Traveling control method, device, and readable storage medium

Abstract

Embodiments of the present application provide a traveling control method, a device, and a readable storage medium. The method is applied to a self-moving cleaning device having a first cleaning member. The self-moving cleaning device performs traversal movement, and the first cleaning member is in an offset state and is deviated from the center of a device body. When the self-moving cleaning device turns around and moves along a first side of the device body, the first cleaning member is controlled to move a first distance away from the device body; when the self-moving cleaning device turns around and moves along a second side of the device body, the first cleaning member is controlled to move a second distance away from the device body, the first distance differing from the second distance. By using the solution, when the self-moving cleaning device turns around and moves along different sides of the device body, different sides correspond to different distances by which the device body is offset, so that a traversal track is non-uniform, avoiding overlapped cleaning areas or missed mopping areas caused by the offset of the first cleaning member, and achieving the objectives of improving cleaning quality and cleaning efficiency.

Description

Travel control method, device and readable storage medium

[0001] The present application claims priority to the Chinese patent application No. 202411244680.1, filed on September 5, 2024, and entitled "Travel control method, device and readable storage medium", the content of which is incorporated herein by reference in its entirety. TECHNICAL FIELD

[0002] Embodiments of the present application relate to the technical field of robotics, in particular to a travel control method, device and readable storage medium. BACKGROUND

[0003] With the development of artificial intelligence (AI) technology, various intelligent devices are increasingly entering people's lives. Self-moving cleaning devices are widely used because they can automatically complete cleaning tasks such as dust collection, cleaning, mopping, etc. in a room.

[0004] The self-moving cleaning device is provided with a roller for mopping and a roller brush for cleaning, and the roller brush is arranged in front of the roller relative to the moving direction of the self-moving cleaning device. Based on this structure, the self-moving cleaning device can achieve the effect of sweeping the floor first and then mopping the floor during the traversal cleaning process.

[0005] However, when the roller is offset, it is easy to cause the phenomenon of missing mopping during the cleaning process, resulting in poor cleaning quality. SUMMARY

[0006] Embodiments of the present application provide a travel control method, device and readable storage medium, when the first cleaning element is offset, a non-uniform arch-shaped trajectory is used to traverse the target area, avoiding the occurrence of missing mopping area, and achieving the purpose of improving cleaning quality.

[0007] In a first aspect, embodiments of the present application provide a travel control method applied to a self-moving cleaning device having a first cleaning element, the method comprising:

[0008] The self-moving cleaning device performs traversal walking, and the first cleaning element is in an offset state deviating from the center of the body;

[0009] When the self-moving cleaning device turns around and walks along the first side of the body, the first distance offset from the body is controlled to travel;

[0010] When the self-moving cleaning device turns around and walks along the second side of the body, the second distance offset from the body is controlled to travel;

[0011] Wherein, the first distance and the second distance are different.

[0012] In a second aspect, the embodiments of the present application provide a traveling control method applied to a self-moving cleaning device having a first cleaning element, the method comprising:

[0013] The self-moving cleaning device performs traversal walking, and the first cleaning element is in a bias state deviating from a first side of the body;

[0014] When the self-moving cleaning device turns around and walks along the first side of the body, the first distance offset from the body is controlled to travel;

[0015] When the self-moving cleaning device turns around and walks along the second side of the body, the second distance offset from the body is controlled to travel;

[0016] The first distance is greater than the second distance.

[0017] In a third aspect, the embodiments of the present application provide a traveling control method applied to a self-moving cleaning device having a first cleaning element and a second cleaning element, the method comprising:

[0018] The self-moving cleaning device performs traversal walking on a first working surface by using the first cleaning element, and the first cleaning element is in a bias state deviating from the center of the body. When the self-moving cleaning device turns around and walks, the first distance offset from the body is controlled to travel;

[0019] The self-moving cleaning device performs traversal walking on a second working surface by using the second cleaning element. When the self-moving cleaning device turns around and walks, the third distance offset from the body is controlled to travel;

[0020] The third distance is different from the first distance.

[0021] In a fourth aspect, the embodiments of the present application provide a traveling control method applied to a self-moving cleaning device having a first cleaning element and a second cleaning element, the method comprising:

[0022] The self-moving cleaning device performs traversal walking on a first working surface by using the first cleaning element, and the first cleaning element is in a bias state deviating from a first side of the body. When the self-moving cleaning device turns around and walks along the first side of the body, the first distance offset from the body is controlled to travel. When the self-moving cleaning device turns around and walks along the second side of the body, the second distance offset from the body is controlled to travel;

[0023] The self-moving cleaning device performs traversal walking on a second working surface by using the second cleaning element. When the self-moving cleaning device turns around and walks, the third distance offset from the body is controlled to travel;

[0024] The first distance, the second distance, and the third distance are different.

[0025] In a fifth aspect, the embodiments of the present application provide a traveling control method applied to a self-moving cleaning device having a first cleaning element and a second cleaning element, and the method comprises:

[0026] The self-moving cleaning device performs traversal walking on a first working surface by using the first cleaning element, and the first cleaning element is in a bias state deviating to a first side of the body; when the self-moving cleaning device turns around and walks along the first side of the body, the first distance offset from the body is controlled to travel; when the self-moving cleaning device turns around and walks along a second side of the body, the second distance offset from the body is controlled to travel.

[0027] The self-moving cleaning device performs traversal walking on a second working surface by using the second cleaning element; when the self-moving cleaning device turns around and walks, the third distance offset from the body is controlled to travel.

[0028] The first distance > the third distance > the second distance.

[0029] In a sixth aspect, the embodiments of the present application provide a traveling control method applied to a self-moving cleaning device having a first cleaning element and a second cleaning element, and the method comprises:

[0030] The self-moving cleaning device performs traversal walking on a first working surface by using the first cleaning element, and the first cleaning element is in a bias state deviating to a first side of the body; when the self-moving cleaning device turns around and walks along the first side of the body, the first distance offset from the body is controlled to travel; when the self-moving cleaning device turns around and walks along a second side of the body, the second distance offset from the body is controlled to travel.

[0031] The self-moving cleaning device performs traversal walking on a second working surface by using the second cleaning element; when the self-moving cleaning device turns around and walks, the third distance offset from the body is controlled to travel.

[0032] The first distance > the second distance.

[0033] In a seventh aspect, the embodiments of the present application provide a traveling control method applied to a self-moving cleaning device having a first cleaning element, and the self-moving device has a rough cleaning mode and a fine cleaning mode, and the method comprises:

[0034] The self-moving cleaning device performs traversal walking in the rough cleaning mode, and the first cleaning element is in a bias state deviating to a first side of the body; when the self-moving cleaning device turns around and walks along the first side of the body, the first distance offset from the body is controlled to travel; when the self-moving cleaning device turns around and walks along a second side of the body, the second distance offset from the body is controlled to travel.

