiments of the present disclosure;

[0015] FIG. 2 shows a schematic view of a cleaning device control method making a steering assembly face a forward direction of the cleaning device according to some embodiments of the present disclosure;

[0016] FIG. 3 shows a schematic structural block diagram of a cleaning device control apparatus according to some embodiments of the present disclosure;

[0017] FIG. 4 shows a schematic structural block diagram of a cleaning device according to some embodiments of the present disclosure. DETAILED DESCRIPTION

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure or the prior art, the accompanying drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced. Obviously, for those of ordinary skill in the art, other drawings can also be obtained from these drawings without creative labor.

[0019] The terms "first", "second", "third", "fourth", and the like in the description and claims of the present disclosure and the above drawings, if any, are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the use of the terms so construed herein can interchange depending upon the context in which it is used and the intention is to recite one or more feature of one or more embodiments without limitation. Further, the terms "comprise" and "have" and any variations thereof are intended to cover a non-exclusive inclusion, for example, a process, method, article, or apparatus that comprises a list of steps or units can not necessarily be limited to those steps or units, but can include other not expressly listed or inherent to such process, method, article, or apparatus. The technical solutions in the embodiments of the present disclosure will be described clearly and completely below with reference to the drawings of the embodiments of the present disclosure. Obviously, the described embodiments are only some of the embodiments of the present disclosure, not all the embodiments.

[0020] In the following description, many specific details are set forth in order to provide a thorough understanding of the technical solutions of the present disclosure, but the present disclosure can also be implemented in other ways different from those described herein; obviously, the embodiments in the specification are only some of the embodiments of the present disclosure, not all the embodiments.

[0021] In order to solve the above technical problems, according to a first aspect of the present disclosure, a cleaning device control method is provided.

[0022] In some embodiments, the cleaning device can include a moving assembly and a steering assembly, the moving assembly can include driving wheels, and the steering assembly can include universal wheels. For the convenience of description and understanding, the following detailed description is made with 2 driving wheels and 1 universal wheel, and in actual application, the number of driving wheels or universal wheels can be modified according to specific design requirements to achieve the same technical effects as the following solutions.

[0023] FIG. 1 shows a schematic flowchart of a cleaning device control method 100 according to some embodiments of the present disclosure. As shown in FIG. 1, the method 100 can include the following steps S110-S120.

[0024] In step S110: before the cleaning device performs a straight line moving action, the cleaning device is controlled to perform an adjustment action, wherein the adjustment action includes the cleaning device performing at least one straight line action and / or at least one non-straight line action.

[0025] FIG. 4 shows a schematic structural block diagram of a cleaning device according to some embodiments of the present disclosure. As shown in FIG. 4, the cleaning device can include a moving assembly 430 and a steering assembly 440. In some embodiments, the steering assembly 440 can be a universal wheel. The steering assembly 440 can be disposed in front of the advancing direction of the cleaning device and rotate around a fixed shaft, which is an eccentric shaft relative to the moving assembly, i.e., the center of gravity of the steering assembly 440 and the rotation axis of the fixed shaft are not in the same straight line, and the fixed shaft is usually located in the advancing direction of the cleaning device.

