Cleaning apparatus, cleaning apparatus calibration method, and storage medium

Abstract

The present application relates to the technical field of cleaning devices. Provided are a cleaning apparatus, a cleaning apparatus calibration method, and a storage medium, so as to calibrate a slightly worn cleaning apparatus. When an apparatus body is in a horizontal state, the cleaning apparatus controls to lift a universal wheel by means of a processor; when the lifting height of the universal wheel exceeds a detection limit value, the cleaning apparatus controls to lift a first traveling wheel and a second traveling wheel by means of the processor; and when the apparatus body is in the horizontal state again, the cleaning apparatus determines the parameters of the universal wheel, the first traveling wheel and the second traveling wheel by means of the processor.

Description

Cleaning equipment, calibration methods for cleaning equipment, and storage media Cross-references to related applications

[0001] This application claims priority to the application filed on February 10, 2025, with China National Intellectual Property Administration, application number 202510148793.X, entitled "Cleaning Equipment, Calibration Method for Cleaning Equipment and Storage Medium", the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application relates to the field of cleaning equipment technology, specifically to a cleaning device, a calibration method for the cleaning device, and a storage medium. Background Technology

[0003] Cleaning equipment equipped with liftable casters and liftable wheels can be raised and lowered by a servo motor to overcome obstacles according to the terrain. However, wear and tear caused by bumps or heavy pressure can affect the obstacle-crossing ability of the cleaning equipment.

[0004] When cleaning equipment wears out, the cost and time of returning it to the manufacturer for repair are significant. In practice, minor wear does not require factory repair; normal function can be restored through recalibration.

[0005] How to restore the normal function of cleaning equipment with slight wear without returning it to the factory by calibrating the casters and wheels has become an urgent technical problem to be solved.

[0006] It should be noted that the information disclosed in the background section above is only used to enhance the understanding of the background of this disclosure, and therefore may include information that does not constitute prior art known to those skilled in the art. Summary of the Invention

[0007] To address the aforementioned issues, this application provides a cleaning device, a calibration method for the cleaning device, and a storage medium for calibrating a slightly worn cleaning device, thereby restoring the slightly worn cleaning device to normal function at minimal cost.

[0008] The technical solution adopted in this application is as follows:

[0009] In a first aspect, this application provides a cleaning device, comprising: a device body; a caster wheel connected to the device body; a first wheel connected to the device body; a second wheel connected to the device body; and a processor communicatively connected to the caster wheel, the first wheel, and the second wheel.

[0010] When the main body of the cleaning equipment is in a horizontal position, the cleaning equipment raises the casters via the processor.

[0011] When the lifting height of the casters exceeds the detection limit, the cleaning equipment, controlled by the processor, raises the first and second casters.

[0012] When the device body is in a horizontal position again, the cleaning device determines the parameters of the caster wheel, the first traveling wheel, and the second traveling wheel through the processor.

[0013] Secondly, this application provides a calibration method for cleaning equipment, including:

[0014] When the equipment body is in a horizontal position, control the lifting of the casters.

[0015] When the lifting height of the caster wheels exceeds the detection limit, the system controls the lifting of the first and second travel wheels.

[0016] When the equipment body is in a horizontal position again, determine the parameters of the caster wheel, the first traveling wheel, and the second traveling wheel.

[0017] Thirdly, this application provides a computer-readable storage medium storing a computer program that, when instructed by a processor, implements the steps of the above-described calibration method for the cleaning equipment. Attached Figure Description

[0018] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

[0019] Figure 1 shows a bottom view of a cleaning device according to an embodiment of this application;

[0020] Figure 2 shows a schematic diagram of the connection relationship of a cleaning device according to an embodiment of this application;

[0021] Figure 3 shows a schematic diagram of the connection relationship of a cleaning device according to another embodiment of this application;

[0022] Figure 4 shows a schematic diagram of a cleaning device according to an embodiment of the present application in an environmental space;

[0023] Figure 5 shows a first-view view of a cleaning device according to an embodiment of this application;

[0024] Figure 6 shows a second perspective view of a cleaning device according to an embodiment of this application;

[0025] Figure 7 shows a flowchart illustrating a calibration method for a cleaning device according to an embodiment of this application;

[0026] Figure 8 shows a flowchart illustrating a calibration method for a cleaning device according to another embodiment of this application;

[0027] Figure 9 shows a schematic flowchart of a calibration method for a cleaning device according to another embodiment of this application. Detailed Implementation

[0028] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions of this application will be clearly and completely described below in conjunction with specific embodiments and corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0029] The concept of this application is as follows: Cleaning equipment equipped with adjustable casters and adjustable wheels can overcome obstacles by raising and lowering itself via a servo motor, depending on the terrain. However, wear and tear caused by impacts or heavy pressure can affect the obstacle-crossing ability of the cleaning equipment. After the cleaning equipment wears out, returning it to the manufacturer for repair is costly and time-consuming. Therefore, this application proposes a method for recalibrating the equipment at the customer's location in cases of minor wear, restoring the slightly worn cleaning equipment to normal function at minimal cost.

[0030] In this application, the cleaning equipment is equipped with intelligent modules commonly found in existing cleaning equipment (including cleaning robots), such as sensors, cameras, gyroscopes, and drives, thereby realizing functions commonly found in existing cleaning equipment, such as sensing the surrounding environment, driving the cleaning equipment to move, and interacting with maps. These will not be described in detail in the embodiments of this application.

[0031] The present application will now be described in detail through specific embodiments.

[0032] In one embodiment, Figure 1 shows a bottom view of a cleaning device according to an embodiment of this application. Figure 2 shows a schematic diagram of the connection relationship of a cleaning device according to an embodiment of this application. Referring to Figures 1 and 2, the cleaning device includes: a device body 1, casters 3, first wheels 4, second wheels 5, and a processor 10.

[0033] Referring to Figure 1, which uses a circular device body 1 as an illustration, this embodiment does not limit the shape of the device body 1. In addition to a circle, a rectangle or other irregular shapes may also be included.

[0034] In Figure 1, the caster wheel 3 is connected to the equipment body 1. The caster wheel 3 can be set on the central axis of the equipment body 1 and close to the front side of the equipment body 1.

[0035] In Figure 1, the first traveling wheel 4 is connected to the device body 1, and the second traveling wheel 5 is connected to the device body 1. The first traveling wheel 4 and the second traveling wheel 5 can be arranged symmetrically about the central axis of the device body 1 and are close to the rear side of the device body 1.

[0036] The omnidirectional wheel 3 can be controlled by the processor 10. The processor 10 can control the omnidirectional wheel 3 by controlling its drive motor. The speed of the drive motor can be controlled by the duty cycle of the PWM (Pulse Width Modulation) signal, thereby controlling the behavior of the omnidirectional wheel 3. The duty cycle is a parameter describing the characteristics of a pulse signal. In PWM, the duty cycle refers to the ratio of the high-level time to the entire cycle time. The behavior of the first traveling wheel 4 and the behavior of the second traveling wheel 5 can be controlled by the processor 10, and the principle is the same, so it will not be described again.

[0037] The processor 10 can be located inside the device body 1, and it is communicatively connected to the caster wheel 3, the first traveling wheel 4, and the second traveling wheel 5. The processor 10 is the processing unit for the calibration process of the cleaning equipment.

[0038] When the main body of the device 1 is in a horizontal position, the cleaning device raises the casters 3 through the processor 10.