[0035] The self-moving cleaning device performs traversal walking in a fine cleaning mode, and the first cleaning element is in a bias state deviated to a first side of the body; when the self-moving cleaning device turns around and walks along the first side of the body, the second distance offset from the body is controlled to travel, and when the self-moving cleaning device turns around and walks along the second side of the body, the second distance offset from the body is controlled to travel.

[0036] The first distance and the second distance are different.

[0037] In an eighth aspect, an embodiment of the present application provides a travel control method applied to a self-moving cleaning device having a first cleaning element, the self-moving device having a rough cleaning mode and a fine cleaning mode, and the method comprising:

[0038] The self-moving cleaning device performs traversal walking in a rough cleaning mode, and the first cleaning element is in a bias state deviated to a first side of the body; when the self-moving cleaning device turns around and walks along the first side of the body, the first distance offset from the body is controlled to travel, and when the self-moving cleaning device turns around and walks along the second side of the body, the second distance offset from the body is controlled to travel.

[0039] The self-moving cleaning device performs traversal walking in a fine cleaning mode, and the first cleaning element is in a bias state deviated to a first side of the body; when the self-moving cleaning device turns around and walks along the first side of the body, the fourth distance offset from the body is controlled to travel, and when the self-moving cleaning device turns around and walks along the second side of the body, the fourth distance offset from the body is controlled to travel.

[0040] The first distance, the second distance, and the fourth distance satisfy the relationship: the first distance > the second distance ≥ the fourth distance.

[0041] In a ninth aspect, an embodiment of the present application provides a self-moving cleaning device, comprising a processor, a memory, and a computer program stored in the memory and executable on the processor, and when the processor executes the computer program, the self-moving cleaning device implements the method described in the various possible implementation manners of the first aspect to the eighth aspect.

[0042] In a tenth aspect, an embodiment of the present application provides a nonvolatile computer readable storage medium, and the computer readable storage medium stores computer instructions, and the computer instructions are used to implement the method described in the various possible implementation manners of the first aspect to the eighth aspect when executed by a processor.

[0043] In an eleventh aspect, an embodiment of the present application provides a computer program product comprising a computer program, and the computer program is executed by a processor to implement the method described in the various possible implementation manners of the first aspect to the eighth aspect.

[0044] The application provides a traveling control method, device and readable storage medium, which are applied to a self-moving cleaning device with a first cleaning element. The self-moving cleaning device performs traversal walking, and the first cleaning element is in a bias state deviating from the center of the body. When the self-moving cleaning device turns around and walks along a first side of the body, the first distance offset from the body is controlled to travel; when the self-moving cleaning device turns around and walks along a second side of the body, the second distance offset from the body is controlled to travel, and the first distance and the second distance are different. By adopting the scheme, when the self-moving cleaning device turns around and walks along different sides of the body, the distances offset from the body corresponding to different sides are different, so that the traversal trajectory is a non-uniform traversal trajectory, the repeated cleaning area or the missed cleaning area caused by the bias of the first cleaning element is avoided, the cleaning quality is improved, and the purpose of improving the cleaning efficiency is achieved. BRIEF DESCRIPTION OF DRAWINGS

[0045] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0046] FIG. 1 is a schematic diagram of a conventional uniform arch-shaped traversal mode;

[0047] FIG. 2A is a schematic diagram of a self-moving cleaning device according to an embodiment of the present application;

[0048] FIG. 2B is another schematic diagram of a self-moving cleaning device according to an embodiment of the present application;

[0049] FIG. 3 is a flowchart of a traveling control method according to an embodiment of the present application;

[0050] FIG. 4 is a schematic diagram of turning around and walking according to the traveling control method according to an embodiment of the present application;

[0051] FIG. 5 is another flowchart of a traveling control method according to an embodiment of the present application;

[0052] FIG. 6 is another flowchart of a traveling control method according to an embodiment of the present application;

[0053] FIG. 7 is another flowchart of a traveling control method according to an embodiment of the present application;

[0054] FIG. 8 is another flowchart of a traveling control method according to an embodiment of the present application;

[0055] FIG. 9 is another flowchart of a traveling control method according to an embodiment of the present application;

[0056] FIG. 10 is another flow chart of the method for controlling the traveling according to an embodiment of the present application;

[0057] FIG. 11 is another flow chart of the method for controlling the traveling according to an embodiment of the present application;

[0058] FIG. 12 is a schematic diagram of the device for controlling the traveling according to an embodiment of the present application;

[0059] FIG. 13 is a schematic diagram of a self-moving cleaning device according to an embodiment of the present application. DETAILED DESCRIPTION

[0060] The mop assembly of the conventional robotic sweeper includes a roller. When the roller is extended along one side of the body, the edge cleaning can be achieved. Specifically, in one way, the roller is biased. In another way, the roller can be switched to the biased state. When the roller is biased, if the conventional uniform arc-shaped traversal way is continued to be used, the mop missing phenomenon is likely to occur. For example, please refer to FIG. 1.

[0061] FIG. 1 is a schematic diagram of the conventional uniform arc-shaped traversal way. Please refer to FIG. 1, when the roller 11 is biased to the right side of the body, i.e. most part of the roller 11 is located on the right side of the longitudinal central axis and a small part is located on the left side of the longitudinal central axis. The uniform arc-shaped traversal way means that the interval between the two longitudinal central axes before and after the first turning is the same as the interval between the two longitudinal central axes before and after the second turning. As shown in the figure, L1=L2=L3.

[0062] Please refer to FIG. 1, when the roller 11 is biased, if the conventional uniform arc-shaped traversal way is used for traversal, the mop missing area and the repeated area are likely to occur. The mop missing area is shown as the gray filled area in the figure, and the repeated area is shown as the diagonal filled area in the figure.

[0063] Based on this, the embodiments of the present application provide a method for controlling the traveling, a device and a readable storage medium. When the roller is biased, the target area is traversed in the non-uniform arc-shaped track, so as to avoid the mop missing area and the repeated cleaning area, and the purpose of improving the cleaning quality and the cleaning efficiency is achieved.

[0064] Fig. 2A is a schematic view of a self-moving cleaning device according to an embodiment of the present application. As shown in Fig. 2A, the self-moving cleaning device is provided with a first cleaning element 21 and a second cleaning element 22, etc. on the body of the self-moving cleaning device. The first cleaning element 21 has an asymmetric bias state relative to the longitudinal center axis MN of the self-moving cleaning device, for example, extending along the edge, and the second cleaning element 22 is symmetrically arranged relative to the longitudinal center axis MN of the self-moving cleaning device. The first cleaning element 21 is a telescopic structure, i.e., the first cleaning element 21 can extend along the direction of the arrow shown in the figure to clean along the wall edge. The brush, drive wheel, etc. are not shown in Fig. 2A. The first cleaning element 21 can be a cylindrical roller, a track roller, a mop plate, etc. The second cleaning element 22 includes a suction port, a roller brush, or a cleaning head provided with a roller brush, etc.

[0065] It should be noted that Fig. 2A is described by taking the first cleaning element 21 as an example of biasing to the right. However, the present application is not limited thereto, and in other possible implementations, the first cleaning element 21 can also be biased to the left.