[0026] In some embodiments, the advancing direction of the cleaning device is the direction indicated by the arrow shown in FIG. 4. In some embodiments according to FIG. 4, the steering assembly 440 is disposed at a position slightly forward of the middle of the body of the cleaning device. In some embodiments, the larger circle in FIG. 4 represents the body of the cleaning device. Relative to the steering assembly 440, the moving assembly 430 can be disposed at the position shown in FIG. 4. It should be noted that FIG. 4 only represents one schematic diagram of the positions of the moving assembly 430 and the steering assembly 440 on the body of the cleaning device, and the positions of the moving assembly 430 and the steering assembly 440 can be adjusted, but in all schemes in which the moving assembly 430 and the steering assembly 440 are disposed at different positions on the body of the cleaning device, including the embodiment of FIG. 4, the steering assembly 440 is located in front of the moving assembly 430 in the advancing direction of the cleaning device. During the working process of the cleaning device, both the moving assembly 430 and the steering assembly 440 can perform an extension or retraction action, wherein the extension and retraction actions are both relative to the body of the cleaning device. When the moving assembly 430 or the steering assembly 440 moves away from the body, it means that the moving assembly 430 or the steering assembly 440 performs an extension action; when the moving assembly 430 or the steering assembly 440 moves towards the body, it means that the moving assembly 430 or the steering assembly 440 performs a retraction action. For example, when the moving assembly 430 performs an extension action and the steering assembly 440 does not perform an extension action or performs a retraction action, the body of the cleaning device is in a state of being low in front and high in back, and vice versa, when the moving assembly 430 does not perform an extension action or performs a retraction action and the steering assembly 440 performs an extension action, the body of the cleaning device is in a state of being high in front and low in back. For example, when the cleaning device encounters an obstacle during the working process, the steering assembly 440 can be extended to make the body of the cleaning device in a state of being high in front and low in back, so that the cleaning device can smoothly pass through the obstacle. However, during the obstacle passing process, it can take several attempts to be successful. After failing to pass through the obstacle, the cleaning device can first move backward and then accelerate again to pass through the obstacle. When moving backward, the direction of the steering assembly 440 is rotated to change the position of the advancing direction of the cleaning device. When moving forward again, the steering assembly 440 can stay at the position, so that the resistance during the next obstacle passing process is increased. The next obstacle passing process is a straight line moving process.

[0027] FIG. 2 shows a schematic diagram of a cleaning device control method adjusting the direction of a steering assembly towards the forward direction of the cleaning device according to some embodiments of the present disclosure. The arrow in FIG. 2 indicates the forward direction of the cleaning device when the cleaning device is working normally, i.e. the direction of the front of the cleaning device. The circular mark in FIG. 2 represents the steering assembly. The straight line movement action can represent a movement action of the cleaning device moving in a straight line towards the front of the cleaning device. In order to enable the cleaning device to successfully overcome obstacles, the direction of the steering assembly can be adjusted by an adjustment action. In some embodiments, when the cleaning device has completed other actions and the next action is a straight line movement action, the direction of the steering assembly can be adjusted by an adjustment action before the straight line movement action is performed, so that the direction of the steering assembly does not affect the ability of the cleaning device to overcome obstacles in the path of the cleaning device when performing the straight line movement action.

[0028] In some embodiments, the adjustment action can comprise a straight line action performed by the cleaning device. The straight line action can be a movement action of the cleaning device moving in a straight line towards the front of the cleaning device.

[0029] In some embodiments, the adjustment action can comprise at least one non-straight line action performed by the cleaning device.

[0030] In some embodiments, the non-straight line action can comprise a straight line action performed by the cleaning device in two or more different directions. Each straight line action in the non-straight line action can be a movement action of the cleaning device moving in a straight line towards the side or the back of the cleaning device. The movement path of the non-straight line action is a broken line.

[0031] In other embodiments, the non-straight line action can be a movement action of the cleaning device moving or retreating in one or more curves.

[0032] In yet other embodiments, the non-straight line action can be a combination of the above-mentioned two types of non-straight line actions, i.e. a combination of a broken line movement action and a curve movement action.

[0033] In step S120, the steering assembly is controlled to rotate towards a direction deviating from the front of the cleaning device during the adjustment action performed by the cleaning device.

[0034] In some embodiments, the steering assembly can rotate with the movement action of the cleaning device when the cleaning device performs the above-mentioned adjustment action.

[0035] In some embodiments, before the cleaning device performs the adjusting action, the orientation direction of the steering assembly is towards the direction of the front of the cleaning device (as shown in FIG. 2), and when the cleaning device performs the adjusting action, the orientation direction of the steering assembly will change to the direction deviating from the front of the cleaning device. It should be noted that when the steering assembly is oriented towards the front of the cleaning device, the resistance caused by the steering assembly to the linear movement action of the cleaning device can be referred to as the first resistance, and after the steering assembly is oriented towards the direction deviating from the front of the cleaning device, the resistance caused by the steering assembly to the linear movement action of the cleaning device can be referred to as the second resistance, and the first resistance is greater than the second resistance.

