Cleaning device control method and apparatus, computer program product, computer-readable medium, and cleaning device

Abstract

A cleaning device control method, the cleaning device comprising a mechanical arm (102), the end of the mechanical arm (102) away from a chassis (101) of the cleaning device being configured to hold a cleaning member (103), the cleaning member (103) being configured to clean a baseboard (105), and the mechanical arm (102) being configured to adjust the pose of the cleaning member (103). The method comprises: when the cleaning device is in a state of cleaning the baseboard (105), controlling the mechanical arm (102) to support the cleaning member (103) in a first pose, which is a pose in which the cleaning member (103) cleans the baseboard (105); and when the cleaning device exits the state of cleaning the baseboard (105), controlling the mechanical arm (102) to support the cleaning member (103) in a second pose, which is a pose in which the cleaning member (103) is located in a spatial region projected upward from the chassis (101).

Description

Cleaning device control method and apparatus, computer program product, computer readable medium, and cleaning device Cross-reference to Related Applications

[0001] This application claims priority to Chinese Patent Application No. 2024113207225, filed on September 20, 2024, the entire contents of which are incorporated herein by reference. TECHNICAL FIELD

[0002] The present disclosure relates to the technical field of cleaning device control, and in particular, to a cleaning device control method, apparatus, computer program product, computer readable medium, and cleaning device. BACKGROUND

[0003] Cleaning devices (such as floor sweeping machines, floor mopping machines) have been widely used in family life today, which can replace users to complete housework including cleaning the floor, which brings great convenience to users. The existing cleaning devices rarely have the function of cleaning the skirting line. The skirting line, also known as the skirting or skirting board, is a component connecting the wall root and the ground. The side and top surfaces of the skirting line are very easy to accumulate dirt such as dust. If the skirting line is not cleaned, it will affect the cleanliness of the room. To make the cleaning device have the function of cleaning the skirting line, the cleaning device needs to be configured with a movable cleaning piece. However, the movable cleaning piece may scratch the wall surface when cleaning the skirting line, thereby causing safety problems. Therefore, how to improve the safety of the cleaning device during the cleaning process of the skirting line is a technical problem to be solved. SUMMARY

[0004] Embodiments of the present disclosure provide a cleaning device control method, apparatus, computer program product, computer readable medium, and cleaning device, thereby at least to some extent, the safety of the cleaning device during the cleaning process of the skirting line can be improved.

[0005] Other characteristics and advantages of the present disclosure will become apparent from the following detailed description, or will be learned by practice of the present disclosure.

[0006] According to a first aspect of embodiments of the present disclosure, a cleaning device control method is provided. The cleaning device includes a mechanical arm, the mechanical arm is used to hold a cleaning piece at one end away from a chassis of the cleaning device, the cleaning piece is used to clean a skirting line, and the mechanical arm is used to adjust a pose of the cleaning piece. The cleaning device control method includes: in a case where the cleaning device enters a cleaning skirting line state, controlling the mechanical arm to support the cleaning piece at a first pose, the first pose being a pose of the cleaning piece for cleaning the skirting line; and in a case where the cleaning device exits the cleaning skirting line state, controlling the mechanical arm to support the cleaning piece at a second pose, the second pose being a pose of the cleaning piece in a spatial region projected upwardly from the chassis.

[0007] According to a second aspect of embodiments of the present disclosure, a cleaning device control method is further provided. The cleaning device includes a mechanical arm, the mechanical arm is used to hold a cleaning piece at one end away from a chassis of the cleaning device, the cleaning piece is used to clean a skirting line, and the mechanical arm is used to adjust a pose of the cleaning piece. The cleaning device control method includes: acquiring a pre-planned skirting line cleaning route; and controlling the cleaning device to perform a skirting line cleaning task according to the skirting line cleaning route.

[0008] According to a third aspect of embodiments of the present disclosure, a cleaning device control apparatus is further provided. The cleaning device includes a mechanical arm, the mechanical arm is used to hold a cleaning piece at one end away from a chassis of the cleaning device, the cleaning piece is used to clean a skirting line, and the mechanical arm is used to adjust a pose of the cleaning piece. The control apparatus includes: a control unit, configured to, in a case where the cleaning device enters a cleaning skirting line state, control the mechanical arm to support the cleaning piece at a first pose, the first pose being a pose of the cleaning piece for cleaning the skirting line; and in a case where the cleaning device exits the cleaning skirting line state, control the mechanical arm to support the cleaning piece at a second pose, the second pose being a pose of the cleaning piece in a spatial region projected upwardly from the chassis.

[0009] According to a fourth aspect of embodiments of the present disclosure, a cleaning device control apparatus is further provided. The cleaning device includes a mechanical arm, the mechanical arm is used to hold a cleaning piece at one end away from a chassis of the cleaning device, the cleaning piece is used to clean a skirting line, and the mechanical arm is used to adjust a pose of the cleaning piece. The control apparatus includes: an acquisition unit, configured to acquire a pre-planned skirting line cleaning route; and a controller, configured to control the cleaning device to perform a skirting line cleaning task according to the skirting line cleaning route.

[0010] According to a fifth aspect of the embodiments of the present disclosure, a computer program product is provided, which includes computer instructions stored in a computer readable storage medium and adapted to be read and executed by a processor to cause a computer device having the processor to perform operations implemented by the method according to any one of the first aspect to the second aspect of the embodiments of the present disclosure.

[0011] According to a sixth aspect of the embodiments of the present disclosure, a computer readable storage medium is provided, which has stored thereon at least one computer program instruction, which is loaded and executed by a processor to implement operations performed by the method according to any one of the first aspect to the second aspect of the embodiments of the present disclosure.

[0012] According to a seventh aspect of the embodiments of the present disclosure, a cleaning device is provided, which includes one or more processors and one or more memories having stored therein at least one computer program instruction, which is loaded and executed by the one or more processors to implement operations performed by the method according to any one of the first aspect to the second aspect of the embodiments of the present disclosure. BRIEF DESCRIPTION OF DRAWINGS

[0013] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and serve to explain the principles of the present disclosure. It is readily apparent to one skilled in the art that the following description in the drawings is merely exemplary of the present disclosure and that other embodiments can be used without departing from the scope of the present disclosure.

[0014] FIG. 1 shows a side view of an application scenario of a cleaning device according to some embodiments of the present disclosure.

[0015] FIG. 2 shows a top view of an application scenario of a cleaning device according to some embodiments of the present disclosure.

[0016] FIG. 3 shows a flowchart of a cleaning device control method according to some embodiments of the present disclosure.

[0017] FIG. 4 shows a flowchart of a cleaning device control method according to some other embodiments of the present disclosure.

[0018] FIG. 5 shows a top view of an application scenario of a cleaning device according to some other embodiments of the present disclosure.

[0019] FIG. 6 shows a flowchart of a cleaning device control method according to some other embodiments of the present disclosure.

[0020] FIG. 7 shows a flowchart of a cleaning device control method according to some other embodiments of the present disclosure.

[0021] FIG. 8 shows a top view of an application scenario of a cleaning device according to yet some embodiments of the present disclosure.

[0022] FIG. 9 shows a flow chart of a cleaning device control method according to some embodiments of the present disclosure.

[0023] FIG. 10 shows a top view of an application scenario of a cleaning device according to further some embodiments of the present disclosure.

[0024] FIG. 11 shows a block diagram of a cleaning device control apparatus according to some embodiments of the present disclosure.

[0025] FIG. 12 shows a block diagram of a cleaning device control apparatus according to some other embodiments of the present disclosure.

[0026] FIG. 13 shows a structural schematic diagram of a cleaning device according to some embodiments of the present disclosure.

[0027] Legend of reference signs:

[0028] cleaning device 100; chassis 101; mechanical arm 102; cleaning member 103; wall surface 104; skirting line 105; another skirting line 107; obstacle 108; cleaning device control apparatus 1100, 1200; first control unit 1101; second control unit 1102; acquisition unit 1201; controller 1202; bus 1300; receiver 1301; processor 1302; transmitter 1303; memory 1304; bus interface 1305. DETAILED DESCRIPTION

[0029] The technical solutions in the embodiments of the present disclosure will be clearly and completely described below with reference to the drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only some of the embodiments of the present disclosure, but not all the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the scope of protection of the present disclosure.