[0066] Fig. 2B is another schematic view of a self-moving cleaning device according to an embodiment of the present application. As shown in Fig. 2B, the self-moving cleaning device is provided with a first cleaning element 21, a second cleaning element 22, and a brush 23, etc. on the body of the self-moving cleaning device. Unlike Fig. 2A, the first cleaning element 21 in Fig. 2B is not biased, i.e., the first cleaning element 21 is symmetrically arranged relative to the longitudinal center axis MN of the body. However, the first cleaning element 21 in Fig. 2B is also a movable structure, i.e., the first cleaning element 21 can extend along the arrow in the figure to clean along the wall edge. The first cleaning element 21 extends to produce a biasing effect.

[0067] In Figs. 2A and 2B, the first cleaning element 21, the second cleaning element 22, and the brush 23 are all arranged at the bottom of the body, and relative to the advancing direction of the self-moving cleaning device, the brush 23 is arranged in front of the second cleaning element 22, and the second cleaning element 22 is arranged in front of the first cleaning element 21. Based on this arrangement, when the self-moving cleaning device sweeps and mops the floor, the effect of sweeping first and then mopping can be achieved.

[0068] Next, based on the structure shown in Figs. 2A and 2B, the advancing control method according to an embodiment of the present application will be described in detail. For example, please refer to Figs. 3-10.

[0069] Fig. 3 is a flowchart of an advancing control method according to an embodiment of the present application. The present embodiment is applied to a self-moving cleaning device provided with a first cleaning element, and the present embodiment includes:

[0070] 301. The self-moving cleaning device performs traversal walking, and the first cleaning element is in a bias state deviating from the center of the body.

[0071] In the embodiments of the present application, the offset from the center of the body means that the first cleaning element is asymmetric relative to the longitudinal symmetry axis of the body. In one way, as shown in FIG. 2A, the first cleaning element is set to be in an offset state in the original structural design. In FIG. 2A, the first cleaning element is offset to the right, that is, most of the first cleaning element is located to the right of the longitudinal center axis, and a small part is located to the left of the longitudinal center axis. In addition to being offset to the right, the first cleaning element can also be set to be offset to the left through structural design.

[0072] In another way, as shown in FIG. 2B, the first cleaning element is symmetrically arranged with the longitudinal center axis of the body as the symmetry axis in the original structural design. During the traversal walking process, the first cleaning element can be triggered to extend, such as extending in the direction indicated by the arrow in FIG. 2B or extending in the opposite direction, through switching the cleaning mode, issuing voice instructions and the like. The first cleaning element is in an offset state after extending.

[0073] 302, when the self-moving cleaning device turns around and walks along the first side of the body, control the first distance offset from the body to travel.

[0074] 303, when the self-moving cleaning device turns around and walks along the second side of the body, control the second distance offset from the body to travel.

[0075] Wherein, the first distance and the second distance are different.

[0076] In the embodiments of the present application, the first side and the second side are opposite, when the first side is the right side of the body, the second side is the left side of the body; when the first side is the left side of the body, the second side is the right side of the body.

[0077] In the embodiments of the present application, controlling the first distance offset from the body to travel means controlling the self-moving device to travel so that the body is offset by the first distance, that is, the distance between the two longitudinal center axes before and after turning is the first distance; similarly, controlling the second distance offset from the body to travel means controlling the self-moving device to travel so that the body is offset by the second distance, that is, the distance between the two longitudinal center axes before and after turning is the second distance.

[0078] FIG. 4 is a schematic diagram of turning around and walking in the travel control method provided by the embodiments of the present application. Please refer to FIG. 4, the first cleaning assembly 41 is offset to the right, and the dashed line is the longitudinal center axis of the body. Relative to the forward direction of the self-moving cleaning device, if the first side is the left side of the body, then the second side is the right side of the body. The right side of the body can be understood as the right side of the longitudinal center axis, and the left side of the body can be understood as the left side of the longitudinal center axis. Similarly, relative to the forward direction of the self-moving cleaning device, if the first side is the right side of the body, then the second side is the left side of the body. The right side of the body can be understood as the right side of the longitudinal center axis, and the left side of the body can be understood as the left side of the longitudinal center axis.

[0079] For example, when the self-moving cleaning device travels to position A, the self-moving cleaning device turns around along the first side, so that the longitudinal center axis is offset by a first distance L1. When the self-moving device travels to position B, the self-moving cleaning device turns around along the second side, so that the longitudinal center axis is offset by a second distance L2. Apparently, the first distance L1 and the second distance L2 are different. For example, the first distance L1 is 12.5 cm, and the second distance L2 is 7 cm; or for example, the first distance L1 is 14 cm, and the second distance L2 is 8 cm.

[0080] Please refer to FIG. 4. The first cleaning element is mostly located on the first side. When the self-moving cleaning device turns around along the first side of the body, the first distance L1 by which the body is offset is relatively large, so that the area of repeated cleaning is reduced, i.e., the area filled with diagonal lines in FIG. 1 is reduced, or even no area of repeated cleaning is generated. When the self-moving cleaning device turns around along the second side of the body, the second distance L2 by which the body is offset is relatively small, so that no area of missed cleaning is generated, i.e., no area filled with gray in FIG. 1 is generated.

[0081] The method for controlling the traveling provided in the embodiments of the present application is applied to a self-moving cleaning device having a first cleaning element. The self-moving cleaning device performs traversal walking, and the first cleaning element is in a bias state deviating from the center of the body. When the self-moving cleaning device turns around along the first side of the body, the first distance by which the body is offset is controlled to travel; when the self-moving cleaning device turns around along the second side of the body, the second distance by which the body is offset is controlled to travel, and the first distance and the second distance are different. With this scheme, when the self-moving cleaning device turns around along different sides of the body, the distances by which the body is offset corresponding to different sides are different, so that the traversal trajectory is uneven, the area of repeated cleaning or the area of missed cleaning due to the bias of the first cleaning element is avoided, and the purposes of improving the cleaning quality and the cleaning efficiency are achieved.

[0082] FIG. 5 is another flowchart of the method for controlling the traveling provided in the embodiments of the present application. The embodiments of the present application are applied to a self-moving cleaning device having a first cleaning element, and the embodiments of the present application include the following steps.

[0083] 501. The self-moving cleaning device performs traversal walking, and the first cleaning element is in a bias state deviating from the first side of the body.

[0084] In the embodiments of the present application, the first side and the second side are opposite. When the first side is the right side of the body, the second side is the left side of the body; when the first side is the left side of the body, the second side is the right side of the body. If the first side is the right side of the body, the bias state of the first cleaning element deviating from the first side of the body means that most of the first cleaning element is located on the right side of the body, i.e., on the right side of the longitudinal center axis of the body.