[0036] According to one or more embodiments of the present disclosure, before the cleaning device performs the linear movement action, by controlling the cleaning device to perform the adjusting action and controlling the steering assembly to be oriented towards the direction deviating from the front of the cleaning device during the adjusting action of the cleaning device, the resistance caused by the collision between the steering assembly and the obstacle can be effectively reduced, and the cleaning device can pass through the obstacle more easily, and the subsequent linear movement action can be better completed.

[0037] In some embodiments, before the cleaning device performs the adjusting action in step S110, the horizontal degree of the body can be adjusted to zero, and the adjusting action is a linear action performed by the cleaning device.

[0038] In some embodiments, when the steering assembly is in the extended state and the moving assembly is in the retracted state, so that the body of the cleaning device is in the state of high front and low back, the steering assembly can be lowered before the cleaning device performs the adjusting action.

[0039] In some embodiments, the steering assembly can be lowered before the cleaning device performs the adjusting action, which can be that the steering assembly performs a retracting action or the moving assembly is lifted, i.e., the moving assembly performs an extending action, so as to adjust the horizontal degree of the body to zero.

[0040] It should be noted that “lowering” and “lifting” are both relative to the body, and lowering the steering assembly means that the steering assembly performs a retracting action to lower the front part of the body, and similarly, lifting the moving assembly means that the moving assembly performs an extending action to lift the rear part of the body. The horizontal degree can be used to represent the angle between the plane where the body is located and the cleaning surface to be cleaned when the cleaning device works (usually, the cleaning surface to be cleaned is parallel to the horizontal plane).

[0041] In some embodiments, the horizontal degree of the body can be detected and adjusted by a horizontal detection device and a horizontal adjustment device arranged on the cleaning device. In some embodiments, the horizontal detection device can be a level, and the horizontal adjustment device can be the moving assembly and the steering assembly, or an auxiliary adjustment device such as a foot pad. In other embodiments, the horizontal degree can also be determined according to the extension / retraction state of the moving assembly and the steering assembly.

[0042] In some embodiments, when the horizontal degree is zero, it means that the plane where the body is located is parallel to the surface to be cleaned when the cleaning device is working, and at this time, it can be considered that the pressure of the body on the moving assembly and the steering assembly is the same, in other words, during the straight-line movement of the cleaning device, the moving assembly and the steering assembly are subjected to no external force other than the ground friction. Based on this, the cleaning device performs an adjustment action of a straight-line movement, that is, the cleaning device moves forward in a straight line. Therefore, when the horizontal degree of the body of the cleaning device is zero, the steering assembly can be rotated towards a direction deviating from the front direction of the cleaning device by controlling the cleaning device to perform a straight-line movement only through the ground friction. The greater the ground friction, the greater the rotation angle of the steering assembly, and the control strategy is simple and easy to implement.

[0043] In some embodiments, the at least one non-straight-line movement includes at least one curved movement or at least two straight-line movements, and the moving directions of the at least two straight-line movements are different.

[0044] In some embodiments, when the cleaning device performs at least one non-straight-line movement, at least one curved movement can be performed, that is, the cleaning device can perform a forward or backward movement according to one or more curves.

[0045] In other embodiments, the cleaning device can also perform a forward or backward movement according to a broken line composed of at least two straight lines, for example, as described above. The number of straight lines in the broken line can be increased according to actual conditions, and the directions of the at least two straight lines in the broken line are different.

[0046] In the above-mentioned various embodiments of the cleaning device performing at least one non-straight-line movement, the horizontal degree of the body is not limited, and whether the body is in a horizontal state or not, the cleaning device can be controlled to perform an adjustment action of at least one non-straight-line movement according to the above-mentioned technical solutions, so as to rotate the steering assembly towards a direction deviating from the front direction of the cleaning device. Therefore, the direction of the steering assembly can be adjusted by controlling the cleaning device to perform a non-straight-line movement, and at the same time, this adjustment manner is not affected by the state of the body, so as to achieve the purpose of adjusting the direction of the steering assembly by twisting the cleaning device left and right, and reduce the resistance that the steering assembly may be subjected to, thereby facilitating the subsequent execution of a straight-line movement.

