CN115089056A

CN115089056A - Automatic cleaning equipment control method and device, medium and electronic equipment

Info

Publication number: CN115089056A
Application number: CN202210952783.8A
Authority: CN
Inventors: 侯峥韬
Original assignee: Beijing Stone Innovation Technology Co ltd
Current assignee: Beijing Stone Innovation Technology Co ltd
Priority date: 2021-02-10
Filing date: 2021-02-10
Publication date: 2022-09-23
Also published as: EP4292495A1; US20240090735A1; CN112790672A; WO2022171144A1; CN112790672B

Abstract

The present disclosure provides an automatic cleaning device control method, an automatic cleaning device control apparatus, a computer-readable storage medium, and an electronic device, the method including: when the automatic cleaning equipment cleans in the first surface medium area, if the surface medium sensor triggers the surface medium change signal, determining whether the automatic cleaning equipment is located in the second surface medium area; and in the case that the automatic cleaning device is determined to be positioned in the second surface medium area, controlling the automatic cleaning device to be separated from the second surface medium area along the direction vertical to the edge of the second surface medium area according to the established second surface medium area map and the current position of the automatic cleaning device. The method can help the automatic cleaning equipment to come out of the second surface medium area as soon as possible.

Description

Automatic cleaning equipment control method and device, medium and electronic equipment

The present application is a divisional application of an invention patent application entitled "automatic cleaning apparatus control method and apparatus, medium, and electronic apparatus", having an application number of 202110184809.4 at 10/02/2021.

Technical Field

The disclosure relates to the field of smart home, and in particular relates to an automatic cleaning device control method, an automatic cleaning device control device, a computer-readable storage medium and an electronic device.

Background

In recent years, with the rapid development of computer technology and artificial intelligence science, intelligent robot technology gradually becomes a hotspot in the field of modern robot research. The floor sweeping robot is the most practical intelligent robot, and can automatically finish the cleaning work of the ground by means of certain artificial intelligence.

At present, more and more households are paved with carpets, and when a sweeping robot is used for sweeping along a wall or in the process of sweeping the carpets, the sweeping robot can easily get up to the carpets and get trapped.

Disclosure of Invention

An object of the present disclosure is to provide an automatic cleaning device control method, an automatic cleaning device control apparatus, a computer-readable storage medium, and an electronic device, which can solve at least one of the above-mentioned technical problems. The specific scheme is as follows:

according to a specific embodiment of the present disclosure, in a first aspect, the present disclosure provides an automatic cleaning apparatus control method for an automatic cleaning apparatus including a surface medium sensor, including: when the automatic cleaning equipment is in a mode that the automatic cleaning equipment does not clean a second surface medium area or a wet type cleaning module of the automatic cleaning equipment is started, and the automatic cleaning equipment is cleaned in a first surface medium area, if a surface medium sensor triggers a surface medium change signal, determining whether the automatic cleaning equipment is located in the second surface medium area; and under the condition that the automatic cleaning equipment is determined to be positioned in the second surface medium area, according to the established second surface medium area map and the current position of the automatic cleaning equipment, controlling the automatic cleaning equipment to be separated from the second surface medium area along the direction vertical to the edge of the second surface medium area, so that the automatic cleaning equipment can come out of the second surface medium area as soon as possible, and reducing the probability that the automatic cleaning equipment is trapped by the second surface medium.

In an exemplary embodiment of the present disclosure, controlling the automatic cleaning device to leave the second surface media area in a direction perpendicular to an edge of the second surface media area comprises: and determining a second surface medium area edge perpendicular to the traveling direction of the automatic cleaning device when entering the second surface medium area according to the established second surface medium map and the current position of the automatic cleaning device, and controlling the automatic cleaning device to be separated from the second surface medium area along the direction perpendicular to the second surface medium area edge.

In an exemplary embodiment of the present disclosure, controlling the automatic cleaning device to leave the second surface media area in a direction perpendicular to the edge of the second surface media area includes: determining the second surface medium area edge closest to the automatic cleaning device according to the established second surface medium map and the current position of the automatic cleaning device; controlling the automatic cleaning device to disengage the second surface media area in a direction perpendicular to the nearest edge of the second surface media area.

In an exemplary embodiment of the present disclosure, the method further includes: before the automatic cleaning equipment is controlled to be separated from the second surface medium region along the direction perpendicular to the nearest edge of the second surface medium region, the automatic cleaning equipment is controlled to rotate by a first preset angle according to the included angle between the walking direction of the automatic cleaning equipment and the nearest edge of the second surface medium region; and controlling the automatic cleaning equipment to be separated from the second surface medium region in a forward traveling or reverse mode.