[0085] In order to make the first cleaning member be in the bias state of deviating to the first side of the body, i.e., make the first cleaning member be in the bias state of deviating to the right side of the body, in one way, as shown in FIG. 2A, in the original structural design, the first cleaning member is mostly located on the right side of the longitudinal center axis, and a small part is located on the left side of the longitudinal center axis. In another way, as shown in FIG. 2B, although the first cleaning member is symmetrically arranged with the longitudinal center axis of the body as the axis of symmetry. However, during the traversal walking process, the first cleaning member can be triggered to extend, such as extending in the direction indicated by the arrow in FIG. 2B, by switching the cleaning mode, issuing voice instructions and the like. After the first cleaning member extends, it is in the bias state of deviating to the first side of the body.

[0086] 502. When the self-moving cleaning device turns around and walks along the first side of the body, control the body to offset by the first distance.

[0087] 503. When the self-moving cleaning device turns around and walks along the second side of the body, control the body to offset by the second distance, wherein the first distance is greater than the second distance.

[0088] Please refer to FIG. 4. Relative to the advancing direction of the self-moving cleaning device, the first cleaning member is in the bias state of deviating to the right side of the body. When the self-moving cleaning device turns around and walks along the right side of the body, the first distance L1 by which the body offsets is relatively large, which can reduce the area of repeated cleaning, i.e., reduce the area filled with diagonal lines in FIG. 1, or even not produce the area of repeated cleaning. When the self-moving cleaning device turns around and walks along the left side of the body, the second distance L2 by which the body offsets is relatively small, thereby avoiding the production of the area of missed cleaning, i.e., avoiding the production of the area filled with gray in FIG. 1.

[0089] The traversal walking control method provided by the embodiment of the present application is applied to a self-moving cleaning device having a first cleaning member. The self-moving cleaning device performs traversal walking and the first cleaning member is in the bias state of deviating to the first side of the body. When the self-moving cleaning device turns around and walks along the first side of the body, the body is controlled to offset by the first distance. When the self-moving cleaning device turns around and walks along the second side of the body, the body is controlled to offset by the second distance, and the first distance is greater than the second distance. By using this scheme, when the self-moving cleaning device turns around and walks along the first side of the body, the first distance by which the body offsets is greater than the second distance by which the body offsets when the self-moving cleaning device turns around and walks along the second side of the body, which avoids the production of excessive repeated cleaning area when the self-moving cleaning device turns around and walks along the first side of the body, and avoids the production of missed cleaning area when the self-moving cleaning device turns around and walks along the second side of the body, thereby achieving the purpose of providing cleaning quality and cleaning efficiency.

[0090] FIG. 6 is another flowchart of the traversal walking control method provided by the embodiment of the present application. The embodiment of the present application is applied to a self-moving cleaning device having a first cleaning member and a second cleaning member, and the embodiment includes:

[0091] 601, determine the cleaning mode, when the cleaning mode is a sweeping and mopping integrated mode or a single mopping mode, execute step 602; when the cleaning mode is a single sweeping mode, execute step 603.

[0092] In the embodiments of the present application, the self-moving cleaning device can flexibly determine the cleaning mode. In one way, the self-moving cleaning device identifies the material of the working surface. When the first working surface is a carpet or other working surface that does not need to be wiped and mopped, the self-moving device retracts the first cleaning piece into a single sweeping mode. When the second working surface is a floor tile, hardened cement or other working surface that needs to be wiped and mopped, the self-moving device controls the first cleaning piece to enter the working state, thereby entering the sweeping and mopping integrated mode or the single mopping mode.

[0093] In another way, physical buttons, virtual buttons or the like are provided on the self-moving device, and the user presses the corresponding buttons to enter the sweeping and mopping integrated mode, the single mopping mode or the single sweeping mode.

[0094] In another way, an application (APP) is installed on the user's terminal device, and the user controls the self-moving cleaning device to enter the sweeping and mopping integrated mode, the single mopping mode or the single sweeping mode through the APP.

[0095] In another way, the user controls the self-moving cleaning device to enter the sweeping and mopping integrated mode, the single mopping mode or the single sweeping mode through voice.

[0096] 602, the self-moving cleaning device performs traversal walking on the first working surface using the first cleaning piece, and the first cleaning piece is in a biased state deviating from the center of the machine body, and when the self-moving cleaning device turns around and walks, the first distance offset from the machine body is controlled to travel.

[0097] For related descriptions of deviation from the center of the machine body, see step 301 of FIG. 3, which will not be described again here. When the self-moving device turns around and walks along the first side of the machine body; or when the self-moving device turns around and walks along the second side of the machine body, the self-moving device is controlled to travel so that the machine body is offset by the first distance.

[0098] In the embodiments of the present application, the first working surface and the second working surface can be the same working surface or different working surfaces. For example, there is a large area of water stains on the floor, and the self-moving device wipes off the water stains in the single mopping mode, and the floor with water stains is the first working surface; for another example, there are no water stains on the floor, but there are some paper scraps, and the self-moving device cleans the floor in the single sweeping mode, and the floor is the second working surface.

[0099] 603, the self-moving cleaning device performs traversal walking on the second working surface using the second cleaning piece, and when the self-moving cleaning device turns around and walks, the third distance offset from the machine body is controlled to travel.

[0100] When only the second cleaning element works and the self-moving device turns around and walks along the first side of the body, or the self-moving device turns around and walks along the second side of the body, the self-moving device is controlled to travel so that the body is offset by a third distance.

[0101] In the embodiments of the present application, the third distance is different from the first distance. For example, because the second cleaning element is symmetrically arranged about the longitudinal central axis of the body as the symmetry axis, there is no phenomenon of repeated cleaning or missed cleaning. The first cleaning element is offset, and if the traditional traversal mode is used, the phenomenon of repeated cleaning area and missed cleaning area is prone to occur. Therefore, the first distance is less than the third distance. The third distance is 10 cm, and the first distance is 7 cm.

[0102] The travel control method provided in the embodiments of the present application is that the self-moving cleaning device performs traversal walking on a first working surface by using a first cleaning element, and the first cleaning element is in an offset state deviating from the center of the body. When the self-moving cleaning device turns around and walks, the self-moving cleaning device is controlled to travel by offsetting a first distance of the body. The self-moving cleaning device performs traversal walking on a second working surface by using a second cleaning element. When the self-moving cleaning device turns around and walks, the self-moving cleaning device is controlled to travel by offsetting a third distance of the body. The third distance is different from the first distance. By using this scheme, when different cleaning elements work, the self-moving cleaning device turns around and walks with different distances of the body offset. By adjusting the distance according to the cleaning mode, the purpose of improving the cleaning efficiency and the cleaning quality is achieved.

[0103] FIG. 7 is another flowchart of the travel control method provided in the embodiments of the present application. The embodiments are applied to a self-moving cleaning device having a first cleaning element and a second cleaning element. The embodiments include the following steps:

[0104] 701, determine the cleaning mode. When the cleaning mode is a sweeping and mopping integrated mode or a single mopping mode, step 702 is performed; when the cleaning mode is a single sweeping mode, step 703 is performed.

[0105] For details, refer to the description of step 601 in FIG. 6, which will not be repeated here.