[0047] In some embodiments, the step S120 of controlling the steering assembly to rotate towards a direction deviating from the front direction of the cleaning device can include: in the case that the adjusting action is a forward action, the steering assembly rotates towards the rear direction of the cleaning device.

[0048] In some embodiments, the adjusting action can include a forward action and a backward action. In the case that the adjusting action is a forward action, since the cleaning device is in a forward state, the steering assembly can be subjected to a resistance force from the forward direction, so that the steering assembly rotates towards the rear direction of the cleaning device, and finally can be steered to the rear direction of the cleaning device. In the case that the adjusting action is a backward action, the steering assembly rotates towards the side direction of the cleaning device. Before the adjusting action is performed, the steering assembly is in the front direction of the cleaning device. In the case that the adjusting action is a backward action, the steering assembly can be subjected to a resistance force from the backward direction, which makes the steering assembly rotate towards the side direction of the cleaning device, wherein the side direction can refer to any direction other than the front direction and the rear direction. Thus, no matter whether the adjusting action is a forward action or a backward action, the steering assembly can be rotated towards a direction deviating from the front direction of the cleaning device, which reduces the resistance force that the steering assembly is subjected to in the subsequent straight moving action, so as to facilitate the completion of the subsequent obstacle crossing action.

[0049] In some embodiments, the adjusting action can further include a spin action.

[0050] In some embodiments, the moving assembly can include two driving wheels, and the spin action of the cleaning device can be achieved by controlling the two driving wheels to rotate at the same speed in opposite directions, and the center of the spin action is at the center of the cleaning device, and the spin action does not change the center position of the cleaning device. During the spin action of the cleaning device, the steering assembly rotates accordingly, so that it rotates towards a direction deviating from the front direction of the cleaning device. Thus, the direction of the steering assembly can be adjusted by a simple control strategy, so as to ensure the smooth completion of the subsequent straight moving action.

[0051] In some embodiments, the cleaning device control method provided by the present disclosure can further include: determining the action parameters corresponding to each of the at least one curve action or the at least two straight actions according to the target direction corresponding to the straight moving action.

[0052] In some embodiments, the straight moving action has a set target direction, i.e., the process of the cleaning device moving straight towards the target direction. Therefore, the adjusting action performed before the straight moving action is given a corresponding direction parameter, so that the cleaning device can directly perform the straight moving action after the adjusting action without further direction adjustment.

[0053] In some embodiments, for the case that the adjustment action is at least one segment of curve action, the related parameters of the one or more segments of curve, such as the curvature, the radius of curvature, the tangent direction, etc. can be set in combination with the target direction to determine the action parameters of the at least one segment of curve action. For the case that the adjustment action is at least two segments of straight line action, the directions of the at least two segments of straight line can be set in combination with the target direction, so that the cleaning device after performing the adjustment action is aligned with the target direction.

[0054] Since the action parameters of the at least one segment of curve action or the at least two segments of straight line action are determined according to the target direction corresponding to the straight line movement action, the cleaning device after performing the adjustment action can directly perform the straight line movement action without further direction adjustment, which reduces the redundant adjustment action, simplifies the control logic, and ensures the smooth execution of the straight line movement action.

[0055] In some embodiments, before the cleaning device performs the adjustment action, the cleaning device control method proposed by the present disclosure can further include: acquiring the surrounding environment information of the cleaning device to determine the road surface type of the road surface on which the cleaning device moves; and selecting the corresponding adjustment action based on the road surface type.

[0056] In some embodiments, the surrounding environment image of the cleaning device can be acquired by the image acquisition device arranged on the cleaning device, and the acquired surrounding environment image can be subjected to image recognition by the controller, and the road surface type corresponding to the current surrounding environment information can be determined by matching in the pre-stored road surface types according to the image recognition result.

[0057] In some embodiments, when the road surface type represents that the current road surface is a road surface with large friction such as a carpet, the adjustment action can be selected as one segment of straight line action; and when the road surface type represents that the current road surface is a road surface with small friction such as a tile, the adjustment action can be selected as at least one segment of curve action or at least two segments of straight line action. In this way, the adjustment action can be selected according to the road surface type of the actual moving road surface of the cleaning device, so that the adjustment action is the optimal selection in the actual scene, and the redundant adjustment action is avoided, and the optimization efficiency is improved.

