Self-moving cleaning device and control method and apparatus therefor, and storage medium
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Solution Overview
Problem
Current self-moving cleaning devices face challenges in smoothly navigating around obstacles due to interference between protruding cleaning elements and obstacles during turning operations, which affects their operational smoothness.
Innovation Solution
The self-moving cleaning device determines a target interference area based on its structure and position within a space, using obstacle information to control its travel and perform obstacle avoidance operations, adjusting its path to prevent collisions between cleaning elements and obstacles.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Area of stationary object
If the cleaning element protrudes outside the edge projection area of the body, then the cleaning coverage is improved, but the obstacle avoidance capability deteriorates due to interference with obstacles during turning operations
Solution Approach 1:
The control module calculates a target interference area in advance based on the cleaning device's current position, orientation, and cleaning element geometry. By determining this area before obstacle avoidance operations, the system can proactively adjust navigation to prevent collisions, resolving the contradiction between extended cleaning coverage and obstacle avoidance capability
2Manufacturing precision
If the cleaning element is located outside the edge projection area of the body, then the cleaning effectiveness is improved, but the operational smoothness deteriorates due to interference between cleaning elements and obstacles
Solution Approach 1:
The system performs preliminary calculation of the target interference area considering the cleaning element's position and the device's turning radius. This allows the navigation system to plan avoidance paths before obstacles are encountered, maintaining both cleaning effectiveness and operational smoothness by preventing collisions in advance
Solution Approach 2:
The control module continuously monitors the cleaning device's position and orientation, and dynamically adjusts the target interference area calculation based on real-time operational state. This feedback mechanism ensures that the navigation system adapts to maintain smooth operation while preserving the cleaning benefits of the protruding element
Data Source
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AI summary
A self-moving cleaning device (100) and a control method and apparatus therefor, and a storage medium. The self-moving cleaning device (100) comprises a body (110) and cleaning elements (153) arranged at the bottom of the body (110), wherein at least part of each cleaning element (153) is located outside an edge projection area of the body (110). The control method comprises: determining a target interference area of the self-moving cleaning device (100) (S401); and on the basis of obstacle information in the target interference area, controlling the self-moving cleaning device (100) to move (S402).