[0106] 702, the self-moving cleaning device performs traversal walking on a first working surface by using a first cleaning element, and the first cleaning element is in an offset state deviating from a first side of the body. When the self-moving cleaning device turns around and walks along the first side of the body, the self-moving cleaning device is controlled to travel by offsetting a first distance of the body. When the self-moving cleaning device turns around and walks along a second side of the body, the self-moving cleaning device is controlled to travel by offsetting a second distance of the body.

[0107] For the description of the first cleaning member in the bias state deviated to the first side of the body, the self-moving cleaning device turning around and walking along the first side of the body, the self-moving cleaning device turning around and walking along the second side of the body, the first distance and the second distance, please refer to the description of the embodiments of FIG. 4 and FIG. 5, which will not be repeated here.

[0108] 703、The self-moving cleaning device performs traversal walking on the second working surface by using the second cleaning member, and controls the third distance offset from the body when the self-moving cleaning device turns around and walks.

[0109] For the specific description of step 603 of FIG. 6, which will not be repeated here.

[0110] The difference between the embodiments of FIG. 6 and the embodiments of the present application is that, in the embodiments of FIG. 6, the first distance corresponding to the first cleaning member and the third distance corresponding to the second cleaning member are different, and the traversal trajectory is a uniform trajectory in any working mode, that is, the distance between any two adjacent longitudinal center axes in the traversal trajectory is equal to the distance between other two adjacent longitudinal center axes. In the embodiments of the present application, the first distance and the second distance corresponding to the first cleaning assembly are the distances offset from the body when the self-moving cleaning device turns around and walks along the first side of the body and the second side of the body, respectively. In the sweeping and mopping integrated mode or the single mopping mode, the traversal trajectory is not uniform, as shown in FIG. 4. In the single mopping mode, the traversal trajectory is uniform.

[0111] In the embodiments of the present application, the first distance, the second distance and the third distance are different. For example, the first distance > the second distance > the third distance.

[0112] The method for controlling the distance offset from the body provided in the embodiments of the present application is as follows: the self-moving cleaning device performs traversal walking on the first working surface by using the first cleaning member, and controls the first distance offset from the body when the self-moving cleaning device turns around and walks along the first side of the body, and controls the second distance offset from the body when the self-moving cleaning device turns around and walks along the second side of the body; the self-moving cleaning device performs traversal walking on the second working surface by using the second cleaning member, and controls the third distance offset from the body when the self-moving cleaning device turns around and walks; and the first distance, the second distance and the third distance are different. In this way, the distances offset from the body when the self-moving cleaning device turns around and walks in different cleaning modes are different, and the distances offset from the body corresponding to different sides of the body when the self-moving cleaning device turns around and walks along different sides of the body in the single mopping mode or the sweeping and mopping integrated mode are different, so that the traversal trajectory is a non-uniform traversal trajectory, and the repeated cleaning area or the missed mopping area caused by the bias of the first cleaning member is avoided. At the same time, the distances are adjusted according to the cleaning mode, so that the cleaning efficiency and the cleaning quality are improved.

[0113] FIG. 8 is another flowchart of the travel control method according to an embodiment of the present application. The embodiment is applied to a self-moving cleaning device having a first cleaning member and a second cleaning member, and the embodiment includes the following steps:

[0114] 801, determine the cleaning mode, when the cleaning mode is the sweeping-mopping integrated mode or the single-mopping mode, execute step 702; when the cleaning mode is the single-sweeping mode, execute step 703.

[0115] For details, refer to the description of step 601 in FIG. 6, which will not be repeated here.

[0116] 802, the self-moving cleaning device performs traversal walking on the first working surface by using the first cleaning member, and the first cleaning member is in the offset state of deviating to the first side of the body, when the self-moving cleaning device turns around and walks along the first side of the body, controls to offset the first distance from the body to travel, and when the self-moving cleaning device turns around and walks along the second side of the body, controls to offset the second distance from the body to travel.

[0117] 803, the self-moving cleaning device performs traversal walking on the second working surface by using the second cleaning member, and when the self-moving cleaning device turns around and walks, controls to offset the third distance from the body to travel; wherein the first distance > third distance > second distance.

[0118] In the above embodiment of FIG. 7, the first distance, the second distance, and the third distance are different. In the embodiment of FIG. 8, the first distance > third distance > second distance. That is, the third distance is between the first distance and the second distance, for example, the first distance is 12 cm, the second distance is 7 cm, and the third distance is 10 cm, 9.5 cm, 9 cm, etc. In this way, when single-mopping or sweeping-mopping integrated, since the first distance is relatively large, after turning around and walking along the first side of the body, there will be no repeated cleaning area due to the offset of the first cleaning member; the second distance is relatively small, so after turning around and walking along the second side of the body, there will be no missed mopping area due to the offset of the first cleaning member; the third distance is between the first distance and the second distance, which ensures that the traversal trajectory is uniform and does not produce repeated sweeping areas or missed sweeping areas.

[0119] FIG. 9 is another flowchart of the travel control method according to an embodiment of the present application. The embodiment is applied to a self-moving cleaning device having a first cleaning member and a second cleaning member, and the embodiment includes the following steps:

[0120] 901, determine the cleaning mode, when the cleaning mode is the sweeping-mopping integrated mode or the single-mopping mode, execute step 902; when the cleaning mode is the single-sweeping mode, execute step 903.

[0121] For details, refer to the description of step 601 in FIG. 6, which will not be repeated here.

[0122] 902. The self-moving cleaning device performs traversal walking on the first working surface using the first cleaning element, and the first cleaning element is in a bias state deviated to the first side of the body. When the self-moving cleaning device turns around and walks along the first side of the body, the first distance offset from the body is controlled to travel. When the self-moving cleaning device turns around and walks along the second side of the body, the second distance offset from the body is controlled to travel.

[0123] 903. The self-moving cleaning device performs traversal walking on the second working surface using the second cleaning element. When the self-moving cleaning device turns around and walks, the third distance offset from the body is controlled to travel. The first distance is greater than the second distance.

[0124] The embodiment is different from the embodiment of FIG. 7 in that the first distance, the second distance, and the third distance are different in the embodiment shown in FIG. 7. In the embodiment, the first distance is greater than the second distance.

[0125] The traversal walking control method provided in the embodiment of the application is used for the self-moving cleaning device to perform traversal walking on the first working surface using the first cleaning element, and the first cleaning element is in a bias state deviated to the first side of the body. When the self-moving cleaning device turns around and walks along the first side of the body, the first distance offset from the body is controlled to travel. When the self-moving cleaning device turns around and walks along the second side of the body, the second distance offset from the body is controlled to travel. The self-moving cleaning device performs traversal walking on the second working surface using the second cleaning element. When the self-moving cleaning device turns around and walks, the third distance offset from the body is controlled to travel. The first distance is greater than the second distance. In this way, the distances offset from the body are different when the self-moving cleaning device turns around and walks in different cleaning modes. When the self-moving cleaning device turns around and walks along different sides of the body in the single-drag or the sweeping-drag integrated mode, the distances offset from the body are different for different sides. As a result, the traversal trajectory is a non-uniform traversal trajectory, which avoids repeated cleaning or missed dragging caused by the bias of the first cleaning element. Meanwhile, the distances are adjusted according to the cleaning mode, so that the cleaning efficiency and the cleaning quality are improved.