[0039] To calibrate the omnidirectional wheel 3, the first traveling wheel 4, and the second traveling wheel 5, the device body 1 must first be in a horizontal position. This can be achieved, but is not limited to, by using intelligent modules such as sensors, cameras, and gyroscopes mounted on the cleaning equipment to jointly determine whether the device body 1 is horizontal.

[0040] When the cleaning equipment is functioning normally, and the equipment body 1 is in a horizontal position, the casters 3, first traveling wheels 4, and second traveling wheels 5 can all be fully retracted, or they can all be raised to the same height. If the casters 3 and / or first traveling wheels 4 and / or second traveling wheels 5 are worn, when the equipment body 1 is in a horizontal position, the casters 3, first traveling wheels 4, and second traveling wheels 5 can raise the equipment body 1 to a horizontal position by raising them to different heights. This embodiment does not limit the range of the raised height of the casters 3, first traveling wheels 4, and second traveling wheels 5, but it should ensure that the casters 3, first traveling wheels 4, and second traveling wheels 5 can continue to rise while the equipment body 1 is in a horizontal position.

[0041] This embodiment does not focus on the attitude adjustment process of the device body 1 before it is in a horizontal state, that is, the horizontal state of the device body 1 is the initial state at which the calibration is provided in this embodiment.

[0042] When the processor 10 controls the lifting of the caster wheel 3, the caster wheel 3 supports the tilting and lifting of the device body 1, that is, the device body 1 is in an upward angle position. The processor 10 controls the lifting of the caster wheel 3 by controlling the duty cycle of the PWM signal sent to the drive motor of the caster wheel 3, thereby controlling the speed of the drive motor and thus controlling the behavior of the caster wheel 3.

[0043] After the omnidirectional wheel 3 is raised, the lifting height of the omnidirectional wheel 3 can be determined by the intelligent modules such as sensors, cameras, and gyroscopes mounted on the cleaning equipment.

[0044] When the cleaning equipment is functioning normally, after the processor 10 controls the lifting of the caster 3, the caster 3 should be raised to the desired height corresponding to the control requirements of the processor 10. However, when the caster 3 of the cleaning equipment is worn, the lifting height of the caster 3 after the processor 10 controls the lifting of the caster 3 often fails to reach the desired height.

[0045] Therefore, it is necessary to determine whether the lifting height of the caster wheel 3 exceeds the detection limit. The detection limit can be a limit determined based on the calibrability of the caster wheel 3, such as 85% of the desired lifting height. For example, if the processor 10 controls the desired lifting height of the caster wheel 3 to be 1 cm, the detection limit is 8.5 mm.

[0046] When the lifting height of the caster wheel 3 exceeds the detection limit, the cleaning equipment controls the lifting of the first travel wheel 4 and the second travel wheel 5 through the processor 10.

[0047] If it is determined that the lifting height of the caster wheel 3 exceeds the detection limit, it indicates that the wear of the caster wheel 3 is minor, and the cleaning equipment can be restored to normal function through recalibration. At this time, the processor 10 can continue to control the lifting of the first traveling wheel 4 and the second traveling wheel 5 in order to bring the equipment body 1 back to a horizontal state.

[0048] The processor 10 controls the lifting of the first traveling wheel 4 by controlling the speed of the drive motor through the duty cycle of a PWM signal sent to it, thereby controlling the behavior of the first traveling wheel 4. Similarly, the processor 10 controls the lifting of the second traveling wheel 5 by controlling the speed of the drive motor through the duty cycle of a PWM signal sent to it, thereby controlling the behavior of the second traveling wheel 5.

[0049] After the first traveling wheel 4 and the second traveling wheel 5 are raised, the intelligent modules such as sensors, cameras, and gyroscopes on the cleaning equipment can determine whether the main body of the equipment 1 is in a horizontal state again.

[0050] The height of the equipment body 1 when it is in a horizontal state is different from that when it is in a horizontal state. When it is in a horizontal state again, the height of the equipment body 1 is higher than that when it is in a horizontal state. That is, the equipment body 1 is raised by the universal wheels 3, the first traveling wheels 4 and the second traveling wheels 5.

[0051] When the device body 1 is in a horizontal position again, the cleaning device determines the parameters of the caster wheel 3, the first traveling wheel 4 and the second traveling wheel 5 through the processor 10.

[0052] If the device body 1 is in a horizontal position again, the lifting height of the caster wheel 3, the first traveling wheel 4, and the second traveling wheel 5 can be determined. Based on this lifting height, the control process for lifting the caster wheel 3, the first traveling wheel 4, and the second traveling wheel 5 is calibrated.

[0053] In another embodiment, Figure 3 shows a schematic diagram of the connection relationship of a cleaning device according to another embodiment of this application. Referring to Figures 1 and 3, the cleaning device includes: a device body 1, a line laser 2, a caster wheel 3, a first traveling wheel 4, a second traveling wheel 5, and a processor 10.

[0054] In some cases, the cleaning equipment also includes a line laser 2. When the cleaning equipment includes a line laser 2, the processor 10 is also communicatively connected to the line laser 2.

[0055] In Figure 1, a line laser 2 is disposed on the side wall of the device body 1. The line laser 2 can be disposed on the front side wall of the device body 1 and emit laser light forward and downward. In this embodiment, the accuracy of the line laser 2 is assumed.

[0056] Figure 4 shows a schematic diagram of the cleaning device proposed in one embodiment of this application in an environmental space. Referring to Figure 4, since the line laser 2 emits laser light forward and downward, it is necessary to ensure that the laser light emitted by the line laser 2 can be imaged on the ground 6 during the calibration process to ensure smooth subsequent calibration. Therefore, when the device body 1 is in a horizontal state at the start of calibration, it is necessary to ensure that there are no obstacles within a certain range around the device body 1. Obstacles may include, but are not limited to, walls, objects, etc. For example, in the case shown in Figure 4, the line laser 2 is facing the wall 7, so the line laser 2 should not be visible from the perspective of Figure 4, but it is represented by a dashed line to illustrate the setting of the line laser 2. If there is a wall 7 perpendicular to the ground 6 directly in front of the device body 1, the distance between the wall 7 and the line laser 2 must not be less than a first preset distance. Depending on the actual situation, the first preset distance can be 0.32m.

[0057] To ensure the accuracy of the calibration results during subsequent calibration processes, both when the equipment body 1 is in a horizontal position and when it is again in a horizontal position, and to improve the calibration accuracy of the casters 3, the first traveling wheel 4, and the second traveling wheel 5, the ground 6 within a certain range around the equipment body 1 must be flat. Depending on the actual situation, at least the ground 6 should be free of any visible unevenness.

[0058] Additionally, the calibration process for line laser 2 can be performed before calibration begins. The calibration process for line laser 2 typically requires the use of a wall 7 perpendicular to the ground 6 directly in front of the device body 1, and the distance between the device body 1 and the wall 7 is often small at the end of line laser 2 calibration. Therefore, in this scenario, before calibration begins, the device body 1 should be moved from a position close to the wall 7 to a position where the line laser 2 is at least a first preset distance from the wall 7.

[0059] When the device body 1 is in a horizontal position, the cleaning device obtains the reference information output by the line laser 2 through the processor 10.

[0060] The device body 1 is in a horizontal position, which is the initial state for starting calibration provided in this embodiment. The method for determining that the device body 1 is in a horizontal position can be the same as in the previous embodiments. It will not be repeated here.

[0061] When the device body 1 is in a horizontal position, the line laser 2 can emit laser light forward and towards the ground, and the laser light can be imaged as a baseline on the ground 6. Figure 5 shows a first-view view of the cleaning device according to an embodiment of this application. Referring to Figure 5, when the device body 1 is in a horizontal position, line 8 is the baseline.

