Self-moving cleaning device, control method and apparatus therefor and storage medium
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Solution Overview
Problem
Self-moving cleaning devices face challenges in navigating narrow areas where the cleaning element interferes with obstacles, preventing smooth turning operations.
Innovation Solution
The device determines if it is in a narrow area by sensing obstacle proximity and controlling obstacle avoidance operations, including adjusting rotation direction and performing backward movements to escape the narrow area.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Area of stationary object
If the cleaning element is extended outside the body edge projection area to increase cleaning coverage, then the cleaning area is improved, but the device cannot smoothly navigate narrow areas because the cleaning element interferes with obstacles
Solution Approach 1:
The cleaning element's rotation direction is dynamically adjusted based on the device's movement state. When the device moves forward, the cleaning element rotates in a first direction; when the device rotates or moves backward, the cleaning element rotates in a second direction (opposite to the first direction). This dynamic adjustment prevents the cleaning element from interfering with obstacles during turning operations while maintaining extended cleaning coverage.
2Device complexity
If the cleaning element rotates in a fixed direction during all operations, then the control system is simple, but the cleaning element continuously interferes with obstacles during turning operations in narrow areas
Solution Approach 1:
The control system receives feedback about the device's movement state (forward movement, rotation, backward movement) and adjusts the cleaning element's rotation direction accordingly. When rotation or backward movement is detected, the system switches the cleaning element to rotate in the opposite direction, eliminating continuous obstacle interference while maintaining manageable control complexity.
Data Source
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AI summary
A self-moving cleaning device (100), a control method and apparatus therefor, and a storage medium. The self-moving cleaning device (100) comprises a body (110) and a cleaning element (153) arranged at the bottom of the body (110), at least part of the cleaning element (153) being located outside an edge projection area of the body (110). The control method comprises: determining whether the self-moving cleaning device (100) is in a narrow area (S401); and, when the self-moving cleaning device (100) is in the narrow area, controlling the self-moving cleaning device (100) to execute an obstacle avoidance operation (S402).