[0126] FIG. 10 is another flowchart of the traversal walking control method provided in the embodiment of the application. The embodiment is applied to the self-moving cleaning device with the first cleaning element. The embodiment includes the following steps.

[0127] 1001. Determine the cleaning mode. When the cleaning mode is the rough cleaning mode, perform step 1002. When the cleaning mode is the fine cleaning mode, perform step 1003.

[0128] In the embodiments of the present application, when the cleaning mode is the rough cleaning mode, the trajectory of the self-moving device is sparse; when the cleaning mode is the fine cleaning mode, the trajectory of the self-moving device is dense. The self-moving cleaning device can flexibly determine the cleaning mode.

[0129] In one way, a physical button, a virtual button or the like is arranged on the self-moving device, and the user presses the corresponding button to enter the rough cleaning mode or the fine cleaning mode.

[0130] In another way, an application (APP) is installed on the terminal device of the user, and the user controls the self-moving cleaning device to enter the rough cleaning mode or the fine cleaning mode through the APP.

[0131] In another way, the user controls the self-moving cleaning device to enter the rough cleaning mode or the fine cleaning mode through voice.

[0132] 1002. The self-moving cleaning device performs traversal walking in the rough cleaning mode, and the first cleaning element is in a bias state deviating to the first side of the body; when the self-moving cleaning device turns around and walks along the first side of the body, the first distance offset from the body is controlled to travel; when the self-moving cleaning device turns around and walks along the second side of the body, the second distance offset from the body is controlled to travel.

[0133] For the description of the first cleaning element being in the bias state deviating to the first side of the body, the self-moving cleaning device turning around and walking along the first side of the body, the self-moving cleaning device turning around and walking along the second side of the body, the first distance and the second distance, please refer to the embodiments of FIG. 4 and FIG. 5, which will not be repeated here.

[0134] 1003. The self-moving cleaning device performs traversal walking in the fine cleaning mode, and the first cleaning element is in a bias state deviating to the first side of the body; when the self-moving cleaning device turns around and walks along the first side of the body, the second distance offset from the body is controlled to travel; when the self-moving cleaning device turns around and walks along the second side of the body, the second distance offset from the body is controlled to travel. The first distance and the second distance are different.

[0135] In the rough cleaning mode, when the self-moving cleaning device turns around and walks along different sides of the body, the distances offset from the body corresponding to different sides are different, i.e., the first distance and the second distance are different, so that the traversal trajectory is a non-uniform traversal trajectory, avoiding repeated cleaning areas or missed cleaning areas due to the bias of the first cleaning element, achieving the purpose of improving cleaning quality and cleaning efficiency.

[0136] In the fine cleaning mode, the self-moving cleaning device turns around and walks along different sides of the machine body, and the offset distances of the machine body corresponding to different sides are the same, which are the second distances. The second distances are smaller than the first distances. In this way, in the fine cleaning mode, the traversal trajectory of the self-moving device is dense and uniform, and it is likely to generate a repeated cleaning area, but the cleaning quality can be improved.

[0137] The traveling control method provided in the embodiments of the present application is used for the self-moving cleaning device with the first cleaning element. In the coarse cleaning mode, the self-moving cleaning device turns around and walks along different sides of the machine body, and the offset distances of the machine body corresponding to different sides are different. This avoids the generation of a repeated cleaning area or a missed cleaning area due to the bias of the first cleaning element, and achieves the purposes of improving the cleaning quality and improving the cleaning efficiency. In the fine cleaning mode, the traversal trajectory of the self-moving device is dense and uniform, and the purpose of improving the cleaning quality is achieved.

[0138] FIG. 11 is another flowchart of the traveling control method provided in the embodiments of the present application. The present embodiment is applied to the self-moving cleaning device with the first cleaning element, and the present embodiment includes the following steps.

[0139] 1101, determine the cleaning mode. When the cleaning mode is the coarse cleaning mode, perform step 1102; when the cleaning mode is the fine cleaning mode, perform step 1103.

[0140] For details, refer to the description of step 1001 in FIG. 10, which will not be repeated here.

[0141] 1102, the self-moving cleaning device performs traversal walking in the coarse cleaning mode, and the first cleaning element is in a bias state deviated to the first side of the machine body. When the self-moving cleaning device turns around and walks along the first side of the machine body, the first distance of the offset machine body is controlled to travel, and when the self-moving cleaning device turns around and walks along the second side of the machine body, the second distance of the offset machine body is controlled to travel.

[0142] For details, refer to the description of step 1002 in FIG. 10, which will not be repeated here.

[0143] 1103, the self-moving cleaning device performs traversal walking in the fine cleaning mode, and the first cleaning element is in a bias state deviated to the first side of the machine body. When the self-moving cleaning device turns around and walks along the first side of the machine body, the fourth distance of the offset machine body is controlled to travel, and when the self-moving cleaning device turns around and walks along the second side of the machine body, the fourth distance of the offset machine body is controlled to travel. The relationship among the first distance, the second distance and the fourth distance is first distance>second distance≥fourth distance.

[0144] The embodiment is different from the embodiment of FIG. 10 in that, in the embodiment shown in FIG. 10, when the self-moving cleaning device turns and walks around the body along different sides of the body in the fine cleaning mode, the body offset intervals corresponding to different sides are all the second interval, which is also the body offset interval when the self-moving cleaning device turns and walks around the body along the second side of the body in the rough cleaning mode. In the embodiment, when the self-moving cleaning device turns and walks around the body along different sides of the body in the fine cleaning mode, the body offset intervals corresponding to different sides are all the fourth interval, and the first interval > the second interval ≥ the fourth interval.

[0145] The method for controlling walking provided in the embodiment of the application is different in the body offset intervals corresponding to different sides when the self-moving cleaning device turns and walks around the body along different sides of the body in the rough cleaning mode, so as to avoid repeated cleaning areas or missed cleaning areas due to the offset of the first cleaning element, improve the cleaning quality, and improve the cleaning efficiency. The body offset intervals corresponding to different sides are minimum when the self-moving cleaning device turns and walks around the body along different sides of the body in the fine cleaning mode, so as to make the traversal trajectory in the fine cleaning mode more dense and uniform, and improve the cleaning quality.

[0146] The following is an apparatus embodiment of the application, which can be used to execute the method embodiments of the application. For details not disclosed in the apparatus embodiment of the application, refer to the method embodiments of the application.

[0147] FIG. 12 is a schematic diagram of a walking control apparatus provided in an embodiment of the application. The walking control apparatus 1200 includes a traversal module 1201 and a processing module 1202.

[0148] In one way, the walking control apparatus is integrated in a self-moving cleaning device with a first cleaning element, and the walking control apparatus 1200 is used to execute the embodiment of FIG. 3. In this way, the traversal module 1201 is used to execute traversal walking, and the first cleaning element is in an offset state deviating from the center of the body.