[0030] In addition, the described features, structures or characteristics can be combined in any suitable manner in one or more embodiments. In the following description, many specific details are provided to give a sufficient understanding of the embodiments of the present disclosure. However, those skilled in the art will realize that the technical solutions of the present disclosure can be practiced without one or more of the specific details, or other methods, components, devices, steps, etc. can be used. In other cases, well-known methods, devices, implementations or operations are not shown or described in detail to avoid obscuring the aspects of the present disclosure.

[0031] The block diagrams shown in the accompanying drawings are merely functional entities and do not necessarily correspond to physically independent entities. That is, these functional entities can be implemented in software, in one or more hardware modules or integrated circuits, or in different network and / or processor devices and / or microcontroller devices. It should also be noted that, for the sake of simplicity, certain components in the drawings that do not affect the interpretation of the technical solutions disclosed herein have been adaptively omitted.

[0032] The flowcharts shown in the accompanying drawings are merely illustrative and do not necessarily include all content and operations / steps, nor do they necessarily need to be performed in the described order. For example, some operations / steps can be broken down, while others can be combined or partially combined; therefore, the actual execution order may change depending on the specific circumstances.

[0033] In the description of this disclosure, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this disclosure, unless otherwise stated, "a plurality of" means two or more.

[0034] To enable those skilled in the art to better understand this disclosure, the application scenarios involved in this disclosure will first be briefly explained with reference to Figures 1 and 2.

[0035] Referring to Figure 1, a side view of an application scenario of a cleaning device according to some embodiments of the present disclosure is shown.

[0036] In this disclosure, the cleaning equipment may be a sweeper, a mop, or a combined sweeper and mop; this disclosure does not make any specific limitations on this.

[0037] As shown in Figure 1, a skirting board 105 is included between the ground and the wall 104.

[0038] As shown in Figure 1, the cleaning equipment involved in this disclosure may include a robotic arm 102. In some embodiments, one end of the robotic arm 102 away from the chassis 101 of the cleaning equipment is used to hold a cleaning component 103 (such as a cleaning brush) and can be used to clean the baseboard 105. The robotic arm 102 can be used to adjust the position and orientation (i.e., position and posture) of the cleaning component 103.

[0039] The mechanical arm 102 shown in FIG. 1 is a foldable two-link mechanism including joints M1 and M2, and includes two degrees of freedom (which can be defined as a low degree of freedom mechanical arm in the present disclosure), and the mechanical arm 102 adjusts the pose of the cleaning element 103 by adjusting the folding angles of the joints M1 and M2. For example, the mechanical arm 102 can adjust the folding angles of the joints M1 and M2 so that the cleaning element 103 is lifted upward, so that the cleaning element 103 is adjusted from a first pose shown in FIG. 1 subgraph (a) to a second pose shown in FIG. 1 subgraph (b). In some embodiments, in the first pose, the cleaning element can be located between the chassis 101 and the skirting line 105, so that the cleaning element 103 can clean the skirting line 105, and the second pose is the pose of the cleaning element 103 in the space region F projected upward from the chassis 101.

[0040] It can be seen that in the present disclosure, when the cleaning device is performing a skirting line cleaning task, in the case that the cleaning device enters a skirting line cleaning state, the mechanical arm is controlled to support the cleaning element at a first pose, and the first pose is the pose of the cleaning element cleaning the skirting line; in the case that the cleaning device exits the skirting line cleaning state, the mechanical arm is controlled to support the cleaning element at a second pose, and the second pose is the pose of the cleaning element in the space region projected upward from the chassis.

[0041] It should be noted that in other embodiments, the mechanical arm can also be a high degree of freedom mechanical arm, such as can include three degrees of freedom, and can also include four degrees of freedom, which are not specifically limited in the present disclosure.

[0042] As shown in FIG. 1, the end of the mechanical arm 102 away from the chassis 101 of the cleaning device can be provided with a clamping element (not shown in the figure), which can clamp the cleaning element 103. In some embodiments, the mechanical arm 102 and the clamping element can be connected through a joint M3, which can support the clamping element to spin forward and backward within a small angle, so that the cleaning element 103 can swing within a small range, thereby enhancing the cleaning intensity of the cleaning element 103 when cleaning the skirting line 105.

[0043] In the present disclosure, the cleaning element 103 can be placed in the storage compartment of the cleaning device base station in daily life, and can be clamped and used by the clamping element at the end of the mechanical arm 102 away from the chassis 101 of the cleaning device when needed.

[0044] Referring to FIG. 2, a top view of an application scenario of a cleaning device according to some embodiments of the present disclosure is shown.

[0045] In the present disclosure, as shown in FIG. 2, the shape of the chassis 101 of the cleaning device can be circular, but in other embodiments, the shape of the chassis of the cleaning device can also be rectangular, trapezoidal, or other irregular shapes. The present disclosure does not make specific limitations thereto.

[0046] In the present disclosure, as shown in FIG. 2, due to the structural design of the cleaning device mechanical arm, the projection of the mechanical arm 102 on the chassis 101 can deviate to a certain extent relative to the center A of the chassis 101 of the cleaning device. In some embodiments, as shown in subgraph (a) and subgraph (b) of FIG. 2, the projection of the mechanical arm 102 on the chassis 101 can deviate upward relative to the center A of the chassis 101 of the cleaning device (i.e., deviate from the center of the chassis of the cleaning device toward the moving direction of the cleaning device). In other embodiments, as shown in subgraph (c) and subgraph (d) of FIG. 2, the projection of the mechanical arm 102 on the chassis 101 can deviate downward relative to the center A of the chassis 101 of the cleaning device (i.e., deviate away from the center of the chassis of the cleaning device from the moving direction of the cleaning device). It should be noted that the moving direction is the moving direction of the cleaning device when performing a cleaning task.

[0047] The present inventors have found that during the cleaning of the skirting line by the cleaning device, there can be a scenario of adjusting the cleaning member from a first pose to a second pose (such as adjusting the cleaning member 103 from the first pose shown in subgraph (a) of FIG. 2 to the second pose shown in subgraph (b) of FIG. 2, or adjusting the cleaning member 103 from the first pose shown in subgraph (c) of FIG. 2 to the second pose shown in subgraph (d) of FIG. 2), or adjusting the cleaning member from the second pose to the first pose (such as adjusting the cleaning member 103 from the second pose shown in subgraph (b) of FIG. 2 to the first pose shown in subgraph (a) of FIG. 2, or adjusting the cleaning member 103 from the second pose shown in subgraph (d) of FIG. 2 to the first pose shown in subgraph (c) of FIG. 2). In this scenario, since the cleaning member in the first pose is close to the wall surface, if the mechanical arm directly adjusts the cleaning member from the first pose to the second pose, or directly adjusts the cleaning member from the second pose to the first pose, since the chassis 101 of the cleaning device is close to the wall surface at this time, if the cleaning member 103 is adjusted from the first pose to the second pose, or from the second pose to the first pose, it is very easy to cause the cleaning member to scratch the wall surface, especially in the case of a low-degree-of-freedom mechanical arm, since the low-degree-of-freedom mechanical arm cannot move the cleaning member 103 vertically upward, the safety problem of the cleaning member scratching the wall surface is particularly serious.