In an exemplary embodiment of the present disclosure, the method further includes: after the automatic cleaning equipment executes the reversing operation for a preset time, if the surface medium sensor still detects the second surface medium area, the automatic cleaning equipment is controlled to rotate by a second preset angle and then is separated from the second surface medium area in the forward direction.

In an exemplary embodiment of the present disclosure, the second preset angle is 180 degrees.

In an exemplary embodiment of the present disclosure, the method further includes: and after determining that the automatic cleaning equipment is separated from the second surface medium area, controlling the automatic cleaning equipment to clean along the edge of the second surface medium area, and acquiring a second surface medium area map again to update the established second surface medium area map.

In a second aspect, the present disclosure provides an automatic cleaning device control apparatus provided in an automatic cleaning device including a surface medium sensor, including: a position determination module, configured to determine whether the automatic cleaning device is located in the second surface medium region if the surface medium sensor triggers the surface medium change signal when the automatic cleaning device is cleaning in the first surface medium region in a mode that the automatic cleaning device is not cleaning the second surface medium region or a wet cleaning module of the automatic cleaning device is turned on; and the navigation control module is used for controlling the automatic cleaning equipment to be separated from the second surface medium area along the direction vertical to the edge of the second surface medium area according to the established second surface medium area map and the current position of the automatic cleaning equipment under the condition that the automatic cleaning equipment is determined to be positioned in the second surface medium area.

In a third aspect, the present disclosure provides an automatic cleaning apparatus control method for an automatic cleaning apparatus including a surface medium sensor, including: when the automatic cleaning device is in a mode that the second surface medium area is not cleaned or a wet type cleaning module of the automatic cleaning device is started, when the automatic cleaning device cleans in the first surface medium area, based on the detection of the second surface medium area by the surface medium sensor, the automatic cleaning device is controlled to be separated from the second surface medium area along a direction vertical to the edge of the second surface medium area according to the established second surface medium area map and the current position of the automatic cleaning device, so that the automatic cleaning device is prevented from being wetted or being trapped in the second surface medium area.

In an exemplary embodiment of the present disclosure, the surface medium sensor detecting the second surface medium region includes: the surface medium sensor triggers a surface medium change signal, the actual signal received by the surface medium sensor from the current surface being distinguished from the signal of the first surface medium region.

In an exemplary embodiment of the present disclosure, the controlling the automatic cleaning device to leave the second surface medium region in a direction perpendicular to an edge of the second surface medium region includes: determining a second surface medium area edge perpendicular to the traveling direction of the automatic cleaning device when entering the second surface medium area according to the established second surface medium map and the current position of the automatic cleaning device, and controlling the automatic cleaning device to be separated from the second surface medium area along the direction perpendicular to the second surface medium area edge; or determining the edge of the second surface medium area closest to the automatic cleaning equipment according to the established second surface medium map and the current position of the automatic cleaning equipment; controlling the automatic cleaning device to disengage the second surface media region in a direction perpendicular to the nearest edge of the second surface media region.

In a fourth aspect, the present disclosure provides an automatic cleaning apparatus control method for an automatic cleaning apparatus including a surface medium sensor, including: when the automatic cleaning equipment is in a mode that the automatic cleaning equipment does not clean a second surface medium area or a wet type cleaning module of the automatic cleaning equipment is started, when the automatic cleaning equipment cleans in the first surface medium area, if at least one part of the automatic cleaning equipment is determined to enter the second surface medium area, the automatic cleaning equipment is controlled to be separated from the second surface medium area along a direction vertical to the edge of the second surface medium area according to an established second surface medium area map and the current position of the automatic cleaning equipment, so that the automatic cleaning equipment is prevented from being wetted or being trapped in the second surface medium area.

In an exemplary embodiment of the disclosure, the determining that at least a portion of the automatic cleaning device has entered into the second surface medium region comprises: the surface medium sensor of the automatic cleaning device is located already in the second surface medium region or the automatic cleaning device has entered into the second surface medium region.

In an exemplary embodiment of the disclosure, the surface media sensor is configured such that when it is located in a position from the first surface media region into the second surface media region, the surface media sensor triggers a surface media change signal, the surface media sensor receives a signal from the second surface media region that is different from the signal received from the first surface media region.