[0062] At this time, the line laser 2 can acquire reference information and output the reference information to the processor 10. Thus, the processor 10 obtains the reference information output by the line laser 2.

[0063] The cleaning equipment raises the caster wheel 3 under the control of the processor 10.

[0064] When the processor 10 controls the lifting of the caster wheel 3, the caster wheel 3 supports the tilting and lifting of the device body 1, that is, the device body 1 is in an upward angle position. The processor 10 controls the lifting of the caster wheel 3 by controlling the duty cycle of the PWM signal sent to the drive motor of the caster wheel 3, thereby controlling the speed of the drive motor and thus controlling the behavior of the caster wheel 3.

[0065] The cleaning equipment obtains the first information output by the line laser 2 through the processor 10, and determines the lifting height of the caster wheel 3 based on the reference information and the first information.

[0066] Figure 6 shows a second perspective view of the cleaning device according to an embodiment of this application. Referring to Figure 6, when the caster wheel 3 is raised, the device body 1 is in an upward angle position. At this time, the first laser line emitted by the line laser 2 is farther away from the device body 1 than the reference line. Line 9 is the first laser line.

[0067] Based on the first information, combined with the reference information, the dimensions of the equipment body 1, and the positional relationship between the caster 3 and the equipment body 1, the lifting height of the caster 3 can be calculated.

[0068] When the lifting height of the caster wheel 3 exceeds the detection limit, the cleaning equipment controls the lifting of the first travel wheel 4 and the second travel wheel 5 through the processor 10.

[0069] When the cleaning equipment is functioning normally, after the processor 10 controls the lifting of the caster 3, the caster 3 should be raised to the desired height corresponding to the control requirements of the processor 10. However, when the caster 3 of the cleaning equipment is worn, the lifting height of the caster 3 after the processor 10 controls the lifting of the caster 3 often fails to reach the desired height.

[0070] Therefore, it is necessary to determine whether the lifting height of the caster wheel 3 exceeds the detection limit. The detection limit can be a limit determined based on the calibrability of the caster wheel 3, such as 85% of the desired lifting height. For example, if the processor 10 controls the desired lifting height of the caster wheel 3 to be 1 cm, the detection limit is 8.5 mm.

[0071] If it is determined that the lifting height of the caster wheel 3 exceeds the detection limit, it indicates that the wear of the caster wheel 3 is minor, and the cleaning equipment can be restored to normal function through recalibration. At this time, the lifting of the first traveling wheel 4 and the second traveling wheel 5 can continue to be controlled in order to bring the equipment body 1 back to a horizontal state.

[0072] The processor 10 controls the lifting of the first traveling wheel 4 by controlling the speed of the drive motor through the duty cycle of a PWM signal sent to it, thereby controlling the behavior of the first traveling wheel 4. Similarly, the processor 10 controls the lifting of the second traveling wheel 5 by controlling the speed of the drive motor through the duty cycle of a PWM signal sent to it, thereby controlling the behavior of the second traveling wheel 5.

[0073] The cleaning equipment obtains the second information output by the line laser 2 through the processor 10, determines the parameters of the universal wheel 3, the first traveling wheel 4 and the second traveling wheel 5 based on the lifting height when the equipment body 1 is in a horizontal state again.

[0074] When the first traveling wheel 4 and the second traveling wheel 5 are raised, the line laser 2 emits a laser beam forward and towards the ground, which is imaged on the ground 6 as a second laser line. The second laser line is farther away from the device body 1 than the baseline, but closer to the device body 1 than the first laser line.

[0075] Line laser 2 outputs second information to processor 10. If the device body 1 is horizontal again, the second laser line should be perpendicular to the central axis of line laser 2. That is, the second laser line is parallel to the reference line. If the device body 1 is horizontal again, the lifting height of caster wheel 3, first traveling wheel 4, and second traveling wheel 5 can be determined. Based on this lifting height, calibration is performed in conjunction with the control process for lifting caster wheel 3, first traveling wheel 4, and second traveling wheel 5.

[0076] In some optional implementations, after the above process, the cleaning device controls the caster wheel 3, the first traveling wheel 4, and the second traveling wheel 5 to decrease in elevation height via the processor 10; the cleaning device acquires the third information output by the line laser 2 via the processor 10, and when it is determined that the device body 1 has returned to a horizontal state based on the reference information when the device body 1 is in a horizontal state and the third information, the cleaning device controls the caster wheel 3, the first traveling wheel 4, and the second traveling wheel 5 to increase in elevation height via the processor 10; the cleaning device acquires the fourth information output by the line laser 2 via the processor 10, and when it is determined that the device body 1 has returned to a horizontal state again based on the second information and the fourth information when the device body 1 is in a horizontal state again, the calibration is confirmed to be successful.

[0077] After determining the parameters of the omnidirectional wheel 3, the first traveling wheel 4, and the second traveling wheel 5, the processor 10 verifies the accuracy of the calibration results by lowering and raising the entire device body 1.

[0078] First, the processor 10 controls the omnidirectional wheels 3, the first traveling wheels 4, and the second traveling wheels 5 to descend from their raised height. With the omnidirectional wheels 3, the first traveling wheels 4, and the second traveling wheels 5 accurately calibrated, the device body 1 should return to a horizontal state, i.e., return to its initial state. At this point, a judgment can be made by acquiring and outputting the third information from the line laser 2. If the third laser line output by the line laser 2 matches the baseline when the device body 1 is in a horizontal state, the calibration passes. If the third laser line output by the line laser 2 does not match the baseline when the device body 1 is in a horizontal state, the calibration fails.

[0079] If the previous step passes the inspection, the processor 10 controls the omnidirectional wheel 3, the first traveling wheel 4, and the second traveling wheel 5 to raise them to the desired height. With the omnidirectional wheel 3, the first traveling wheel 4, and the second traveling wheel 5 accurately calibrated, the device body 1 should return to a horizontal position. At this point, the fourth laser line output by the line laser 2 can be used for judgment. If the fourth laser line output by the line laser 2 matches the second laser line when the device body 1 is in a horizontal position, the inspection passes. If the fourth laser line output by the line laser 2 does not match the second laser line when the device body 1 is in a horizontal position, the calibration fails.

[0080] Referring to Figures 1, 3 to 6, the cleaning equipment is calibrated through the following process.

[0081] When the device body 1 is in a horizontal position, the cleaning device obtains the reference information output by the line laser 2 through the processor 10.

[0082] The horizontal position serves as the initial state for calibrating the cleaning equipment. When the equipment body 1 is in a horizontal position, the line laser 2 acquires reference information and outputs the reference information to the processor 10.

[0083] Referring to the first-view diagram of the cleaning equipment shown in Figure 5, the reference line is perpendicular to the central axis of the line laser 2. Reference information may include, but is not limited to, the distance between the reference line and the line laser 2, the length of the reference line, and the angle between the reference line and the central axis of the line laser 2.

[0084] The cleaning equipment sends a first drive signal to the caster wheel 3 through the processor 10, so that the caster wheel 3 is raised according to the first drive signal.