[0048] The present inventors also find that, in the process of cleaning the skirting line, the cleaning device will also exist a scenario of controlling the rotation of the chassis of the cleaning device. In this scenario, due to the cleaning element in the first pose being close to the wall, if the chassis of the cleaning device rotates in a certain rotation direction, the cleaning element in a position far from the center of the chassis of the cleaning device may rub against the wall. For example, as shown in subgraph (a) of FIG. 2, since the trajectory circle of position C on the cleaning element 103 intersects with the wall 104, if the chassis 101 of the cleaning device rotates in the clockwise rotation direction, the cleaning element will rub against the wall. However, if the chassis 101 of the cleaning device rotates in the counterclockwise rotation direction, the cleaning element will not rub against the wall. For another example, as shown in subgraph (c) of FIG. 2, since the trajectory circle of position D on the cleaning element 103 intersects with the wall 104, if the chassis 101 of the cleaning device rotates in the counterclockwise rotation direction, the cleaning element will rub against the wall. However, if the chassis 101 of the cleaning device rotates in the clockwise rotation direction, the cleaning element will not rub against the wall.

[0049] Based on the above-mentioned technical problems, the present inventors propose an embodiment of a cleaning device control scheme to improve the safety of the cleaning device in the process of cleaning the skirting line. Next, the present disclosure will be described in detail with respect to the proposed cleaning device control scheme.

[0050] In the present disclosure, referring to FIG. 3, a flowchart of a cleaning device control method according to some embodiments of the present disclosure is shown, which can be executed by a device with computing processing function. Referring to FIG. 3, the cleaning device control method at least includes any one of steps 310 to 320: step 310, before the cleaning device exits the state of cleaning the skirting line, increasing the distance between the cleaning element and the wall where the skirting line is located, to control the mechanical arm to adjust the cleaning element from a first pose to a second pose, the first pose being the pose of the cleaning element cleaning the skirting line, and the second pose being the pose of the cleaning element in the space region upwardly projected by the chassis; and step 320, before the cleaning device enters the state of cleaning the skirting line, increasing the distance between the cleaning element and the wall where the skirting line is located, to control the mechanical arm to adjust the cleaning element from the second pose to the first pose.

[0051] In the present disclosure, it should be noted that increasing the distance between the cleaning element and the wall where the skirting line is located can be achieved by moving a distance away from the wall where the skirting line is located, or by rotating a certain angle in a certain rotation direction. Next, the present disclosure will be described in detail based on the embodiment of controlling the cleaning device to rotate a certain angle in a certain rotation direction, in combination with FIG. 4, FIG. 6, and FIG. 7.

[0052] In the present disclosure, referring to FIG. 4, a flowchart of a cleaning device control method according to some embodiments of the present disclosure is shown, including: step 410, controlling the chassis of the cleaning device to rotate in a first rotation direction by a first angle, so as to increase the distance between the cleaning member and the wall surface where the skirting line is located; and step 420, controlling the mechanical arm to adjust the cleaning member from a first pose to a second pose, so as to control the cleaning device to exit the cleaning skirting line state, the first pose being the pose of the cleaning member cleaning the skirting line, and the second pose being the pose of the cleaning member in the spatial region projected upwardly by the chassis.

[0053] In the present disclosure, it is to be noted that the first rotation direction is determined according to the deviation direction of the projection of the mechanical arm on the chassis relative to the center of the chassis of the cleaning device. If the projection deviates from the center of the chassis of the cleaning device towards the moving direction of the cleaning device, the first rotation direction can be the counterclockwise rotation direction, such as shown in subgraph (a) of FIG. 2. If the projection deviates from the center of the chassis of the cleaning device away from the moving direction of the cleaning device, the first rotation direction can be the clockwise rotation direction, such as shown in subgraph (c) of FIG. 2. It is to be noted that the moving direction is the moving direction of the cleaning device when performing the cleaning task.

[0054] In the present disclosure, the scenario shown in FIG. 2 is the scenario that the cleaning member in the first pose is on the right side of the moving direction of the cleaning device. However, it is to be noted that if the cleaning member in the first pose is on the left side of the moving direction of the cleaning device, the rotation direction of the cleaning device is completely opposite to the scenario shown in FIG. 2, i.e., in the scenario that the cleaning member in the first pose is on the left side of the moving direction of the cleaning device, if the projection deviates from the center of the chassis of the cleaning device towards the moving direction of the cleaning device, the first rotation direction can be the clockwise rotation direction. If the projection deviates from the center of the chassis of the cleaning device away from the moving direction of the cleaning device, the first rotation direction can be the counterclockwise rotation direction.

[0055] It is also to be noted that in some embodiments of the present disclosure, the specific angle value of the first angle can be set according to the structural features of the cleaning device, the distance between the cleaning device and the wall surface when moving along the wall, and the included angle of the wall corner, etc., which are not limited in the present disclosure.

[0056] In order for those skilled in the art to better understand the present disclosure, a specific embodiment is described below in conjunction with FIG. 5.

[0057] Referring to FIG. 5, an application scenario top view of a cleaning device according to some embodiments of the present disclosure is shown.

[0058] As shown in FIG. 5, the chassis 101 of the cleaning device in the cleaning skirting line state can move in the set walking direction. When it is needed to control the cleaning device to exit the cleaning skirting line state, as shown in subgraph (a) of FIG. 5, since the projection of the mechanical arm 102 on the chassis 101 deviates from the center of the chassis of the cleaning device towards the walking direction of the cleaning device, first, the chassis 101 of the cleaning device can be controlled to rotate in the counterclockwise rotation direction (i.e., the first rotation direction) by a first angle, to obtain the cleaning device posture shown in subgraph (b) of FIG. 5, and then the mechanical arm 102 is controlled to adjust the cleaning element 103 from the first pose to the second pose, to control the cleaning device to exit the cleaning skirting line state.

[0059] It can be seen that, in the embodiment, since the chassis of the cleaning device is controlled to rotate in the first rotation direction, the positions (such as the position C shown in FIG. 5) on the cleaning element are avoided from scratching the wall. In addition, since the chassis of the cleaning device is controlled to rotate in the first rotation direction by a certain angle, the distance between the cleaning element and the wall where the skirting line is located is increased, and the cleaning element is avoided from scratching the wall during the adjustment from the first pose to the second pose. In this way, based on the technical solution proposed in the embodiment, the safety of the cleaning device in the skirting line cleaning process can be improved.

[0060] In the present disclosure, referring to FIG. 6, a flowchart of a cleaning device control method according to still another embodiment of the present disclosure is shown, including: step 610, controlling the chassis of the cleaning device to rotate in the first rotation direction by a second angle, to increase the distance between the cleaning element and the wall where the skirting line is located; step 620, controlling the mechanical arm to adjust the cleaning element from the second pose to the first pose, the first pose being the pose of the cleaning element cleaning the skirting line, and the second pose being the pose of the cleaning element in the space region upwardly projected by the chassis; and step 630, controlling the chassis to rotate in the second rotation direction by a third angle, to control the cleaning device to enter the cleaning skirting line state, the second rotation direction being opposite to the first rotation direction.

[0061] In the present disclosure, it is to be noted that the first rotation direction is determined according to the deviation direction of the projection of the mechanical arm on the chassis relative to the center of the chassis of the cleaning device. In the case where the cleaning member in the first pose is on the right side of the walking direction of the cleaning device, if the projection deviates towards the walking direction of the cleaning device relative to the center of the chassis of the cleaning device, the first rotation direction can be the counterclockwise rotation direction. If the projection deviates away from the walking direction of the cleaning device relative to the center of the chassis of the cleaning device, the first rotation direction can be the clockwise rotation direction. In the case where the cleaning member in the first pose is on the left side of the walking direction of the cleaning device, if the projection deviates towards the walking direction of the cleaning device relative to the center of the chassis of the cleaning device, the first rotation direction can be the clockwise rotation direction. If the projection deviates away from the walking direction of the cleaning device relative to the center of the chassis of the cleaning device, the first rotation direction can be the counterclockwise rotation direction.

[0062] It is to be noted that the walking direction is the moving direction of the cleaning device when performing the cleaning task.

[0063] It is to be further noted that in some embodiments of the present disclosure, the specific angle value of the second angle can be set according to the pose of the cleaning device before rotating in the first rotation direction, the structural features of the cleaning device, the distance between the cleaning device and the wall surface when moving along the wall, and the included angle of the wall corner, etc., which are not specifically limited by the present disclosure.