[0058] In some embodiments, the cleaning device control method proposed by the present disclosure can further include: determining the action parameters of the adjustment action based on the road surface type.

[0059] In some embodiments, the road surface type can be determined based on the aforementioned method, and the action parameters of the adjustment action can be determined based on the determined road surface type. For example, if the adjustment action is determined to be a straight line action based on the road surface type, the length of one straight line in the straight line action can be further determined based on the road surface type; if the adjustment action is determined to be at least one curve action based on the road surface type, the curvature, radius of curvature, tangent direction, etc. of at least one or more curves in the at least one curve action can be further determined based on the road surface type; if the adjustment action is determined to be at least two straight line actions based on the road surface type, the direction and length, etc. of at least two straight lines in the at least two straight line actions can be further determined based on the road surface type.

[0060] In this way, the action parameters of the adjustment action can be determined based on the road surface type, so that the parameters of the adjustment action are optimal, and the direction of the steering assembly after the adjustment action is performed meets the requirements of the straight line movement action.

[0061] In some embodiments, the minimum length of the movement of the cleaning device performing the adjustment action is greater than or equal to the straight line distance between the first attitude position and the second attitude position, wherein the first attitude position is the position of the steering assembly when the steering assembly is directed to the front of the cleaning device, and the second attitude position is the position of the steering assembly when the steering assembly is directed to the back of the cleaning device, and the aforementioned positions are the points where the steering assembly contacts the surface to be cleaned.

[0062] In some embodiments, when the steering assembly is directed to the front of the cleaning device, the position of the steering assembly is referred to as the first attitude position, and when the steering assembly is directed to the back of the cleaning device, the position of the steering assembly is referred to as the second attitude position, and the straight line distance between the first attitude position and the second attitude position can represent the maximum straight line distance that can be achieved between the positions before and after the rotation of the steering assembly around the shaft, and during the actual rotation of the steering assembly, the route of the movement is a curve, and the length of the curve is significantly greater than the length of the aforementioned straight line distance. Therefore, the minimum length of the movement of the cleaning device performing the adjustment action is set to be greater than or equal to the length of the straight line distance between the first attitude position and the second attitude position, so as to ensure that the steering assembly can be effectively rotated to deviate from the direction of the front of the cleaning device, so as to ensure the smooth completion of the subsequent straight line movement action.

[0063] According to a second aspect of the present disclosure, a cleaning device control apparatus is further provided. FIG. 3 shows a schematic structural block diagram of the cleaning device control apparatus according to some embodiments of the present disclosure. As shown in FIG. 3, the control apparatus 300 can comprise: an adjustment control unit 310 configured to control the cleaning device to perform an adjustment action before the cleaning device performs a straight-line movement action, wherein the adjustment action comprises at least one straight-line action and / or at least one non-straight-line action performed by the cleaning device; and a turning control unit 320 configured to control the turning assembly to turn towards a direction deviating from the front direction of the cleaning device during the adjustment action performed by the cleaning device.

[0064] In some embodiments, the cleaning device comprises a body, and the moving assembly and the turning assembly are both arranged on the body; and the control apparatus further comprises: a level adjustment unit configured to adjust the level of the body to zero, and the adjustment action is a straight-line action performed by the cleaning device.

[0065] In some embodiments, the level adjustment unit is further configured to lift the moving assembly and / or lower the turning assembly.

[0066] In some embodiments, the at least one non-straight-line action comprises at least one curved action or at least two straight-line actions, and the moving directions of the at least two straight-line actions are different.

[0067] In some embodiments, the control apparatus further comprises: a parameter determination unit configured to determine action parameters corresponding to the at least one curved action or the at least two straight-line actions, according to a target direction corresponding to the straight-line movement action.

[0068] In some embodiments, the control apparatus further comprises: an information acquisition unit configured to acquire surrounding environment information of the cleaning device to determine a road surface type of a road surface on which the cleaning device moves; and an action selection unit configured to select a corresponding adjustment action based on the road surface type.