[0085] The omnidirectional wheel 3 can be controlled by the processor 10, which in turn controls the drive motor of the omnidirectional wheel 3. The speed of the drive motor can be controlled by the duty cycle of the PWM (Pulse Width Modulation) signal, thereby controlling the behavior of the omnidirectional wheel 3. The duty cycle is a parameter describing the characteristics of a pulse signal; in PWM, the duty cycle refers to the ratio of the high-level time to the entire cycle time. The drive signal controlling the omnidirectional wheel 3 can be the duty cycle that controls the speed of the drive motor of the omnidirectional wheel 3. When the cleaning equipment leaves the factory, it can have a correspondence table between the duty cycle and the behavior of the omnidirectional wheel 3. For example, duty cycle A corresponds to the omnidirectional wheel 3 rising a, duty cycle B corresponds to the omnidirectional wheel 3 falling b, and so on.

[0086] When the cleaning equipment is functioning normally, the above correspondence between duty cycle and the behavior of the omnidirectional wheel 3 is accurate. That is, when the processor 10 sends a first drive signal to the drive motor of the omnidirectional wheel 3, the omnidirectional wheel 3 should rise to the desired height corresponding to the first drive signal. For example, if the processor 10 sends a first drive signal to the omnidirectional wheel 3 corresponding to a desired rise of 1cm, then the omnidirectional wheel 3 should rise by 1cm.

[0087] However, in reality, when the caster wheel 3 wears down due to frequent extension and retraction, the correspondence between the duty cycle and the behavior of the caster wheel 3 will deviate from reality. That is, when the processor 10 sends the first drive signal to the caster wheel 3, the lifting height of the caster wheel 3 will not be the expected lifting height. For example, if the processor 10 sends the first drive signal to the caster wheel 3 corresponding to a 1cm expected lifting height, the lifting height of the caster wheel 3 will be 9.5mm.

[0088] The cleaning equipment obtains the first information output by the line laser 2 through the processor 10, and determines the initial lifting height of the omnidirectional wheel 3 based on the reference information and the first information.

[0089] After the caster wheel 3 is raised, the line laser 2 collects and outputs the first information. This first information may include, but is not limited to, the distance between the first laser line and the line laser 2, the length of the first laser line, and the angle between the first laser line and the central axis of the line laser 2. Because the caster wheel 3 is raised, the device body 1 is in an elevation position, therefore the first laser line is farther from the line laser 2 than the reference line. Referring to Figure 6, the first laser line should be farther from the device body 1 than the reference line. The initial lifting height of the caster wheel 3 can be calculated based on the distance the first laser line moves relative to the reference line, the dimensions of the device body 1, and the positional relationship between the caster wheel 3 and the device body 1.

[0090] When the initial lifting height exceeds the detection limit, the cleaning equipment determines through the processor 10 that the lifting height of the caster wheel 3 exceeds the detection limit.

[0091] The detection limit can be 85% of the expected lifting height. If the initial lifting height exceeds 85% of the expected lifting height, the detection limit is exceeded; if the initial lifting height does not exceed 85% of the expected lifting height, the detection limit is not exceeded.

[0092] When the initial lifting height does not exceed the detection limit, the cleaning equipment gradually controls the caster 3 according to the initial lifting height and the detection limit through the processor 10, so that the caster 3 adjusts towards the detection limit.

[0093] If the lifting height does not exceed the detection limit, the processor 10 can gradually send a first adjustment drive signal to the omnidirectional wheel 3 based on the difference between the initial lifting height and the detection limit, so that the omnidirectional wheel 3 adjusts towards the detection limit according to the first adjustment drive signal, so that the final lifting height exceeds the detection limit.

[0094] For example: the desired lifting height is 1cm, the detection limit is 8.5mm, and the initial lifting height after the first drive signal control is 7mm. Then, the omnidirectional wheel 3 is 1.5mm short of the detection limit. At this point, the processor 10 sends a first adjustment drive signal to the omnidirectional wheel 3 corresponding to 1.6mm (i.e., a difference greater than 1.5mm), controlling the omnidirectional wheel 3 to adjust towards the detection limit. If the adjusted lifting height of the omnidirectional wheel 3 exceeds the detection limit, the adjustment ends, and the final lifting height of the omnidirectional wheel 3 is determined. If the adjusted lifting height of the omnidirectional wheel 3 is 8mm and still does not exceed the detection limit, then the processor continues to send a first adjustment drive signal corresponding to 0.6mm (i.e., a difference greater than 0.5mm) to the omnidirectional wheel 3, controlling the omnidirectional wheel 3 to continue adjusting towards the detection limit.

[0095] If the final lifting height of the caster wheel 3 exceeds the detection limit within the first preset number of times, the cleaning equipment determines that the lifting height exceeds the detection limit through the processor 10.

[0096] The first preset number of attempts can be a threshold manually determined based on the actual situation. The first preset number of attempts can be 10.

[0097] If the first preset number of times is reached and the final lifting height of the caster wheel 3 does not exceed the detection limit, the cleaning equipment determines through the processor 10 that the lifting height cannot exceed the detection limit.

[0098] If the final lifting height of the caster wheel 3 still cannot exceed the detection limit after the first preset number of times, it indicates that the caster wheel 3 is severely worn and cannot be restored by calibration.

[0099] Therefore, when the lifting height cannot exceed the detection limit, the cleaning equipment determines that the calibration has failed through the processor 10.

[0100] When the lifting height exceeds the detection limit, the cleaning device sends a second drive signal to the first traveling wheel 4 through the processor 10, so that the first traveling wheel 4 is lifted according to the second drive signal; at the same time, the cleaning device sends a third drive signal to the second traveling wheel 5 through the processor 10, so that the second traveling wheel 5 is lifted according to the third drive signal.

[0101] The processor 10 can control the first traveling wheel 4, and can control the drive motor of the first traveling wheel 4 through a through-hole. The speed of the drive motor can be controlled by the duty cycle of the PWM (Pulse Width Modulation) signal, thereby controlling the behavior of the first traveling wheel 4. When the cleaning equipment leaves the factory, it can have a correspondence table between the duty cycle and the behavior of the first traveling wheel 4. For example, duty cycle C corresponds to the first traveling wheel 4 rising c, duty cycle D corresponds to the first traveling wheel 4 falling d, etc.

[0102] When the cleaning equipment is functioning normally, the above correspondence between duty cycle and the behavior of the first traveling wheel 4 is accurate. However, in reality, when the first traveling wheel 4 wears due to frequent extension and retraction, the above correspondence between duty cycle and the behavior of the first traveling wheel 4 will deviate from reality.

[0103] At this time, the processor 10 sends a second drive signal to the first traveling wheel 4 to control the first traveling wheel 4 to lift. Due to wear on the first traveling wheel 4, the actual lifting height of the first traveling wheel 4 may not be the expected lifting height corresponding to the second drive signal.

[0104] The processor 10 can control the second traveling wheel 5, which in turn controls the drive motor of the second traveling wheel 5. The speed of the drive motor can be controlled by the duty cycle of the PWM (Pulse Width Modulation) signal, thereby controlling the behavior of the second traveling wheel 5. The cleaning equipment may be manufactured with a table showing the correspondence between the duty cycle and the behavior of the second traveling wheel 5. For example, duty cycle E corresponds to the second traveling wheel 5 rising by e, and duty cycle F corresponds to the second traveling wheel 5 falling by f, etc.

[0105] When the cleaning equipment is functioning normally, the above correspondence between duty cycle and the behavior of the second traveling wheel 5 is accurate. However, in reality, when the second traveling wheel 5 wears due to frequent extension and retraction, the above correspondence between duty cycle and the behavior of the second traveling wheel 5 will deviate from reality.

[0106] At this time, the processor 10 sends a third drive signal to the second traveling wheel 5 to control the second traveling wheel 5 to lift. Due to wear on the second traveling wheel 5, the actual lifting height of the second traveling wheel 5 may not be the expected lifting height corresponding to the third drive signal.