[0064] It is to be further noted that in some embodiments of the present disclosure, the specific angle value of the third angle can be set according to the pose of the cleaning device before rotating in the second rotation direction, the structural features of the cleaning device, the distance between the cleaning device and the wall surface when moving along the wall, and the included angle of the wall corner, etc., which are not specifically limited by the present disclosure.

[0065] In order for those skilled in the art to better understand the present disclosure, the following will continue to be described in a specific embodiment in combination with FIG. 5.

[0066] As shown in FIG. 5, when it is needed to control the cleaning device to enter the cleaning skirting line state, as shown in subgraph (c) of FIG. 5, since the projection of the mechanical arm 102 on the chassis 101 deviates from the center of the chassis of the cleaning device towards the walking direction of the cleaning device, first, the chassis 101 of the cleaning device can be controlled to rotate by a second angle in a counterclockwise rotation direction (i.e., a first rotation direction), to obtain the cleaning device posture shown in subgraph (d) of FIG. 5, and then the mechanical arm 102 is controlled to adjust the cleaning element 103 from the second pose to the first pose, to obtain the cleaning device posture shown in subgraph (e) of FIG. 5. Finally, the chassis 101 of the cleaning device is controlled to rotate by a third angle in a clockwise rotation direction (i.e., a second rotation direction), to control the cleaning device to enter the cleaning skirting line state shown in subgraph (f) of FIG. 5.

[0067] It can be seen that, in the embodiment, since the chassis of the cleaning device is controlled to rotate by a certain angle in the first rotation direction, the distance between the cleaning element and the wall surface where the skirting line is located is increased, so that the cleaning element is prevented from scratching the wall surface during the adjustment of the cleaning element from the second pose to the first pose. In addition, since the chassis of the cleaning device is controlled to rotate in the second rotation direction, each position on the cleaning element is prevented from scratching the wall surface. In this way, based on the technical solution proposed in the embodiment, the safety of the cleaning device during the cleaning of the skirting line can be improved.

[0068] In the present disclosure, referring to FIG. 7, a flowchart of a cleaning device control method according to still other embodiments of the present disclosure is shown, including: in step 710, under the condition that the chassis of the cleaning device maintains a preset distance from the skirting line and moves along the skirting line, the mechanical arm is controlled to support the cleaning element to clean the skirting line in a first pose, to control the cleaning device to maintain in a cleaning skirting line state, the first pose being a pose of the cleaning element cleaning the skirting line.

[0069] In order for those skilled in the art to better understand the present disclosure, a specific embodiment is described below in conjunction with FIG. 8.

[0070] Referring to FIG. 8, an application scenario top view of a cleaning device according to still other embodiments of the present disclosure is shown.

[0071] As shown in FIG. 8, the chassis 101 of the cleaning device is controlled to maintain a preset distance l from the skirting line 105 and move along the skirting line 105 (i.e., move in a walking direction), and at the same time, the mechanical arm 102 is controlled to support the cleaning element 103 to clean the skirting line 105 in a first pose, to control the cleaning device to maintain in a cleaning skirting line state.

[0072] It can be seen that, in the embodiment, by controlling the chassis of the cleaning device to keep a preset distance from the skirting line and move along the skirting line, the cleaning member in the first pose can be enabled to sufficiently clean the skirting line, thereby improving the cleaning efficiency and cleaning quality of the cleaning device in the process of cleaning the skirting line.

[0073] Next, the disclosure will combine FIG. 9 to describe the control logic of the cleaning device in the process of performing the skirting line cleaning task.

[0074] Referring to FIG. 9, a flowchart of a cleaning device control method according to some embodiments of the disclosure is shown, which can be executed by a device with a computing processing function. Referring to FIG. 9, the cleaning device control method at least includes: step 910, acquiring a pre-planned skirting line cleaning route; and step 920, controlling the cleaning device to perform a skirting line cleaning task according to the skirting line cleaning route.

[0075] In the disclosure, the cleaning device can pre-collect position data of the skirting line in the cleaning area through the sensor configured by itself, and plan a skirting line cleaning route based on the position data of the skirting line. When the skirting line cleaning task is triggered, the cleaning device can automatically pick up a cleaning member (such as a cleaning brush) for cleaning the skirting line from the inside of the base station of the cleaning device through the mechanical arm, and at the same time, acquire the pre-planned skirting line cleaning route, so as to control the cleaning device to perform the skirting line cleaning task according to the skirting line cleaning route.

[0076] Based on the technical solutions proposed in the disclosure, the function of cleaning the skirting line can be realized, and the accumulation of stains on the side and top surfaces of the skirting line is avoided, thereby ensuring the cleanliness and hygiene of the room.

[0077] In the disclosure, the cleaning device control method can further include: step 921, before the cleaning device starts to perform the skirting line cleaning task, controlling the cleaning device to enter a skirting line cleaning state.

[0078] It can be understood that, before the cleaning device starts to perform the skirting line cleaning task, the cleaning device needs to be controlled to enter the skirting line cleaning state. In some embodiments, the cleaning device can be controlled to enter the skirting line cleaning state according to the cleaning device control method of the embodiment shown in FIG. 6.

[0079] In the present disclosure, before the cleaning device starts to perform the skirting line cleaning task, the distance between the cleaning member and the wall surface where the skirting line is located is increased by rotating the chassis of the cleaning device by a second angle in a first rotation direction, so that the cleaning member is prevented from scratching the wall surface during the adjustment of the second pose to the first pose. In addition, since the chassis of the cleaning device is controlled to rotate in a rotation direction opposite to the first rotation direction (second rotation direction), each position on the cleaning member is prevented from scratching the wall surface. In this way, the safety of the cleaning device during the skirting line cleaning process can be improved.

[0080] In the present disclosure, the cleaning device control method can further perform the following steps: step 922, during the execution of the skirting line cleaning task by the cleaning device, if the cleaning device encounters an obstacle, controlling the cleaning device to exit the skirting line cleaning state; step 923, after the cleaning device exits the skirting line cleaning state, controlling the cleaning device to bypass the obstacle; and step 924, after the cleaning device bypasses the obstacle, if a new skirting line is encountered, controlling the cleaning device to enter the skirting line cleaning state to clean the new skirting line.

[0081] In the present disclosure, if the cleaning device encounters an obstacle during the execution of the skirting line cleaning task, the cleaning device can first be controlled to exit the skirting line cleaning state to adjust the pose of the cleaning member from the pose for cleaning the skirting line to a pose within the spatial region upwardly projected by the chassis, so that the cleaning member is prevented from colliding with the obstacle during the bypassing of the obstacle by the cleaning device. After the cleaning device bypasses the obstacle, if the cleaning device encounters a new skirting line, the cleaning device can be controlled to enter the skirting line cleaning state to clean the new skirting line.

[0082] In some embodiments, in the present disclosure, the cleaning device can be controlled to exit the skirting line cleaning state according to the cleaning device control method of the embodiment shown in FIG. 4. The cleaning device can also be controlled to enter the skirting line cleaning state according to the cleaning device control method of the embodiment shown in FIG. 6.

[0083] In order for those skilled in the art to better understand the present disclosure, a specific embodiment is described below in conjunction with FIG. 10.

[0084] Referring to FIG. 10, an application scenario top view of a cleaning device according to further embodiments of the present disclosure is shown.

