Method and apparatus for controlling cleaning device, and cleaning device and storage medium
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Solution Overview
Problem
Non-circular cleaning devices face challenges in efficiently navigating obstacles and maintaining contact with surfaces during cleaning due to their unique configurations, leading to increased re-collision times and incomplete coverage of adjacent areas.
Innovation Solution
The cleaning device employs a trigger, first detector, and second detector to determine movement distances and angles, allowing it to move backward and adjust its path to minimize re-collisions and improve navigation along obstacles, using a D-shaped body with a rectangular front and circular rear, and incorporating collision sensors and rebounding members for sensitive response and accurate alignment.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If a non-circular cleaning device navigates obstacles using conventional methods, then the device can avoid obstacles, but the re-collision time increases and cleaning coverage of adjacent areas is incomplete
Solution Approach 1:
The collision sensor is triggered in advance when the cleaning device approaches an obstacle, initiating a predetermined rebounding sequence. The control unit receives the trigger signal and automatically executes the rebounding operation, allowing the device to proactively respond to obstacles before actual contact occurs, thereby reducing re-collision time and maintaining cleaning efficiency.
2Reliability
If the cleaning device rebounds from an obstacle, then the device can maintain contact with the cleaning surface, but the alignment accuracy after rebounding affects cleaning completeness
Solution Approach 1:
The cleaning device employs an asymmetric D-shaped body with a rectangular front and circular rear, combined with an asymmetric rebounding mechanism. The rebounding member is positioned and configured to work with the asymmetric geometry, enabling the device to rebound in a controlled manner that maintains surface contact while achieving accurate realignment with the cleaning path after obstacle interaction.
Data Source
AI summary
Embodiments of the present disclosure provide a control method and apparatus of a cleaning device, the cleaning device, and a storage medium. The method for controlling the cleaning device includes: acquiring first detection information of the first detector based on the trigger being triggered; determining a first movement distance at least based on the acquired first detection information; after controlling the cleaning device to move backward for the first movement distance, executing a first obstacle approaching operation according to the first detection information; acquiring second detection information of the second detector; and controlling the cleaning device to execute an operation of travelling along an obstacle according to the second detection information.