[0069] In some embodiments, the parameter determination unit is further configured to determine the action parameters of the adjustment action based on the road surface type.

[0070] In some embodiments, a minimum value of a length moved by the cleaning device during the adjustment action is greater than or equal to a straight-line distance between a first attitude position and a second attitude position, wherein the first attitude position is a position of the turning assembly when the turning assembly is directed towards the front direction of the cleaning device, and the second attitude position is a position of the turning assembly when the turning assembly is directed towards the back direction of the cleaning device.

[0071] In some embodiments, the turning control unit 320 is configured to: in a case where the adjustment action is a forward action, control the turning assembly to turn towards the back direction of the cleaning device; and in a case where the adjustment action is a backward action, control the turning assembly to turn towards a side direction of the cleaning device.

[0072] In some embodiments, the adjusting action further comprises a rotating action.

[0073] According to a third aspect of the present disclosure, a cleaning device is further provided for performing the control method as described above.

[0074]

[0075] In some embodiments, as shown in FIG. 4, the cleaning device can further comprise a processor 410 and a memory 420. The memory 420 stores computer program instructions which, when executed by the processor 410, cause the processor 410 to perform the control method 100 as described above.

[0076] According to a first aspect of the present disclosure, a control method of a cleaning device is provided. The cleaning device comprises a moving assembly and a steering assembly. The control method comprises: before the cleaning device performs a straight moving action, controlling the cleaning device to perform an adjusting action, wherein the adjusting action comprises at least one straight action and / or at least one non-straight action performed by the cleaning device; during the adjusting action performed by the cleaning device, controlling the steering assembly to turn towards a direction deviated from a front direction of the cleaning device.

[0077] In some embodiments, the cleaning device comprises a body, and the moving assembly and the steering assembly are both arranged on the body. Before the cleaning device performs the adjusting action, the control method further comprises: adjusting a level of the body to be zero, and the adjusting action is a straight action performed by the cleaning device.

[0078] In some embodiments, adjusting the level of the body to be zero comprises: lifting the moving assembly and / or lowering the steering assembly.

[0079] In some embodiments, the at least one non-straight action comprises at least one curved action or at least two straight actions, and the at least two straight actions have different moving directions.

[0080] In some embodiments, the method further comprises: determining action parameters of the at least one curved action or the at least two straight actions according to a target direction corresponding to the straight moving action.

[0081] In some embodiments, before the cleaning device performs the adjusting action, the control method further comprises: obtaining surrounding environment information of the cleaning device to determine a road surface type of a road surface on which the cleaning device moves; and selecting a corresponding adjusting action based on the road surface type.

[0082] In some embodiments, the control method further comprises: determining action parameters of the adjusting action based on the road surface type.

[0083] In some embodiments, the cleaning device performs the adjustment action to move a minimum length greater than a straight-line distance between a first attitude position and a second attitude position, wherein the first attitude position is a position of the steering assembly when the steering assembly is directed towards a front direction of the cleaning device, and the second attitude position is a position of the steering assembly when the steering assembly is directed towards a rear direction of the cleaning device.

[0084] In some embodiments, the control of the steering assembly to turn towards a direction deviating from the front direction of the cleaning device comprises: in a case where the adjustment action is a forward action, the steering assembly is directed towards the rear direction of the cleaning device; and in a case where the adjustment action is a backward action, the steering assembly is directed towards a side direction of the cleaning device.

[0085] In some embodiments, the adjustment action further comprises: a spin action.

[0086] In some embodiments, the cleaning device further comprises a body, and the moving assembly and the steering assembly are arranged on the body.

[0087] In some embodiments, the cleaning device further comprises a body, and the moving assembly and the steering assembly are arranged on the body.

[0088] In some embodiments, the level adjustment unit is further configured to lift the moving assembly and / or lower the steering assembly.

[0089] In some embodiments, the at least one non-straight-line action comprises at least one curved action or at least two straight-line actions, and the at least two straight-line actions have different moving directions.

[0090] In some embodiments, the cleaning device further comprises a parameter determination unit configured to determine action parameters of the at least one curved action or the at least two straight-line actions according to a target direction corresponding to the straight-line moving action.