[0085] As shown in FIG. 10, the chassis 101 of the cleaning device in the cleaning skirting line state can move according to the set moving direction, when encountering an obstacle 108, as shown in subgraph (a) of FIG. 10, since the projection of the mechanical arm 102 on the chassis 101 deviates from the center A of the chassis of the cleaning device to the moving direction of the cleaning device, the chassis 101 of the cleaning device can be first controlled to rotate by a first angle (such as 40 degrees) in a counterclockwise rotation direction (i.e., a first rotation direction), to obtain the cleaning device posture as shown in subgraph (b) of FIG. 10. Then the mechanical arm 102 is controlled to adjust the cleaning piece 103 from the first pose to the second pose, to obtain the cleaning device posture as shown in subgraph (c) of FIG. 10, so that the cleaning device exits the cleaning skirting line state, and then the chassis 101 of the cleaning device is controlled to bypass the obstacle 108 (the process from subgraph (c) to subgraph (e) of FIG. 10), after the cleaning device bypasses the obstacle, the cleaning device encounters a new skirting line 105, at this time the cleaning device can be controlled to enter the cleaning skirting line state (i.e., the chassis 101 of the cleaning device is controlled to rotate by a second angle (such as 130 degrees) in a counterclockwise rotation direction (i.e., a first rotation direction), and then the mechanical arm is controlled to adjust the cleaning piece from the second pose to the first pose, and finally the chassis is controlled to rotate by a third angle (such as 40 degrees) in a clockwise rotation direction (i.e., a second rotation direction), so that the cleaning device enters the cleaning skirting line state), to obtain the cleaning device posture as shown in subgraph (f) of FIG. 10, and then the new skirting line can be further cleaned.

[0086] It should be noted that the specific values of the first angle, the second angle and the third angle can be determined according to the actual situation of the obstacle, such as according to the included angle between the obstacle and the skirting line.

[0087] Based on the technical solutions proposed in the present disclosure, in the case that the cleaning device encounters an obstacle during the execution of the cleaning task, by controlling the cleaning device to exit the cleaning skirting line state according to the cleaning device control method of the embodiment shown in FIG. 4, and controlling the cleaning device to enter the cleaning skirting line state according to the cleaning device control method of the embodiment shown in FIG. 6, the cleaning piece of the cleaning device can be prevented from scratching the wall surface and colliding with the obstacle, thereby improving the safety of the cleaning device during the skirting line cleaning process.

[0088] In the present disclosure, the cleaning device control method can further perform the following steps: step 925, during the execution of the skirting line cleaning task by the cleaning device, if the cleaning device encounters a wall corner, controlling the cleaning device to exit the cleaning skirting line state; and step 926, after the cleaning device exits the cleaning skirting line state, controlling the cleaning device to enter the cleaning skirting line state to clean another skirting line of the wall corner.

[0089] In the present disclosure, if the cleaning device encounters a wall corner during the execution of the skirting line cleaning task, the cleaning device can be controlled to exit the skirting line cleaning state, and after the cleaning device exits the skirting line cleaning state, the cleaning device can be controlled to enter the skirting line cleaning state again to clean another skirting line of the wall corner.

[0090] In some embodiments, in the present disclosure, the cleaning device can be controlled to exit the skirting line cleaning state according to the cleaning device control method of the embodiment shown in FIG. 4. The cleaning device can also be controlled to enter the skirting line cleaning state according to the cleaning device control method of the embodiment shown in FIG. 6.

[0091] In order for those skilled in the art to better understand the present disclosure, the following will continue to be described in one specific embodiment in combination with FIG. 5.

[0092] As shown in FIG. 5, the chassis 101 of the cleaning device in the skirting line cleaning state can walk according to the set walking direction, and when encountering a wall corner, as shown in subgraph (a) of FIG. 5, since the projection of the mechanical arm 102 on the chassis 101 deviates from the center of the chassis of the cleaning device towards the walking direction of the cleaning device, the chassis 101 of the cleaning device can be first controlled to rotate by a first angle (such as 40 degrees) in a counterclockwise rotation direction (i.e., a first rotation direction), obtaining the cleaning device posture shown in subgraph (b) of FIG. 5. Then the mechanical arm 102 is controlled to adjust the cleaning piece 103 from the first pose to the second pose, obtaining the cleaning device posture shown in subgraph (c) of FIG. 5, so that the cleaning device exits the skirting line cleaning state. Further, the chassis 101 of the cleaning device is controlled to rotate by a second angle (such as 90 degrees) in the counterclockwise rotation direction (i.e., the first rotation direction), obtaining the cleaning device posture shown in subgraph (d) of FIG. 5, and then the mechanical arm 102 is controlled to adjust the cleaning piece 103 from the second pose to the first pose, obtaining the cleaning device posture shown in subgraph (e) of FIG. 5. Finally, the chassis 101 of the cleaning device is controlled to rotate by a third angle (such as 40 degrees) in a clockwise rotation direction (i.e., a second rotation direction), so that the cleaning device enters the skirting line cleaning state, thereby further cleaning another skirting line 107 of the wall corner.

[0093] It should be noted that the specific values of the first angle, the second angle and the third angle as described above can be determined according to the actual situation of the wall corner, such as according to the angle of the wall corner.

[0094] The technical solution proposed based on the present disclosure can avoid the cleaning element of the cleaning device from scratching the wall surface, thereby improving the safety of the cleaning device during the skirting line cleaning process.

[0095] In the present disclosure, the cleaning device control method can further perform the following step: step 927, after the cleaning device exits the execution of the skirting line cleaning task, controlling the cleaning device to exit the cleaning skirting line state.

[0096] It can be understood that after the cleaning device exits the execution of the skirting line cleaning task, the cleaning device needs to be controlled to exit the cleaning skirting line state. In some embodiments, the cleaning device can be controlled to exit the cleaning skirting line state according to the cleaning device control method as shown in FIG. 4.

[0097] In the present disclosure, after the cleaning device exits the execution of the skirting line cleaning task, the cleaning element is controlled to rotate in the first rotation direction, thereby avoiding the cleaning element from scratching the wall surface at each position. In addition, since the cleaning element is controlled to rotate in the first rotation direction by the first angle, the distance between the cleaning element and the wall surface where the skirting line is located is increased, thereby avoiding the cleaning element from scratching the wall surface during the adjustment of the first pose to the second pose. In this way, the safety of the cleaning device during the skirting line cleaning process can be improved.

[0098] In the present disclosure, the cleaning device control method can further perform the following step: step 928, during the execution of the skirting line cleaning task by the cleaning device, if the cleaning device does not encounter obstacles and wall corners, controlling the cleaning device to remain in the cleaning skirting line state.

[0099] It can be understood that if the cleaning device does not encounter obstacles and wall corners during the execution of the skirting line cleaning task, the cleaning device does not need to be controlled to exit the cleaning skirting line state, i.e., the cleaning device is controlled to remain in the cleaning skirting line state. In some embodiments, the cleaning device can be controlled to remain in the cleaning skirting line state according to the cleaning device control method as shown in FIG. 7.

[0100] In the present disclosure, by controlling the cleaning element of the cleaning device to maintain a preset distance from the skirting line and move along the skirting line, the cleaning element in the first pose can be fully cleaned, thereby improving the cleaning efficiency and cleaning quality of the cleaning device during the skirting line cleaning process.

[0101] Based on the technical scheme provided in the present disclosure, in the process of the cleaning device performing the skirting line cleaning task, the cleaning part of the cleaning device can be prevented from scratching the wall surface, thereby improving the safety of the cleaning device in the skirting line cleaning process.

[0102] In actual application, the technical scheme provided in the present disclosure can efficiently realize the function of the cleaning device cleaning the skirting line, especially in the narrow space scene, such as cleaning the skirting line in the scene of placing an obstacle against the wall or cleaning the skirting line in the scene of turning at the corner of the wall. In the case of avoiding collision or scratching the wall surface, more skirting lines can be cleaned, and the problem of missing scanning can be reduced. In some embodiments, the technical scheme provided in the present disclosure is especially suitable for the cleaning device with a low-degree-of-freedom mechanical arm, thereby avoiding the problem of high production cost caused by configuring the cleaning device with a high-degree-of-freedom mechanical arm.

[0103] The following describes a device embodiment of the present disclosure, which can be used to execute the cleaning device control method in the above-mentioned embodiments of the present disclosure. The cleaning device includes a mechanical arm, one end of the mechanical arm away from the chassis of the cleaning device is used to hold a cleaning part, the cleaning part is used to clean the skirting line, and the mechanical arm is used to adjust the pose of the cleaning part. For details not disclosed in the device embodiment of the present disclosure, please refer to the above-mentioned embodiments of the cleaning device control method of the present disclosure.