[0149] The processing module 1202 is used to control the self-moving cleaning device to walk at a first interval offset from the body when the self-moving cleaning device turns and walks around the body along a first side of the body, and control the self-moving cleaning device to walk at a second interval offset from the body when the self-moving cleaning device turns and walks around the body along a second side of the body, wherein the first interval and the second interval are different.

[0150] In another way, the walking control apparatus is integrated in a self-moving cleaning device with a first cleaning element and a second cleaning element, and the walking control apparatus 1200 is used to execute the embodiment of FIG. 5. In this way, the traversal module 1201 is used to execute traversal walking, and the first cleaning element is in an offset state deviating toward a first side of the body.

[0151] The processing module 1202 is configured to control the self-moving cleaning device to travel at a first distance offset from the body when the self-moving cleaning device turns around along a first side of the body, and to travel at a second distance offset from the body when the self-moving cleaning device turns around along a second side of the body, wherein the first distance is greater than the second distance.

[0152] In another aspect, the travel control device is integrated in a self-moving cleaning device having a first cleaning member and a second cleaning member, and the travel control device 1200 is configured to perform the embodiment of FIG. 6. In this aspect, the traversal module 1201 is configured to perform traversal walking on a first work surface using the first cleaning member in a bias state offset from a center of the body, and the processing module 1202 is configured to control the self-moving cleaning device to travel at a first distance offset from the body when the self-moving cleaning device turns around.

[0153] The traversal module 1201 is further configured to perform traversal walking on a second work surface using the second cleaning member, and the processing module 1202 is further configured to control the self-moving cleaning device to travel at a third distance offset from the body when the self-moving cleaning device turns around, wherein the third distance is different from the first distance.

[0154] In another aspect, the travel control device is integrated in a self-moving cleaning device having a first cleaning member and a second cleaning member, and the travel control device 1200 is configured to perform the embodiment of FIG. 7. In this aspect, the traversal module 1201 is configured to perform traversal walking on a first work surface using the first cleaning member in a bias state offset toward a first side of the body, and the processing module 1202 is configured to control the self-moving cleaning device to travel at a first distance offset from the body when the self-moving cleaning device turns around along the first side of the body, and to travel at a second distance offset from the body when the self-moving cleaning device turns around along a second side of the body.

[0155] The traversal module 1201 is further configured to perform traversal walking on a second work surface using the second cleaning member, and the processing module 1202 is further configured to control the self-moving cleaning device to travel at a third distance offset from the body when the self-moving cleaning device turns around, wherein the first distance, the second distance, and the third distance are different.

[0156] In another aspect, the travel control device is integrated in a self-moving cleaning device having a first cleaning member and a second cleaning member, and the travel control device 1200 is configured to perform the embodiment of FIG. 8. In this aspect,

[0157] The traversal module 1201 is configured to perform traversal walking on the first working surface by using the first cleaning element, and the first cleaning element is in a bias state deviated to the first side of the body. The processing module 1202 is configured to control the self-moving cleaning device to travel at a first distance offset from the body when the self-moving cleaning device turns around and walks along the first side of the body, and to control the self-moving cleaning device to travel at a second distance offset from the body when the self-moving cleaning device turns around and walks along the second side of the body.

[0158] The traversal module 1201 is further configured to perform traversal walking on the second working surface by using the second cleaning element. The processing module 1202 is further configured to control the self-moving cleaning device to travel at a third distance offset from the body when the self-moving cleaning device turns around and walks. The first distance, the second distance, and the third distance are different.

[0159] In another mode, the travel control device is integrated in a self-moving cleaning device having a first cleaning element and a second cleaning element, and the travel control device 1200 is configured to perform the embodiment of FIG. 9. In this mode, the traversal module 1201 is configured to perform traversal walking on the first working surface by using the first cleaning element, and the first cleaning element is in a bias state deviated to the first side of the body. The processing module 1202 is configured to control the self-moving cleaning device to travel at a first distance offset from the body when the self-moving cleaning device turns around and walks along the first side of the body, and to control the self-moving cleaning device to travel at a second distance offset from the body when the self-moving cleaning device turns around and walks along the second side of the body.

[0160] The traversal module 1201 is further configured to perform traversal walking on the second working surface by using the second cleaning element. The processing module 1202 is further configured to control the self-moving cleaning device to travel at a third distance offset from the body when the self-moving cleaning device turns around and walks. The first distance is greater than the second distance.

[0161] In another mode, the travel control device is integrated in a self-moving cleaning device having a first cleaning element, and the self-moving device has a rough cleaning mode and a fine cleaning mode. The travel control device 1200 is configured to perform the embodiment of FIG. 10. In this mode, the traversal module 1201 is configured to perform traversal walking in the rough cleaning mode, and the first cleaning element is in a bias state deviated to the first side of the body. The processing module 1202 is configured to control the self-moving cleaning device to travel at a first distance offset from the body when the self-moving cleaning device turns around and walks along the first side of the body, and to control the self-moving cleaning device to travel at a second distance offset from the body when the self-moving cleaning device turns around and walks along the second side of the body.

[0162] The traversal module 1201 is further configured to perform traversal walking in the fine cleaning mode, and the first cleaning element is in a bias state deviated to a first side of the body; and the processing module 1202 is further configured to control the self-moving cleaning device to travel at a second distance offset from the body when the self-moving cleaning device turns around and walks along the first side of the body, and to control the self-moving cleaning device to travel at the second distance offset from the body when the self-moving cleaning device turns around and walks along a second side of the body; and the first distance and the second distance are different.

[0163] In another mode, the travel control device is integrated in a self-moving cleaning device having a first cleaning element, and the self-moving device has a coarse cleaning mode and a fine cleaning mode, and the travel control device 1200 is configured to perform the embodiment of FIG. 11. In this mode, the traversal module 1201 is configured to perform traversal walking in the coarse cleaning mode, and the first cleaning element is in a bias state deviated to a first side of the body; and the processing module 1202 is configured to control the self-moving cleaning device to travel at a first distance offset from the body when the self-moving cleaning device turns around and walks along the first side of the body, and to control the self-moving cleaning device to travel at a second distance offset from the body when the self-moving cleaning device turns around and walks along a second side of the body.

[0164] The traversal module 1201 is further configured to perform traversal walking in the fine cleaning mode, and the first cleaning element is in a bias state deviated to a first side of the body; and the processing module 1202 is further configured to control the self-moving cleaning device to travel at a fourth distance offset from the body when the self-moving cleaning device turns around and walks along the first side of the body, and to control the self-moving cleaning device to travel at the fourth distance offset from the body when the self-moving cleaning device turns around and walks along a second side of the body, and the first distance, the second distance, and the fourth distance satisfy a relationship of first distance>second distance≥fourth distance.

[0165] FIG. 13 is a structural schematic diagram of a self-moving cleaning device according to an embodiment of the present application. As shown in FIG. 13, the self-moving cleaning device 1300 includes:

[0166] a processor 1301 and a memory 1302.

[0167] The memory 1302 stores computer instructions.