[0091] In some embodiments, the cleaning device further comprises an information acquisition unit configured to acquire surrounding environment information of the cleaning device to determine a road surface type of a road surface on which the cleaning device moves, and an action selection unit configured to select a corresponding adjustment action based on the road surface type.

[0092] In some embodiments, the parameter determination unit is further configured to determine the action parameter of the adjustment action based on a road surface type.

[0093] In some embodiments, the minimum length that the cleaning device moves in the adjustment action is greater than a straight-line distance between a first attitude position and a second attitude position, wherein the first attitude position is a position where the steering assembly is directed to a front direction of the cleaning device, and the second attitude position is a position where the steering assembly is directed to a rear direction of the cleaning device.

[0094] In some embodiments, the turning control unit is configured to: in a case where the adjustment action is a forward action, control the steering assembly to turn towards the rear direction of the cleaning device; and in a case where the adjustment action is a backward action, control the steering assembly to turn towards a side direction of the cleaning device.

[0095] In some embodiments, the adjustment action further comprises a spin action.

[0096] A third aspect also provides a cleaning device configured to perform the control method as described above.

[0097] According to the above technical solution, before the cleaning device performs the straight-line movement action, the cleaning device performs the adjustment action by controlling the steering assembly to turn towards a direction deviating from the front direction of the cleaning device, so that the resistance of the collision between the steering assembly and the obstacle can be effectively reduced, the robot can pass through the obstacle more easily, and the subsequent straight-line movement action can be better completed.

[0098] In several embodiments provided in the present disclosure, it should be understood that the disclosed apparatus and / or device can be implemented in other manners. For example, the above-described apparatus embodiments are merely illustrative, and the division of units can be different from the above. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the displayed or discussed mutual couplings or direct couplings or communication connections can be indirect couplings or communication connections through some interfaces, devices or units, and can be in electrical, mechanical or other forms.

[0099] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, i.e., they can be located in one place, or can be distributed on multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the present embodiment.

[0100] In addition, each function unit in each embodiment of the present disclosure can be integrated in one processing unit, or each unit can be physically present separately, or two or more units can be integrated in one unit. The integrated unit can be realized in the form of hardware or in the form of a software function unit.

[0101] If the integrated unit is realized in the form of a software function unit and sold or used as an independent product, it can be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the present disclosure, essentially or in the form of a contribution to the prior art, or all or part of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium, and includes several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods in each embodiment of the present disclosure. The foregoing storage medium includes: U disk, mobile hard disk, read-only memory (ROM), random access memory (RAM), magnetic disk or optical disk, and various media that can store program codes.

[0102] The above, the above embodiments are only used to illustrate the technical solutions of the present disclosure, rather than limit them; although the present disclosure is 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 be modified, or some technical features can be replaced by equivalents; and these modifications or replacements do not make the corresponding technical solutions deviate from the spirit and scope of the technical solutions of each embodiment of the present disclosure.

Claims

1. A cleaning device control method, the cleaning device comprising a moving assembly and a steering assembly, the control method comprising: controlling the cleaning device to perform an adjustment action before the cleaning device performs a straight line moving action, wherein the adjustment action comprises the cleaning device performing at least one straight line action and / or at least one non-straight line action; and controlling the steering assembly to turn towards a direction deviating from a front direction of the cleaning device during the cleaning device performing the adjustment action. 2.The control method of claim 1, the cleaning device further comprising a body, the moving assembly and the steering assembly are both arranged on the body; before the cleaning device performs the adjustment action, the control method of the cleaning device further comprising: adjusting a level of the body to be zero, the adjustment action being the cleaning device performing a straight line action. 3.The control method of claim 2, the adjusting the level of the body to be zero comprising: lifting the moving assembly and / or lowering the steering assembly.