[0104] The cleaning device control device shown in the present disclosure can include a control unit configured to control the mechanical arm to support the cleaning part at a first pose in the case where the cleaning device enters a state of cleaning the skirting line, the first pose being a pose of the cleaning part cleaning the skirting line; and control the mechanical arm to support the cleaning part at a second pose in the case where the cleaning device exits the state of cleaning the skirting line, the second pose being a pose of the cleaning part in a space region projected upwardly from the chassis.

[0105] In some embodiments of the present disclosure, referring to FIG. 11, a block diagram of a cleaning device control apparatus according to some embodiments of the present disclosure is shown. As shown in FIG. 11, the cleaning device control apparatus 1100 according to embodiments of the present disclosure includes a first control unit 1101 and a second control unit 1102. In some embodiments, the first control unit 1101 is configured to increase the distance between the cleaning member and the wall surface on which the skirting line is located before the cleaning device exits the skirting line cleaning state, to control the robot arm to adjust the cleaning member from a first pose to a second pose, the first pose being the pose of the cleaning member cleaning the skirting line, and the second pose being the pose of the cleaning member in the spatial region projected upward by the chassis. The second control unit 1101 is configured to increase the distance between the cleaning member and the wall surface on which the skirting line is located before the cleaning device enters the skirting line cleaning state, to control the robot arm to adjust the cleaning member from the second pose to the first pose.

[0106] In some embodiments of the present disclosure, the control apparatus further includes a third control unit configured to control the chassis of the cleaning device to rotate by a first angle in a first rotation direction to increase the distance between the cleaning member and the wall surface on which the skirting line is located; and a fourth control unit configured to control the robot arm to adjust the cleaning member from a first pose to a second pose to control the cleaning device to exit the skirting line cleaning state, the first pose being the pose of the cleaning member cleaning the skirting line, and the second pose being the pose of the cleaning member in the spatial region projected upward by the chassis.

[0107] In some embodiments of the present disclosure, the control apparatus further includes a fifth control unit configured to control the chassis of the cleaning device to rotate by a second angle in a first rotation direction to increase the distance between the cleaning member and the wall surface on which the skirting line is located; a sixth control unit configured to control the robot arm to adjust the cleaning member from a second pose to a first pose, the first pose being the pose of the cleaning member cleaning the skirting line, and the second pose being the pose of the cleaning member in the spatial region projected upward by the chassis; and a seventh control unit configured to control the chassis to rotate by a third angle in a second rotation direction to control the cleaning device to enter the skirting line cleaning state, the second rotation direction being opposite to the first rotation direction.

[0108] In some embodiments of the present disclosure, the control apparatus further includes an eighth control unit configured to control the robot arm to support the cleaning member to clean the skirting line in a first pose to control the cleaning device to remain in the skirting line cleaning state, under the condition that the chassis of the cleaning device maintains a preset distance from the skirting line and moves along the skirting line, the first pose being the pose of the cleaning member cleaning the skirting line.

[0109] Another device embodiment of the present disclosure is introduced below, which can be used to execute the cleaning device control method in the above-mentioned embodiments of the present disclosure. For details not disclosed in the device embodiments of the present disclosure, please refer to the above-mentioned embodiments of the cleaning device control method of the present disclosure.

[0110] Referring to FIG. 12, a block diagram of a cleaning device control device according to some embodiments of the present disclosure is shown, the cleaning device comprising a mechanical arm, one end of the mechanical arm being used to hold a cleaning piece away from a chassis of the cleaning device, the cleaning piece being used to clean a skirting line, the mechanical arm being used to adjust a pose of the cleaning piece.

[0111] As shown in FIG. 12, the cleaning device control device 1200 of the embodiments of the present disclosure comprises an acquisition unit 1201 and a controller 1202.

[0112] In some embodiments, the acquisition unit 1201 is configured to acquire a pre-planned skirting line cleaning route; and the controller 1202 is configured to control the cleaning device to perform a skirting line cleaning task according to the skirting line cleaning route.

[0113] In some embodiments of the present disclosure, the controller 1202 is configured to control the cleaning device to enter a skirting line cleaning state before the cleaning device starts to perform a skirting line cleaning task.

[0114] In some embodiments of the present disclosure, the controller 1202 is configured to, during the cleaning device performing a skirting line cleaning task, control the cleaning device to exit the skirting line cleaning state if the cleaning device encounters an obstacle, control the cleaning device to bypass the obstacle after the cleaning device exits the skirting line cleaning state, and control the cleaning device to enter the skirting line cleaning state to clean a new skirting line after the cleaning device bypasses the obstacle.

[0115] In some embodiments of the present disclosure, the controller 1202 is configured to, during the cleaning device performing a skirting line cleaning task, control the cleaning device to exit the skirting line cleaning state if the cleaning device encounters a wall corner, and control the cleaning device to enter the skirting line cleaning state to clean another skirting line of the wall corner after the cleaning device exits the skirting line cleaning state.

[0116] In some embodiments of the present disclosure, the controller 1202 is configured to control the cleaning device to exit the skirting line cleaning state after the cleaning device exits performing a skirting line cleaning task.

[0117] In some embodiments of the present disclosure, the controller 1202 is configured to control the cleaning device to exit the skirting cleaning state according to the cleaning device control method as shown in the embodiment of FIG. 4.

[0118] In some embodiments of the present disclosure, the controller 1202 is configured to control the cleaning device to enter the skirting cleaning state according to the cleaning device control method as shown in the embodiment of FIG. 6.

[0119] In some embodiments of the present disclosure, the controller 1202 is configured to control the cleaning device to remain in the skirting cleaning state if the cleaning device does not encounter an obstacle and a wall corner during the execution of the skirting cleaning task by the cleaning device.

[0120] In some embodiments of the present disclosure, the controller 1202 is configured to control the cleaning device to remain in the skirting cleaning state according to the cleaning device control method as shown in the embodiment of FIG. 7.

[0121] Based on the same inventive concept, the embodiments of the present disclosure provide a computer program product, which comprises computer instructions stored in a computer readable storage medium and adapted to be read and executed by a processor to cause a computer device having the processor to perform operations to implement the operations performed by the cleaning device control method as described above.

[0122] Based on the same inventive concept, the embodiments of the present disclosure provide a computer readable storage medium having at least one computer program instruction stored thereon, which is loaded and executed by a processor to implement the operations performed by the cleaning device control method as described above.

[0123] Based on the same inventive concept, the embodiments of the present disclosure also provide a cleaning device, referring to FIG. 13, which shows a structural schematic diagram of a cleaning device according to some embodiments of the present disclosure, the cleaning device comprising one or more memories 1304, one or more processors 1302, and at least one computer program (computer program instructions) stored in the memory 1304 and executable on the processor 1302, the processor 1302 implementing the cleaning device control method as described above when executing the computer program.

[0124] In some embodiments, in FIG. 13, a bus architecture (represented by bus 1300) can include any number of interconnecting buses and bridges, the bus 1300 linking together various circuits such as one or more processors represented by processor 1302, and memory represented by memory 1304. The bus 1300 can also link together various other circuits, such as peripheral devices, voltage regulators, and power management circuits, which are well known in the art, and therefore, will not be further described herein. Bus interface 1305 provides an interface between bus 1300 and receiver 1301 and transmitter 1303. Receiver 1301 and transmitter 1303 can be the same component, i.e., a transceiver, providing a means for communicating with various other apparatus over a transmission medium. Processor 1302 is responsible for managing the bus 1300 and general processing, while the memory 1304 can be used for storing data used by the processor 1302 in executing operational programs.