[0107] It should be noted that the lifting control of the first traveling wheel 4 and the second traveling wheel 5 is carried out simultaneously.

[0108] The cleaning equipment acquires the second information output by the line laser 2 through the processor 10.

[0109] After the first traveling wheel 4 and the second traveling wheel 5 are raised, the line laser 2 collects and outputs second information. The second information may include, but is not limited to, the distance between the second laser line and the line laser 2, the length of the second laser line, and the angle between the second laser line and the central axis of the line laser 2. Due to the raising of the first traveling wheel 4 and the second traveling wheel 5, the entire device body 1 is lifted off the ground.

[0110] The cleaning equipment determines the dwell state of the equipment body 1 based on the second information and the azimuth angle between the processor 10 and the axis of the line laser 2.

[0111] If the second laser line is further away from the line laser 2 than the baseline, and the second laser line is perpendicular to the central axis of the line laser 2, then the dwell state of the device body 1 is horizontal.

[0112] Therefore, when the device body 1 is in a horizontal position, the cleaning device determines through the processor 10 that the device body 1 is in a horizontal position again.

[0113] If the second laser line is not parallel to the reference line, that is, the second laser line is not perpendicular to the central axis of the line laser 2, then the dwelling state of the device body 1 is non-horizontal.

[0114] Therefore, when the stationary state of the equipment body 1 is not horizontal, the cleaning equipment 10 gradually controls the first traveling wheel 4 and the second traveling wheel 5 simultaneously according to the second information, so that the first traveling wheel 4 and the second traveling wheel 5 are adjusted to make the stationary state of the equipment body 1 horizontal.

[0115] When the device body 1 is not in a horizontal position, the cleaning device sends a second adjustment drive signal to the first traveling wheel 4 through the processor 10 according to the second information, so that the first traveling wheel 4 adjusts to the lifting height according to the second adjustment drive signal; the processor 10 sends a third adjustment drive signal to the second traveling wheel 5 according to the second information, so that the second traveling wheel 5 adjusts to the lifting height according to the third adjustment drive signal, in order to eventually make the device body 1 horizontal.

[0116] During adjustment, a binary search method can be used for control based on the second information. If the stationary state of the device body 1 is not horizontal, the second laser line will not be parallel to the reference line. For example, if the lifting height of the first traveling wheel 4 is greater than that of the second traveling wheel 5, the end of the second laser line closer to the first traveling wheel 4 will be farther away from the laser 2 than the end of the second laser line closer to the second traveling wheel 5. At this time, based on the difference between the two ends of the second laser line, the first traveling wheel 4 and the second traveling wheel 5 are gradually adjusted using the binary search method.

[0117] For example, if the end of the second laser line closer to the first traveling wheel 4 is 3mm further away from the laser 2 than the end closer to the second traveling wheel 5, then a second adjustment drive signal corresponding to 1.5mm is sent to the first traveling wheel 4 to control it to descend, and a third adjustment drive signal corresponding to 1.5mm is sent to the second traveling wheel 5 to control it to rise. If adjusting the first traveling wheel 4 and the second traveling wheel 5 brings the device body 1 to a horizontal position, the adjustment ends, and the device body 1 is confirmed to be in a horizontal position again. If adjusting the first traveling wheel 4 and the second traveling wheel 5 still does not bring the device body 1 to a horizontal position, then the first traveling wheel 4 and the second traveling wheel 5 are adjusted simultaneously according to half the difference between the two ends of the second laser line.

[0118] If the device body 1 remains in a horizontal state within the second preset number of times, the cleaning device determines through the processor 10 that the device body 1 is in a horizontal state again.

[0119] The second preset number of attempts can be a threshold determined manually based on the actual situation. The second preset number of attempts can be 30.

[0120] If the second preset number of times is reached and the device body 1 is not in a horizontal state, the cleaning device determines through the processor 10 that the device body 1 cannot be in a horizontal state again.

[0121] If the device body 1 still cannot be brought to a horizontal position after the second preset number of cycles, it indicates that the first traveling wheel 4 and / or the second traveling wheel 5 are severely worn and cannot be restored to their normal state through calibration.

[0122] Therefore, when the device body 1 cannot be horizontal again, the cleaning device determines that the calibration has failed through the processor 10.

[0123] When the device body 1 is in a horizontal state again, the cleaning device calibrates the parameters of the omnidirectional wheel 3 according to the first drive signal, the first adjustment drive signal and the lifting height through the processor 10, calibrates the parameters of the first traveling wheel 4 according to the second drive signal, the second adjustment drive signal and the lifting height, and calibrates the parameters of the second traveling wheel 5 according to the third drive signal, the third adjustment drive signal and the lifting height.

[0124] When calibrating the caster wheel 3, the caster wheel 3 is recalibrated by the first drive signal, the first adjustment drive signal, and the lifting height.

[0125] When calibrating the first traveling wheel 4, the first traveling wheel 4 is recalibrated by the second drive signal, the second adjustment drive signal and the lifting height.

[0126] When calibrating the second traveling wheel 5, the second traveling wheel 5 is recalibrated by the third drive signal, the third adjustment drive signal and the lifting height.

[0127] The cleaning equipment sends a first calibration drive signal to the omnidirectional wheel 3 through the processor 10, so that the omnidirectional wheel 3 descends to the raised height according to the first calibration drive signal; at the same time, it sends a second calibration drive signal to the first traveling wheel 4, so that the first traveling wheel 4 descends to the raised height according to the second calibration drive signal; at the same time, it sends a third calibration drive signal to the second traveling wheel 5, so that the second traveling wheel 5 descends to the raised height according to the third calibration drive signal.

[0128] Because of the calibration, the processor 10 can send a first calibration drive signal to control the omnidirectional wheel 3 to descend, send a second calibration control signal to control the first traveling wheel 4 to descend, and send a third calibration control signal to control the second traveling wheel 5 to descend.

[0129] When the cleaning equipment is accurately calibrated, the equipment body 1 should return to a horizontal position. If the cleaning equipment is inaccurately calibrated, the equipment body 1 cannot return to a horizontal position.

[0130] The cleaning equipment acquires the third information output by the line laser 2 through the processor 10.

[0131] Line laser 2 acquires and outputs third information. This third information may include, but is not limited to, the distance between the third laser line and line laser 2, the length of the third laser line, and the angle between the central axis of the third laser line and line laser 2. If the third laser line coincides with the reference line when the device body 1 is horizontal, the test passes. If the third laser line does not coincide with the reference line when the device body 1 is horizontal, the calibration fails.

[0132] Therefore, when it is determined, based on the reference information and third information that the device body 1 is in a horizontal state, that the device body 1 has not returned to a horizontal state, the cleaning device determines that the calibration has failed through the processor 10.

[0133] When the reference information and third information of the device body 1 when it is in a horizontal state determine that the device body 1 has returned to a horizontal state, the cleaning device sends a fourth calibration drive signal to the universal wheel 3 through the processor 10, so that the universal wheel 3 is raised to the lifting height according to the fourth calibration drive signal; at the same time, it sends a fifth calibration drive signal to the first traveling wheel 4, so that the first traveling wheel 4 is raised to the lifting height according to the fifth calibration drive signal; at the same time, it sends a sixth calibration drive signal to the second traveling wheel 5, so that the second traveling wheel 5 is raised to the lifting height according to the sixth calibration drive signal.

[0134] Because of the calibration, the processor 10 can send a fourth calibration drive signal to control the lifting of the omnidirectional wheel 3, send a fifth calibration drive signal to control the lifting of the first traveling wheel 4, and send a third calibration drive signal to control the lifting of the second traveling wheel 5.