4. The cleaning device control method of claim 1, wherein, the at least one non-straight line action comprises at least one curved action or at least two straight line actions, the at least two straight line actions having different moving directions. 5.The control method of claim 4, further comprising: determining action parameters corresponding to the at least one curved action or the at least two straight line actions respectively according to a target direction corresponding to the straight line moving action. 6.The control method of any one of claims 1 to 5, before the cleaning device performs the adjustment action, the control method of the cleaning device further comprising: obtaining surrounding environment information of the cleaning device; determining a road surface type of a road surface on which the cleaning device moves according to the surrounding environment information; and selecting a corresponding adjustment action based on the road surface type. 7.The control method of claim 6, further comprising: determining action parameters of the adjustment action based on the road surface type. a minimum value of a length of the cleaning device moving during the adjustment action is greater than or equal to a straight line distance between a first attitude position and a second attitude position, the first attitude position being a position of the steering assembly when the steering assembly is directed towards the front direction of the cleaning device, the second attitude position being a position of the steering assembly when the steering assembly is directed towards a back direction of the cleaning device.

8. The cleaning device control method according to any one of claims 1 to 5, wherein, the controlling the steering assembly to turn towards the direction deviating from the front direction of the cleaning device comprises:

9. The cleaning device control method according to any one of claims 1 to 5, wherein, in a case that the adjustment action is a forward action, controlling the steering assembly to turn towards the back direction of the cleaning device; and in a case that the adjustment action is a backward action, controlling the steering assembly to turn towards a side direction of the cleaning device. a spin-on-the-spot action.

10. The cleaning device control method of claim 1, the adjusting action further comprising: 11.A cleaning device control apparatus, the cleaning device comprising a moving assembly and a steering assembly, the control apparatus comprising: ​ an adjusting control unit configured to control the cleaning device to perform an adjusting action before the cleaning device performs a straight-line moving action, wherein the adjusting action comprises at least one straight-line action and / or at least one non-straight-line action performed by the cleaning device; and a turning control unit configured to control the turning assembly to turn towards a direction deviating from a front direction of the cleaning device during the adjusting action performed by the cleaning device. 12.The cleaning device control apparatus according to claim 11, wherein the cleaning device further comprises a body, and the moving assembly and the turning assembly are both arranged on the body. The cleaning device control apparatus further comprises: a levelness adjusting unit configured to adjust a levelness of the body to zero, and the adjusting action is a straight-line action performed by the cleaning device. 13.The cleaning device control apparatus according to claim 12, wherein the levelness adjusting unit is further configured to lift the moving assembly and / or lower the turning assembly.

14. The cleaning device control apparatus according to claim 11, wherein, The at least one non-straight-line action comprises at least one curved action or at least two straight-line actions with different moving directions. 15.The cleaning device control apparatus according to claim 14, wherein the cleaning device control apparatus further comprises: a parameter determining unit configured to determine action parameters corresponding to the at least one curved action or the at least two straight-line actions according to a target direction corresponding to the straight-line moving action. 16.The cleaning device control apparatus according to claim 15, wherein the cleaning device control apparatus further comprises: an information obtaining unit configured to obtain surrounding environment information of the cleaning device, determine a road surface type of a road surface on which the cleaning device moves according to the surrounding environment information; and an action selecting unit configured to select a corresponding adjusting action based on the road surface type. 17.The cleaning device control apparatus according to claim 16, wherein the parameter determining unit is further configured to determine the action parameters of the adjusting action based on the road surface type. A minimum value of a length of the adjusting action performed by the cleaning device is greater than or equal to a straight-line distance between a first attitude position and a second attitude position, the first attitude position is a position of the turning assembly when the turning assembly is directed towards the front direction of the cleaning device, and the second attitude position is a position of the turning assembly when the turning assembly is directed towards a back direction of the cleaning device.

18. The cleaning device control apparatus according to any one of claims 11 to 15, wherein, The turning control unit is configured to:

19. The cleaning device control apparatus according to any one of claims 11 to 15, wherein, control the turning assembly to turn towards the back direction of the cleaning device when the adjusting action is a forward action; and control the turning assembly to turn towards a side direction of the cleaning device when the adjusting action is a backward action. a spin-on-the-spot action.

20. The cleaning device control apparatus of claim 11, the adjustment action further comprising: 21.A cleaning device configured to perform the cleaning device control method according to any one of claims 1 to 10. ​

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