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 protrudes beyond the body, leading to interference with obstacles and hindering smooth operation.
Innovation Solution
The device determines if it is in a narrow area by detecting obstacle contact with the cleaning element but not the body, and performs an obstacle avoidance operation to ensure smooth navigation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Area of moving object
If the cleaning element is positioned outside the edge projection area of the body to expand cleaning coverage, then the cleaning area is improved, but the device encounters interference from obstacles in narrow areas
Solution Approach 1:
The cleaning device segments the detection and response functions: the detection unit specifically monitors the cleaning element's position and obstacle contact, while the control unit separately manages the body's movement and cleaning element's positioning. This segmentation allows independent optimization of cleaning coverage and navigation capabilities.
Solution Approach 2:
The detection unit performs preliminary detection of obstacle contact on the cleaning element before the body encounters the obstacle. This advance detection enables the control unit to pre-adjust the cleaning element's position or the body's trajectory, preventing navigation issues before they occur.
2Adaptability or versatility
If the cleaning element protrudes beyond the body to reach into corners and narrow spaces, then cleaning versatility is improved, but obstacle avoidance becomes more difficult
Solution Approach 1:
The detection unit provides real-time feedback on whether the cleaning element contacts obstacles, and the control unit adjusts the cleaning element's position or the body's movement based on this feedback. This closed-loop feedback system maintains high cleaning versatility while ensuring reliable obstacle avoidance through continuous monitoring and adjustment.
Solution Approach 2:
The cleaning element's position is made dynamic rather than fixed. The control unit can adjust the cleaning element's extension distance based on real-time detection of narrow areas and obstacle positions, allowing the device to adapt its cleaning profile dynamically to maintain both versatility and reliability.
3Productivity
If the cleaning element is extended beyond the body to clean edges and corners, then cleaning productivity is improved, but the device complexity increases
Solution Approach 1:
The detection unit serves multiple functions: it detects obstacles, determines narrow area conditions, and provides positioning information for the cleaning element. The control unit similarly handles multiple tasks including obstacle avoidance control, cleaning element positioning control, and coordination between body movement and cleaning element operation. This multi-functionality reduces overall device complexity while maintaining high productivity.
Data Source
AI summary
A control method of a self-moving cleaning device includes: determining whether the self-moving cleaning device is in a narrow area, and in response to the self-moving cleaning device being in the narrow area, controlling the self-moving cleaning device to perform an obstacle avoidance operation, where the self-moving cleaning device includes a body and a cleaning element arranged at the bottom of the body, and at least a portion of the cleaning element is located outside an edge projection area of the body.