[0135] If the cleaning equipment is calibrated accurately, the equipment body 1 should return to a horizontal position. If the cleaning equipment is not calibrated accurately, the equipment body 1 cannot return to a horizontal position.

[0136] The cleaning equipment acquires the fourth information output by the line laser 2 via the processor 10. This fourth information may include, but is not limited to, the distance between the fourth laser line and the line laser 2, the length of the fourth laser line, and the angle between the fourth laser line and the central axis of the line laser 2. If the fourth laser line coincides with the second laser line when the equipment body 1 is again in a horizontal position, the test is passed. If the fourth laser line does not coincide with the second laser line when the equipment body 1 is again in a horizontal position, the calibration fails.

[0137] Therefore, when it is determined, based on the second and fourth information when the device body 1 is in a horizontal state again, that the device body 1 has not returned to a horizontal state, the cleaning device determines that the calibration has failed through the processor 10.

[0138] When the second and fourth information based on the device body 1 being in a horizontal state again determine that the device body 1 has returned to a horizontal state, the cleaning device determines that the calibration was successful through the processor 10.

[0139] Figure 7 shows a flowchart illustrating a calibration method for a cleaning device according to an embodiment of this application. Referring to Figures 1 and 2, the method includes:

[0140] Step S710: When the device body is in a horizontal position, control the lifting of the casters;

[0141] Step S720: When the lifting height of the caster exceeds the detection limit, control the lifting of the first and second travel wheels;

[0142] Step S730: When the device body is in a horizontal state again, determine the parameters of the omnidirectional wheel, the first traveling wheel, and the second traveling wheel.

[0143] Figure 8 shows a flowchart illustrating a calibration method for a cleaning device according to another embodiment of this application. Referring to Figures 1, 3 to 6, the method includes:

[0144] Step S810: When the device body is in a horizontal state, acquire the reference information output by the line laser;

[0145] Step S820: Control the lifting of the casters;

[0146] Step S830: Obtain the first information output by the line laser, and determine the lifting height of the omnidirectional wheel based on the reference information and the first information;

[0147] Step S840: When the lifting height exceeds the detection limit, simultaneously control the lifting of the first traveling wheel and the second traveling wheel;

[0148] Step S850: Obtain the second information output by the line laser. Based on the second information, determine when the device body is in a horizontal state again, and determine the parameters of the omnidirectional wheel, the first traveling wheel, and the second traveling wheel based on the lifting height.

[0149] In some optional implementations, controlling the lifting of the omnidirectional wheel, acquiring first information output by the line laser, and determining the lifting height of the omnidirectional wheel based on reference information and the first information includes: sending a first drive signal to the omnidirectional wheel to cause it to lift according to the first drive signal; determining the initial lifting height of the omnidirectional wheel based on the reference information and the first information; determining that the lifting height exceeds the detection limit when the initial lifting height exceeds the detection limit; gradually controlling the omnidirectional wheel according to the initial lifting height and the detection limit when the initial lifting height does not exceed the detection limit to adjust the omnidirectional wheel towards the detection limit; if the final lifting height of the omnidirectional wheel exceeds the detection limit within a first preset number of times, then determining that the lifting height exceeds the detection limit; if the final lifting height of the omnidirectional wheel does not exceed the detection limit after the first preset number of times, then determining that the lifting height cannot exceed the detection limit.

[0150] In some alternative implementations, calibration failure is determined when the lifting height cannot exceed the detection limit.

[0151] In some optional implementations, the omnidirectional wheel is gradually controlled according to the initial lifting height and the detection limit to adjust the omnidirectional wheel toward the detection limit, including: gradually sending a first adjustment drive signal to the omnidirectional wheel according to the initial lifting height and the detection limit to adjust the omnidirectional wheel toward the detection limit according to the first adjustment drive signal.

[0152] In some optional implementations, simultaneously controlling the lifting of the first and second traveling wheels, acquiring second information output by the line laser, and determining that the device body is once again in a horizontal state based on the second information includes: sending a second drive signal to the first traveling wheel to raise it according to the second drive signal; simultaneously sending a third drive signal to the second traveling wheel to raise it according to the third drive signal; determining the dwelling state of the device body based on the angle between the second information and the axis of the line laser; when the dwelling state of the device body is horizontal, determining that the device body is once again in a horizontal state; when the dwelling state of the device body is not horizontal, gradually controlling the first and second traveling wheels simultaneously according to the second information to adjust the first and second traveling wheels towards a horizontal dwelling state of the device body; if the dwelling state of the device body is horizontal within a second preset number of times, determining that the device body is once again in a horizontal state; if the dwelling state of the device body is not horizontal after the second preset number of times, determining that the device body cannot be once again in a horizontal state.

[0153] In some alternative implementations, calibration failure is determined when the device body cannot be returned to a horizontal position.

[0154] In some optional implementations, the first and second traveling wheels are controlled simultaneously and progressively according to the second information to adjust the first and second traveling wheels to a horizontal position relative to the device body. This includes: progressively sending a second adjustment drive signal to the first traveling wheel according to the second information to adjust the first traveling wheel to a raised height according to the second adjustment drive signal; and progressively sending a third adjustment drive signal to the second traveling wheel according to the second information to adjust the second traveling wheel to a raised height according to the third adjustment drive signal.

[0155] In some alternative implementations, the parameters of the omnidirectional wheel, the first traveling wheel, and the second traveling wheel are determined based on the lifting height, including: calibrating the parameters of the omnidirectional wheel based on the first drive signal, the first adjustment drive signal, and the lifting height.

[0156] In some optional implementations, determining the parameters of the omnidirectional wheel, the first traveling wheel, and the second traveling wheel based on the lifting height includes: calibrating the parameters of the first traveling wheel based on a second drive signal, a second adjustment drive signal, and the lifting height; and calibrating the parameters of the second traveling wheel based on a third drive signal, a third adjustment drive signal, and the lifting height.

[0157] In some optional implementations, after determining the parameters of the omnidirectional wheel, the first traveling wheel, and the second traveling wheel based on the lifting height, the method further includes: controlling the omnidirectional wheel, the first traveling wheel, and the second traveling wheel to descend to the lifting height; acquiring third information output by the line laser; when it is determined that the device body has returned to a horizontal state based on the reference information and the third information when the device body is in a horizontal state, controlling the omnidirectional wheel, the first traveling wheel, and the second traveling wheel to rise to the lifting height; acquiring fourth information output by the line laser; when it is determined that the device body has returned to a horizontal state again based on the second information and the fourth information when the device body is in a horizontal state again, determining that the calibration is successful.

[0158] In some alternative implementations, calibration failure is determined if the device body does not return to a horizontal position.

[0159] In some alternative implementations, calibration failure is determined if the device body does not return to a horizontal position.

[0160] In some optional implementations, controlling the omnidirectional wheel, the first traveling wheel, and the second traveling wheel to descend to the raised height includes: sending a first calibration drive signal to the omnidirectional wheel to cause it to descend to the raised height according to the first calibration drive signal; simultaneously, sending a second calibration drive signal to the first traveling wheel to cause it to descend to the raised height according to the second calibration drive signal; and simultaneously, sending a third calibration drive signal to the second traveling wheel to cause it to descend to the raised height according to the third calibration drive signal.