[0125] According to a first aspect of embodiments of the present disclosure, a cleaning device control method is provided, the cleaning device comprising a mechanical arm, the mechanical arm being configured to hold a cleaning piece at one end of a chassis of the cleaning device, the cleaning piece being configured to clean a skirting line, the mechanical arm being configured to adjust a pose of the cleaning piece, the cleaning device control method comprising: in a case that the cleaning device enters a cleaning skirting line state, controlling the mechanical arm to support the cleaning piece at a first pose, the first pose being a pose of the cleaning piece for cleaning the skirting line; and in a case that the cleaning device exits the cleaning skirting line state, controlling the mechanical arm to support the cleaning piece at a second pose, the second pose being a pose of the cleaning piece within a spatial region projected upwardly from the chassis.

[0126] In some embodiments of the present disclosure, the cleaning device control method further comprises: before the cleaning device exits the cleaning skirting line state, increasing a distance between the cleaning piece and a wall surface on which the skirting line is located, to control the mechanical arm to adjust the cleaning piece from the first pose to the second pose; or before the cleaning device enters the cleaning skirting line state, increasing the distance between the cleaning piece and the wall surface on which the skirting line is located, to control the mechanical arm to adjust the cleaning piece from the second pose to the first pose.

[0127] In some embodiments of the present disclosure, the cleaning device control method further comprises: controlling the chassis of the cleaning device to rotate in a first rotation direction by a first angle, to increase the distance between the cleaning piece and the wall surface on which the skirting line is located; and controlling the mechanical arm to adjust the cleaning piece from the first pose to the second pose, to control the cleaning device to exit the cleaning skirting line state.

[0128] In some embodiments of the present disclosure, the cleaning device control method further includes: controlling the chassis of the cleaning device to rotate by a second angle in a first rotation direction to increase the distance between the cleaning member and the wall surface where the skirting line is located; controlling the mechanical arm to adjust the cleaning member from the second pose to the first pose; and controlling the chassis to rotate by a third angle in a second rotation direction to control the cleaning device to enter the skirting line cleaning state, the second rotation direction being opposite to the first rotation direction.

[0129] In some embodiments of the present disclosure, the cleaning device control method further includes: under the condition that the chassis of the cleaning device maintains a preset distance from the skirting line and moves along the skirting line, controlling the mechanical arm to support the cleaning member to clean the skirting line in the first pose to control the cleaning device to remain in the skirting line cleaning state.

[0130] According to a second aspect of the embodiments of the present disclosure, a cleaning device control method is provided. The cleaning device includes a mechanical arm, an end of the mechanical arm away from a chassis of the cleaning device is used to hold a cleaning member, the cleaning member is used to clean a skirting line, and the mechanical arm is used to adjust a pose of the cleaning member. The cleaning device control method includes: acquiring a pre-planned skirting line cleaning route; and controlling the cleaning device to perform a skirting line cleaning task according to the skirting line cleaning route.

[0131] In some embodiments of the present disclosure, the cleaning device control method further includes: before the cleaning device starts to perform the skirting line cleaning task, controlling the cleaning device to enter the skirting line cleaning state.

[0132] In some embodiments of the present disclosure, the cleaning device control method further includes: during the cleaning device performing the skirting line cleaning task, if the cleaning device encounters an obstacle, controlling the cleaning device to exit the skirting line cleaning state; after the cleaning device exits the skirting line cleaning state, controlling the cleaning device to bypass the obstacle; and after the cleaning device bypasses the obstacle, if a new skirting line is encountered, controlling the cleaning device to enter the skirting line cleaning state to clean the new skirting line.

[0133] In some embodiments of the present disclosure, the cleaning device control method further includes: during the cleaning device performing the skirting line cleaning task, if the cleaning device encounters a wall corner, controlling the cleaning device to exit the skirting line cleaning state; after the cleaning device exits the skirting line cleaning state, controlling the cleaning device to enter the skirting line cleaning state to clean another skirting line of the wall corner.

[0134] In some embodiments of the present disclosure, the cleaning device control method further includes: after the cleaning device exits the execution of the skirting line cleaning task, controlling the cleaning device to exit the skirting line cleaning state.

[0135] In some embodiments of the present disclosure, the controlling the cleaning device to exit the skirting line cleaning state includes: performing the cleaning device control method according to the first aspect as described above, and controlling the cleaning device to exit the skirting line cleaning state.

[0136] In some embodiments of the present disclosure, the controlling the cleaning device to enter the skirting line cleaning state includes: performing the cleaning device control method according to the first aspect as described above, and controlling the cleaning device to enter the skirting line cleaning state.

[0137] In some embodiments of the present disclosure, the cleaning device control method further includes: during the execution of the skirting line cleaning task by the cleaning device, if the cleaning device does not encounter an obstacle and a wall corner, controlling the cleaning device to remain in the skirting line cleaning state.

[0138] In some embodiments of the present disclosure, the controlling the cleaning device to remain in the skirting line cleaning state includes: performing the cleaning device control method according to the first aspect as described above, and controlling the cleaning device to remain in the skirting line cleaning state.

[0139] According to a third aspect of embodiments of the present disclosure, a cleaning device control apparatus is provided, the cleaning device including a mechanical arm having one end distal to a chassis of the cleaning device for holding a cleaning piece, the cleaning piece being used for cleaning a skirting line, the mechanical arm being used for adjusting a pose of the cleaning piece, the control apparatus including: a control unit configured to, in a case where the cleaning device enters a skirting line cleaning state, control the mechanical arm to support the cleaning piece at a first pose, the first pose being a pose of the cleaning piece for cleaning the skirting line; and in a case where the cleaning device exits the skirting line cleaning state, control the mechanical arm to support the cleaning piece at a second pose, the second pose being a pose of the cleaning piece within a spatial region upwardly projected from the chassis.

[0140] According to a fourth aspect of embodiments of the present disclosure, a cleaning device control apparatus is provided, the cleaning device including a mechanical arm having one end distal to a chassis of the cleaning device for holding a cleaning piece, the cleaning piece being used for cleaning a skirting line, the mechanical arm being used for adjusting a pose of the cleaning piece, the control apparatus including: an acquisition unit configured to acquire a pre-planned skirting line cleaning route; and a controller configured to control the cleaning device to perform a skirting line cleaning task according to the skirting line cleaning route.

[0141] According to a fifth aspect of the embodiments of the present disclosure, a computer program product is provided, which includes computer instructions stored in a computer readable storage medium and adapted to be read and executed by a processor to enable a computer device having the processor to perform operations to implement the operations performed by the method according to any one of the first aspect to the second aspect of the embodiments of the present disclosure.

[0142] According to a sixth aspect of the embodiments of the present disclosure, a computer readable storage medium is provided, which has stored thereon at least one computer program instruction, which is loaded and executed by a processor to implement the operations performed by the method according to any one of the first aspect to the second aspect of the embodiments of the present disclosure.

[0143] According to a seventh aspect of the embodiments of the present disclosure, a cleaning device is provided, which includes one or more processors and one or more memories having stored therein at least one computer program instruction, which is loaded and executed by the one or more processors to implement the operations performed by the method according to any one of the first aspect to the second aspect of the embodiments of the present disclosure.

[0144] Based on the technical solutions proposed in the present disclosure, in the process of the cleaning device performing the skirting line cleaning task, the cleaning part of the cleaning device can be prevented from scratching the wall surface, and thus the safety of the cleaning device in the skirting line cleaning process can be improved.

[0145] It should be understood that the foregoing general description and the following detailed description are only exemplary and explanatory, and are not limiting to the present disclosure.

[0146] The functions described herein can be implemented in hardware, software executed by a processor, firmware, or any combination thereof. If implemented in software executed by a processor, the functions can be stored on or transferred over as one or more instructions or code on a computer-readable medium. Other examples and implementations are within the scope and spirit of the disclosure and appended claims. For example, due to the nature of software, functions described above can be implemented using software executed by a processor, hardware, firmware, hardwiring, or combinations of any of these. Multiple functions described above can be implemented as a single function, multiple functions, or any combination thereof. Features described above can be implemented in different sequences and / or combined in a different manner than described and other implementations are within the scope and spirit of the disclosure and appended claims.