[0168] The processor 1301 executes the computer instructions stored in the memory 1302, so that the processor 1301 performs the travel control method performed by the self-moving cleaning device.

[0169] The specific implementation process of the processor 1301 can refer to the method embodiments described above, which have similar implementation principles and technical effects, and will not be described here again.

[0170] Optionally, the self-moving cleaning device 1300 further comprises a communication component 1303. The processor 1301, the memory 1302 and the communication component 1303 can be connected through a bus 1304.

[0171] The embodiments of the present application further provide a computer readable storage medium, wherein the computer readable storage medium stores computer instructions, and the computer instructions are executed by a processor to implement the traveling control method implemented by the self-moving cleaning device.

[0172] The embodiments of the present application further provide a computer program product, which comprises a computer program, and the computer program is executed by a processor to implement the traveling control method implemented by the self-moving cleaning device.

[0173] Other embodiments of the present application will be apparent to those skilled in the art from consideration of the specification and practice of the application disclosed herein. It is intended that the present application cover any and all variations of the application that come within the scope of the general concept of the application. The specification and examples are to be considered exemplary only, with the true scope and spirit of the application indicated by the following claims.

[0174] It is to be understood that the application is not limited to the precise details of construction and the arrangement of components described above and illustrated in the drawings, and that various modifications and changes can be made without departing from the scope of the present application. The scope of the application is limited only by the claims that follow.

Claims

1. A travel control method characterized by comprising: The method applied to a self-moving cleaning device with a first cleaning element comprises: The self-moving cleaning device performs traversal walking, and the first cleaning element is in a bias state deviating from the center of the body; When the self-moving cleaning device turns around and walks along the first side of the body, the first distance offset from the body is controlled to travel; When the self-moving cleaning device turns around and walks along the second side of the body, the second distance offset from the body is controlled to travel; Wherein, the first distance and the second distance are different.

2. A travel control method characterized by, The method applied to a self-moving cleaning device with a first cleaning element comprises: The self-moving cleaning device performs traversal walking, and the first cleaning element is in a bias state deviating from the center of the body; When the self-moving cleaning device turns around and walks along the first side of the body, the first distance offset from the body is controlled to travel; When the self-moving cleaning device turns around and walks along the second side of the body, the second distance offset from the body is controlled to travel; Wherein, the first distance and the second distance are different.

3. A travel control method characterized by, The method applied to a self-moving cleaning device with a first cleaning element and a second cleaning element comprises: The self-moving cleaning device performs traversal walking on a first working surface using the first cleaning element, and the first cleaning element is in a bias state deviating from the center of the body, and when the self-moving cleaning device turns around and walks, the first distance offset from the body is controlled to travel; The self-moving cleaning device performs traversal walking on a second working surface using the second cleaning element, and when the self-moving cleaning device turns around and walks, the third distance offset from the body is controlled to travel; Wherein, the third distance is different from the first distance.

4. A travel control method characterized by, The method applied to a self-moving cleaning device with a first cleaning element and a second cleaning element comprises: The self-moving cleaning device performs traversal walking on a first working surface using the first cleaning element, and the first cleaning element is in a bias state deviating from the center of the body, and when the self-moving cleaning device turns around and walks, the first distance offset from the body is controlled to travel; The self-moving cleaning device performs traversal walking on a second working surface using the second cleaning element, and when the self-moving cleaning device turns around and walks, the third distance offset from the body is controlled to travel; Wherein, the first distance, the second distance, and the third distance are different.

5. A travel control method characterized by, The method applied to a self-moving cleaning device with a first cleaning element and a second cleaning element comprises: The self-moving cleaning device performs traversal walking on a first working surface using the first cleaning element, and the first cleaning element is in a bias state deviating from the center of the body, and when the self-moving cleaning device turns around and walks, the first distance offset from the body is controlled to travel; The self-moving cleaning device performs traversal walking on a second working surface using the second cleaning element, and when the self-moving cleaning device turns around and walks, the third distance offset from the body is controlled to travel; Wherein, the first distance, the second distance, and the third distance are different.

6. A travel control method characterized by comprising: The method applied to a self-moving cleaning device with a first cleaning element and a second cleaning element comprises: The self-moving cleaning device performs traversal walking on a first working surface by using a first cleaning element, and the first cleaning element is in a bias state deviated to a first side of the body; when the self-moving cleaning device turns around and walks along the first side of the body, the first distance offset from the body is controlled to travel; when the self-moving cleaning device turns around and walks along the second side of the body, the second distance offset from the body is controlled to travel. The self-moving cleaning device performs traversal walking on a second working surface by using a second cleaning element; when the self-moving cleaning device turns around and walks, the third distance offset from the body is controlled to travel. The first distance is greater than the second distance.

7. A travel control method characterized by comprising: The method is applied to a self-moving cleaning device with a first cleaning element, and the self-moving device has a first cleaning mode and a second cleaning mode, and the method comprises: The self-moving cleaning device performs traversal walking in the first cleaning mode, and the first cleaning element is in a bias state deviated to a first side of the body; when the self-moving cleaning device turns around and walks along the first side of the body, the first distance offset from the body is controlled to travel; when the self-moving cleaning device turns around and walks along the second side of the body, the second distance offset from the body is controlled to travel. The self-moving cleaning device performs traversal walking in the second cleaning mode, and the first cleaning element is in a bias state deviated to a first side of the body; when the self-moving cleaning device turns around and walks along the first side of the body, the second distance offset from the body is controlled to travel; when the self-moving cleaning device turns around and walks along the second side of the body, the second distance offset from the body is controlled to travel. The first distance and the second distance are different.

8. A travel control method characterized by, The method is applied to a self-moving cleaning device with a first cleaning element, and the self-moving device has a first cleaning mode and a second cleaning mode, and the method comprises: The self-moving cleaning device performs traversal walking in the first cleaning mode, and the first cleaning element is in a bias state deviated to a first side of the body; when the self-moving cleaning device turns around and walks along the first side of the body, the first distance offset from the body is controlled to travel; when the self-moving cleaning device turns around and walks along the second side of the body, the second distance offset from the body is controlled to travel. The self-moving cleaning device performs traversal walking in the second cleaning mode, and the first cleaning element is in a bias state deviated to a first side of the body; when the self-moving cleaning device turns around and walks along the first side of the body, the fourth distance offset from the body is controlled to travel; when the self-moving cleaning device turns around and walks along the second side of the body, the fourth distance offset from the body is controlled to travel. The first distance is greater than the second distance, and the second distance is greater than or equal to the fourth distance.

9. A self-moving cleaning device comprising a processor, a memory, and a computer program stored on the memory and executable on the processor, characterized in that, The processor executes the computer program to enable the self-moving cleaning device to implement the method of any one of claims 1 to 8.

10. A non-transitory computer readable storage medium having stored thereon a computer program, characterized in that, The computer program is executed by the processor to implement the method of any one of claims 1 to 8.

11. A computer program product comprising a computer program, characterized in that, The computer program is executed by the processor to implement the method of any one of claims 1 to 8.

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