[0161] In some optional implementations, controlling the omnidirectional wheel, the first traveling wheel, and the second traveling wheel to rise to the lifting height includes: sending a fourth calibration drive signal to the omnidirectional wheel to cause it to rise to the lifting height according to the fourth calibration drive signal; simultaneously, sending a fifth calibration drive signal to the first traveling wheel to cause it to rise to the lifting height according to the fifth calibration drive signal; and simultaneously, sending a sixth calibration drive signal to the second traveling wheel to cause it to rise to the lifting height according to the sixth calibration drive signal.

[0162] Figure 9 shows a flowchart illustrating a calibration method for a cleaning device according to another embodiment of this application. Referring to Figures 1, 3 to 6, the method includes:

[0163] Step S901: When the device body is in a horizontal position, acquire the reference information output by the line laser. Proceed to step S902.

[0164] Step S902: Send a first drive signal to the omnidirectional wheel to raise it according to the first drive signal. Proceed to step S903.

[0165] Step S903: Obtain the first information output by the line laser, and determine the initial lifting height of the omnidirectional wheel based on the reference information and the first information. Proceed to step S904.

[0166] Step S904: Determine whether the initial lifting height of the caster wheel exceeds the detection limit. If not, proceed to step S905; if yes, proceed to step S908.

[0167] Step S905: Based on the initial lifting height and the detection limit, a first adjustment drive signal is gradually sent to the omnidirectional wheel, so that the omnidirectional wheel adjusts towards the detection limit according to the first adjustment drive signal. Proceed to step S906.

[0168] Step S906: Determine whether the final lifting height of the omnidirectional wheel exceeds the detection limit within the first preset number of times. If yes, proceed to step S908; otherwise, proceed to step S907.

[0169] Step S907, calibration failed.

[0170] Step S908: Send a second drive signal to the first traveling wheel to raise it according to the second drive signal; simultaneously send a third drive signal to the second traveling wheel to raise it according to the third drive signal. Proceed to step S909.

[0171] Step S909: Obtain the second information output by the line laser, and determine the dwell state of the device body based on the angle between the second information and the azimuth of the line laser axis. Proceed to step S910.

[0172] Step S910: Determine whether the device body is in a horizontal position. If yes, proceed to step S913; otherwise, proceed to step S911.

[0173] Step S911: Based on the second information, a second adjustment drive signal is gradually sent to the first traveling wheel to adjust the lifting height according to the second adjustment drive signal; based on the second information, a third adjustment drive signal is gradually sent to the second traveling wheel to adjust the lifting height according to the third adjustment drive signal. Proceed to step S912.

[0174] Step S912: Determine whether the device body is in a horizontal position within the second preset number of cycles. If yes, proceed to S913; otherwise, proceed to S907.

[0175] In step S913, the device body is back to a horizontal position. Proceed to step S914.

[0176] Step S914: Calibrate the parameters of the omnidirectional wheel based on the first drive signal, the first adjustment drive signal, and the lifting height; calibrate the parameters of the first traveling wheel based on the second drive signal, the second adjustment drive signal, and the lifting height; calibrate the parameters of the second traveling wheel based on the third drive signal, the third adjustment drive signal, and the lifting height. Proceed to step S915.

[0177] Step S915: A first calibration drive signal is sent to the omnidirectional wheel to cause it to descend to the raised height according to the first calibration drive signal; simultaneously, a second calibration drive signal is sent to the first traveling wheel to cause it to descend to the raised height according to the second calibration drive signal; simultaneously, a third calibration drive signal is sent to the second traveling wheel to cause it to descend to the raised height according to the third calibration drive signal. Proceed to step S916.

[0178] Step S916: Obtain the third information output by the line laser. Based on the reference information and the third information when the device body is in a horizontal state, determine whether the device body has returned to a horizontal state. If yes, proceed to step S917; if no, proceed to step S907.

[0179] Step S917: A fourth calibration drive signal is sent to the omnidirectional wheels to raise them to the desired lifting height according to the fourth calibration drive signal; simultaneously, a fifth calibration drive signal is sent to the first traveling wheels to raise them to the desired lifting height according to the fifth calibration drive signal; simultaneously, a sixth calibration drive signal is sent to the second traveling wheels to raise them to the desired lifting height according to the sixth calibration drive signal. Proceed to step S918.

[0180] Step S918: Obtain the fourth information output by the line laser. Based on the second and fourth information when the device body is in a horizontal state again, determine whether the device body has returned to a horizontal state. If yes, proceed to step S919; if no, proceed to step S907.

[0181] Step S919, calibration successful.

[0182] It should be noted that the calibration methods for the above-mentioned cleaning equipment can be applied one-to-one to the aforementioned cleaning equipment, and will not be elaborated further.

[0183] In one embodiment, a computer-readable storage medium is also provided, on which a computer program is stored, the computer program performing the following steps when executed by a processor:

[0184] When the equipment body is in a horizontal position, control the lifting of the casters.

[0185] When the lifting height of the caster wheels exceeds the detection limit, the system controls the lifting of the first and second travel wheels.

[0186] When the equipment body is in a horizontal position again, determine the parameters of the caster wheel, the first traveling wheel, and the second traveling wheel.

[0187] It should be noted that the functions or steps that the computer-readable storage medium can achieve are described in the relevant descriptions in the foregoing method embodiments. To avoid repetition, they will not be described one by one here.

[0188] The above-mentioned technical solution adopted in this application can achieve the following beneficial effects:

[0189] This application provides a cleaning device, including: a device body; casters connected to the device body; a first traveling wheel connected to the device body; a second traveling wheel connected to the device body; and a processor communicatively connected to the casters, the first traveling wheel, and the second traveling wheel. When the device body is in a horizontal position, the cleaning device controls the raising of the casters via the processor. When the raising height of the casters exceeds a detection limit, the cleaning device controls the raising of the first and second traveling wheels via the processor. When the device body is back in a horizontal position, the cleaning device determines the parameters of the casters, the first traveling wheel, and the second traveling wheel via the processor. The cleaning device provided by this application can restore the cleaning device to normal function directly through calibration without returning it to the factory for repair, even when the casters and / or the first and / or the second traveling wheels are slightly worn. This avoids the waste of resources caused by replacing parts when the cleaning device is only slightly worn. Compared with returning it to the factory for repair, it saves transportation costs, labor costs, and time costs.

[0190] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, storage, databases, or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), Rambus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0191] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is used as an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above.

[0192] The above-described embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be included within the protection scope of the present invention.

Claims

1. A cleaning device, comprising: Equipment body; The omnidirectional wheels are connected to the main body of the device. The first traveling wheel is connected to the main body of the device; The second traveling wheel is connected to the main body of the device; as well as The processor is communicatively connected to the omnidirectional wheel, the first traveling wheel, and the second traveling wheel. When the device body is in a horizontal position, the cleaning device raises the casters under the control of the processor. When the lifting height of the omnidirectional wheels exceeds the detection limit, the cleaning device, controlled by the processor, raises the first and second wheels. When the device body is in a horizontal position again, the cleaning device determines the parameters of the omnidirectional wheel, the first traveling wheel, and the second traveling wheel through the processor.

2. The cleaning equipment according to claim 1, further comprising: Line laser; The processor is also communicatively connected to the line laser; When the device body is in a horizontal position, the cleaning device obtains the reference information output by the line laser through the processor; The cleaning equipment is controlled by the processor to lift the casters; The cleaning device obtains the first information output by the line laser through the processor, and determines the lifting height of the omnidirectional wheel based on the reference information and the first information; When the lifting height of the omnidirectional wheel exceeds the detection limit, the cleaning device simultaneously controls the lifting of the first traveling wheel and the second traveling wheel through the processor; The cleaning device obtains the second information output by the line laser through the processor, determines the parameters of the omnidirectional wheel, the first traveling wheel and the second traveling wheel based on the lifting height when the device body is in a horizontal state again according to the second information.