[0147] In several embodiments provided by the present disclosure, it should be understood that the disclosed technology can be implemented in other ways. Among them, the above-mentioned device embodiments are only schematic, for example, the division of the units can be a logical function division, and actual implementation can have another division manner, for example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the units or modules shown or discussed can be indirect coupling or communication connection through some interface, unit or module, and can be electrical or other forms.

[0148] The units described as separate components can or can not be physically separated, and the components of the control device can or can not be physical units, i.e. can be located in one place or can be distributed to multiple units. Part or all of the units can be selected according to actual needs to achieve the purpose of the embodiment.

[0149] The integrated unit, if implemented in the form of a software function unit and sold or used as an independent product, can be stored in a computer readable storage medium. Based on this understanding, the technical solutions of the present disclosure essentially or the part that contributes to the prior art or the whole 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, including a plurality of 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 method described in the various embodiments of the present disclosure. The aforementioned storage medium includes: a U disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a mobile hard disk, a magnetic disk or an optical disk, and various computer program instructions that can store computer program instructions.

[0150] The above is only an embodiment of the present disclosure and is not used to limit the present disclosure. For those skilled in the art, the present disclosure can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. within the spirit and principles of the present disclosure shall be included in the scope of the claims of the present disclosure.

Claims

1. A method for controlling a cleaning device, the cleaning device comprising a mechanical arm having one end distanced from a chassis of the cleaning device for holding a cleaning member, the cleaning member being used for cleaning a skirting line, the mechanical arm being used for adjusting a pose of the cleaning member, the method comprising: controlling the mechanical arm to support the cleaning member at a first pose in a case that the cleaning device enters a skirting line cleaning state, the first pose being a pose of the cleaning member for cleaning the skirting line; and controlling the mechanical arm to support the cleaning member at a second pose in a case that the cleaning device exits the skirting line cleaning state, the second pose being a pose of the cleaning member within a spatial region projected upwardly from the chassis. 2.The method of claim 1, further comprising: increasing a distance between the cleaning member and a wall surface on which the skirting line is located before the cleaning device exits the skirting line cleaning state, to control the mechanical arm to adjust the cleaning member from the first pose to the second pose; or increasing the distance between the cleaning member and the wall surface on which the skirting line is located before the cleaning device enters the skirting line cleaning state, to control the mechanical arm to adjust the cleaning member from the second pose to the first pose. 3.The method of claim 2, further comprising: controlling the chassis of the cleaning device to rotate by a first angle in a first rotation direction, to increase the distance between the cleaning member and the wall surface on which the skirting line is located; and controlling the mechanical arm to adjust the cleaning member from the first pose to the second pose, to control the cleaning device to exit the skirting line cleaning state. 4.The method of claim 2, further comprising: controlling the chassis of the cleaning device to rotate by a second angle in the first rotation direction, to increase the distance between the cleaning member and the wall surface on which the skirting line is located; controlling the mechanical arm to adjust the cleaning member from the second pose to the first pose; and controlling the chassis to rotate by a third angle in a second rotation direction, to control the cleaning device to enter the skirting line cleaning state, the second rotation direction being opposite to the first rotation direction. 5.The method of claim 2, further comprising: controlling the mechanical arm to support the cleaning member to clean the skirting line in the first pose on a condition that the chassis of the cleaning device keeps a preset distance from the skirting line and moves along the skirting line, to control the cleaning device to keep in the skirting line cleaning state. The cleaning device comprising a mechanical arm having one end distanced from a chassis of the cleaning device for holding a cleaning member, the cleaning member being used for cleaning a skirting line, the mechanical arm being used for adjusting a pose of the cleaning member, the method comprising: obtaining a pre-planned skirting line cleaning route; and controlling the cleaning device to perform a skirting line cleaning task according to the skirting line cleaning route. 7.The method of claim 6, further comprising: controlling the cleaning device to enter a skirting line cleaning state before the cleaning device starts to perform the skirting line cleaning task. 8.The method of claim 6, further comprising: ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ 6. A cleaning apparatus control method in which, ​ ​ ​ ​ ​ ​ In a process that the cleaning device performs a skirting line cleaning task, if the cleaning device encounters an obstacle, the cleaning device is controlled to exit from the cleaning skirting line state; After the cleaning device exits from the cleaning skirting line state, the cleaning device is controlled to bypass the obstacle; And After the cleaning device bypasses the obstacle, if a new skirting line is encountered, the cleaning device is controlled to enter the cleaning skirting line state to clean the new skirting line.

9. The method of claim 6, further comprising: In a process that the cleaning device performs a skirting line cleaning task, if the cleaning device encounters a wall corner, the cleaning device is controlled to exit from the cleaning skirting line state; After the cleaning device exits from the cleaning skirting line state, the cleaning device is controlled to enter the cleaning skirting line state to clean another skirting line of the wall corner.

10. The method of claim 6, further comprising: After the cleaning device exits from performing a skirting line cleaning task, the cleaning device is controlled to exit from the cleaning skirting line state.

11. The method of any one of claims 8-10, wherein, The controlling the cleaning device to exit from the cleaning skirting line state comprises: controlling a chassis of the cleaning device to rotate by a first angle in a first rotation direction to increase a distance between the cleaning member and a wall surface on which the skirting line is located; and controlling the mechanical arm to adjust the cleaning member from a first pose to a second pose to control the cleaning device to exit from the cleaning skirting line state.

12. The method of any one of claims 7 to 9, wherein, The controlling the cleaning device to enter the cleaning skirting line state comprises: controlling a chassis of the cleaning device to rotate by a second angle in the first rotation direction to increase the distance between the cleaning member and the wall surface on which the skirting line is located; controlling the mechanical arm to adjust the cleaning member from the second pose to the first pose; and controlling the chassis to rotate by a third angle in a second rotation direction to control the cleaning device to enter the cleaning skirting line state, the second rotation direction being opposite to the first rotation direction.

13. The method of claim 6, further comprising: In a process that the cleaning device performs a skirting line cleaning task, if the cleaning device does not encounter an obstacle and a wall corner, the cleaning device is controlled to remain in the cleaning skirting line state.

14. The method of claim 13, wherein, The controlling the cleaning device to remain in the cleaning skirting line state comprises: under a condition that a chassis of the cleaning device maintains a preset distance from the skirting line and moves along the skirting line, the mechanical arm is controlled to support the cleaning member to clean the skirting line in the first pose to control the cleaning device to remain in the cleaning skirting line state.

15. A cleaning device control apparatus, the cleaning device comprising a mechanical arm, an end of the mechanical arm away from a chassis of the cleaning device being used to hold a cleaning member, the cleaning member being used to clean a skirting line, the mechanical arm being used to adjust a pose of the cleaning member, the apparatus comprising: a control unit configured to, in a case that the cleaning device enters a cleaning skirting line state, control the mechanical arm to support the cleaning member in a first pose, the first pose being a pose of the cleaning member cleaning the skirting line. In a case where the cleaning device exits the cleaning skirting line state, the mechanical arm is controlled to support the cleaning member at a second pose, the second pose being a pose of the cleaning member within a spatial region upwardly projected from the chassis. 16.A cleaning device control apparatus, the cleaning device comprising a mechanical arm having one end distanced from a chassis of the cleaning device for clamping a cleaning member, the cleaning member being used for cleaning a skirting line, the mechanical arm being used for adjusting a pose of the cleaning member, the apparatus comprising: an acquisition unit configured to acquire a pre-planned skirting line cleaning route; and a controller configured to control the cleaning device to perform a skirting line cleaning task according to the skirting line cleaning route. 17.A computer program product comprising computer instructions stored in a computer-readable storage medium and adapted to be read and executed by a processor to cause a computer device having the processor to perform the method of any one of claims 1 to 14. 18.A computer-readable storage medium having stored thereon at least one program code, the at least one program code being loaded and executed by a processor to implement operations performed by the method of any one of claims 1 to 14. 19.A cleaning device comprising one or more processors and one or more memories, the one or more memories having stored therein at least one program code, the at least one program code being loaded and executed by the one or more processors to implement the method of any one of claims 1 to 14.

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