3. The cleaning equipment according to claim 2, wherein, The cleaning device sends a first drive signal to the caster through the processor, so that the caster is raised according to the first drive signal; The cleaning device determines the initial lifting height of the caster wheels based on the reference information and the first information through the processor; When the initial lifting height exceeds the detection limit, the cleaning device determines through the processor that the lifting height exceeds the detection limit; When the initial lifting height does not exceed the detection limit, the cleaning device, through the processor, gradually controls the casters according to the initial lifting height and the detection limit, so that the casters adjust towards the detection limit. If the final lifting height of the omnidirectional wheel exceeds the detection limit within the first preset number of times, the cleaning device determines that the lifting height exceeds the detection limit through the processor. If the final lifting height of the omnidirectional wheel does not exceed the detection limit after the first preset number of times, the cleaning device determines through the processor that the lifting height cannot exceed the detection limit.

4. The cleaning equipment according to claim 3, wherein, If the lifting height cannot exceed the detection limit, the cleaning device determines that the calibration has failed through the processor.

5. The cleaning equipment according to claim 3, wherein, The cleaning device, through the processor, gradually sends a first adjustment drive signal to the caster wheel based on the initial lifting height and the detection limit, so that the caster wheel adjusts to the detection limit according to the first adjustment drive signal.

6. The cleaning equipment according to claim 2, wherein, The cleaning device sends a second drive signal to the first walking wheel through the processor, so that the first walking wheel lifts according to the second drive signal, and at the same time sends a third drive signal to the second walking wheel, so that the second walking wheel lifts according to the third drive signal; The cleaning device determines the dwell state of the device body based on the second information and the azimuth angle between the second information and the axis of the line laser through the processor; When the device body is in a horizontal position, the cleaning device determines through the processor that the device body is in a horizontal position again. When the device body is not in a horizontal position, the cleaning device controls the first and second wheels simultaneously and gradually according to the second information through the processor, so that the first and second wheels are adjusted to be horizontal in the position of the device body. If the device body remains in a horizontal position within the second preset number of cycles, the cleaning device determines through the processor that the device body is in a horizontal position again. If the second preset number of times is reached and the device body is not in a horizontal position, the cleaning device determines through the processor that the device body cannot be in a horizontal position again.

7. The cleaning equipment according to claim 6, wherein, When the device body cannot be returned to a horizontal position, the cleaning device determines that the calibration has failed through the processor.

8. The cleaning equipment according to claim 6, wherein, The cleaning device, through the processor, gradually sends a second adjustment drive signal to the first traveling wheel according to the second information, so that the first traveling wheel adjusts to the lifting height according to the second adjustment drive signal; and gradually sends a third adjustment drive signal to the second traveling wheel according to the second information, so that the second traveling wheel adjusts to the lifting height according to the third adjustment drive signal.

9. The cleaning equipment according to claim 5, wherein, The cleaning device calibrates the parameters of the caster wheels using the processor based on the first drive signal, the first adjustment drive signal, and the lifting height.

10. The cleaning equipment according to claim 8, wherein, The cleaning device calibrates the parameters of the first traveling wheel according to the second driving signal, the second adjustment driving signal, and the lifting height through the processor; and calibrates the parameters of the second traveling wheel according to the third driving signal, the third adjustment driving signal, and the lifting height.

11. The cleaning equipment according to claim 2, wherein, The cleaning equipment controls the universal wheels, the first traveling wheels, and the second traveling wheels to descend to the raised height via the processor; The cleaning device acquires the third information output by the line laser through the processor; When it is determined, based on the reference information and the third information when the device body is in a horizontal state, that the device body has returned to a horizontal state, the cleaning device controls the universal wheel, the first traveling wheel and the second traveling wheel to lift to the lifting height through the processor. The cleaning device obtains the fourth information output by the line laser through the processor; When the second and fourth information, based on the information indicating that the device body has returned to a horizontal state, are determined to be in a horizontal state again, the cleaning device determines that the calibration was successful through the processor.

12. The cleaning equipment according to claim 11, wherein, If the device body fails to return to a horizontal position, the cleaning device determines that the calibration has failed via the processor.

13. The cleaning equipment according to claim 11, wherein, If the device body fails to return to a horizontal position, the cleaning device determines that the calibration has failed via the processor.

14. The cleaning equipment according to claim 11, wherein, The cleaning device sends a first calibration drive signal to the omnidirectional wheel through the processor, so that the omnidirectional wheel descends to the lifting height according to the first calibration drive signal; Simultaneously, a second calibration drive signal is sent to the first traveling wheel so that the first traveling wheel descends to the lifting height according to the second calibration drive signal; Simultaneously, a third calibration drive signal is sent to the second traveling wheel so that the second traveling wheel descends to the raised height according to the third calibration drive signal.

15. The cleaning equipment according to claim 11, wherein, The cleaning device sends a fourth calibration drive signal to the caster through the processor, so that the caster is raised to the lifting height according to the fourth calibration drive signal. Simultaneously, a fifth calibration drive signal is sent to the first traveling wheel so that the first traveling wheel can be raised to the lifting height according to the fifth calibration drive signal; Simultaneously, a sixth calibration drive signal is sent to the second traveling wheel so that the second traveling wheel can be raised to the desired height according to the sixth calibration drive signal.

16. A method for calibrating a cleaning device, wherein the cleaning device comprises: The method comprises: a device body, omnidirectional wheels connected to the device body, a first traveling wheel connected to the device body, and a second traveling wheel connected to the device body; and the method includes: When the device body is in a horizontal position, the omnidirectional wheels are raised. When the lifting height of the omnidirectional wheel exceeds the detection limit, the system controls the lifting of the first and second traveling wheels. When the device body is in a horizontal position again, the parameters of the omnidirectional wheel, the first traveling wheel, and the second traveling wheel are determined.

17. The calibration method for cleaning equipment according to claim 16, wherein, The cleaning equipment also includes a line laser, and the method further includes: When the device body is in a horizontal state, the reference information output by the line laser is acquired; Control the lifting of the casters; Obtain the first information output by the line laser, and determine the lifting height of the omnidirectional wheel based on the reference information and the first information; When the lifting height of the omnidirectional wheel exceeds the detection limit, the first traveling wheel and the second traveling wheel are simultaneously lifted. The second information output by the line laser is obtained. When the device body is in a horizontal state again based on the second information, the parameters of the omnidirectional wheel, the first traveling wheel, and the second traveling wheel are determined based on the lifting height.

18. The calibration method for cleaning equipment according to claim 17, wherein, After determining the parameters of the omnidirectional wheel, the first traveling wheel, and the second traveling wheel based on the lifting height, the method further includes: Control the casters, the first traveling wheel, and the second traveling wheel to descend to the raised height; Obtain the third information output by the line laser; When it is determined, based on the reference information and the third information when the device body is in a horizontal state, that the device body has returned to a horizontal state, the omnidirectional wheel, the first traveling wheel and the second traveling wheel are controlled to be raised to the lifting height. Obtain the fourth information output by the line laser; When the second and fourth information based on the device body being in a horizontal state are used to determine that the device body has returned to a horizontal state, the calibration is considered successful.

19. A computer-readable storage medium storing a computer program, wherein, When the computer program is instructed by the processor, it implements the steps of the calibration method for the cleaning equipment as described in any one of claims 16 to 18.

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