In a fifth aspect, the present disclosure provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the above-described automatic cleaning apparatus control method.

In a sixth aspect, the present disclosure provides an electronic device comprising: a processor; and a memory for storing executable instructions of the processor; wherein the processor is configured to perform the above-described method of controlling an automatic cleaning apparatus via execution of the executable instructions.

Compared with the prior art, the automatic cleaning device control method provided by the exemplary embodiment of the disclosure can control the automatic cleaning device to be separated from the second surface medium region along the direction perpendicular to the edge of the second surface medium region according to the established second surface medium region map and the current position of the automatic cleaning device on the basis of obtaining the surface medium change signal and on the basis of determining that the automatic cleaning device is located in the second surface medium region, so that the automatic cleaning device can be helped to come out of the second surface medium region as soon as possible, the occurrence of the situations of jamming and the like can be reduced, and the user experience is improved.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and together with the description, serve to explain the principles of the disclosure. It is to be understood that the drawings in the following description are merely exemplary of the disclosure, and that other drawings may be derived from those drawings by one of ordinary skill in the art without the exercise of inventive faculty. In the drawings:

FIG. 1 is an oblique view of an automated cleaning apparatus according to one embodiment of the present disclosure;

FIG. 2 is a schematic view of a bottom structure of an automatic cleaning apparatus of one embodiment of the present disclosure;

FIG. 3 is an oblique view of a one-sided drive wheel assembly of one embodiment of the present disclosure;

FIG. 4 is an elevation view of a one-side drive wheel assembly of one embodiment of the present disclosure;

FIG. 5 is an oblique view of a dust box of one embodiment of the present disclosure;

FIG. 6 is an oblique view of a wind turbine of one embodiment of the present disclosure;

FIG. 7 is a schematic view of an open position of a dust box according to one embodiment of the present disclosure;

FIG. 8 is a schematic view of a dust box and fan combination according to an embodiment of the disclosure;

FIG. 9 is an exploded view of an automatic cleaning device according to one embodiment of the present disclosure;

FIG. 10 is a block diagram of a robotic cleaning device support platform according to one embodiment of the present disclosure;

FIG. 11 is a block diagram of a shaker member of the automatic cleaning apparatus according to one embodiment of the present disclosure;

FIG. 12 is a schematic view of a cleaning head drive mechanism based on a slider-crank mechanism according to another embodiment of the present disclosure;

FIG. 13 is a schematic view of a dual crank mechanism based cleaning head drive mechanism according to another embodiment of the present disclosure;

FIG. 14 is a schematic view of a cleaning head drive mechanism based on a crank mechanism according to another embodiment of the present disclosure;

FIG. 15 is a schematic view of a raised state of the robotic cleaning device according to one embodiment of the present disclosure;

FIG. 16 is a schematic view of a submerged state of the automated cleaning apparatus according to one embodiment of the present disclosure;

FIG. 17 is a schematic diagram of a four bar linkage lift configuration elevated state according to one embodiment of the present disclosure;

FIG. 18 is a schematic view of a four bar linkage lifting structure in a lowered position according to one embodiment of the present disclosure;

fig. 19 shows an operation route diagram of an automatic cleaning apparatus according to an embodiment of the present disclosure;

FIG. 20 illustrates a flow chart of a method of controlling an automated cleaning apparatus according to an embodiment of the present disclosure;

FIG. 21 illustrates a waveform of an echo received by an ultrasonic sensor from a normal ground according to an embodiment of the present disclosure;

FIG. 22 illustrates an echo waveform received by an ultrasonic sensor on a carpet surface according to an embodiment of the present disclosure;

FIG. 23 is a schematic diagram illustrating an initialization area configuration after scanning a second surface medium area according to an embodiment of the present disclosure;

fig. 24 is a view showing a structure of a merge region obtained based on the initialization region shown in fig. 23;

FIG. 25 is a schematic view showing the structure of a sub-region determined based on the merged region shown in FIG. 24;

FIG. 26 illustrates a block diagram of an automated cleaning apparatus control device, according to an embodiment of the present disclosure;

FIG. 27 shows a block diagram of an electronic device shown in accordance with an embodiment of the present disclosure.

Detailed Description

To make the objects, technical solutions and advantages of the present disclosure more apparent, the present disclosure will be described in further detail with reference to the accompanying drawings, and it is apparent that the described embodiments are only some embodiments of the present disclosure, not all embodiments. All other embodiments, which can be derived by one of ordinary skill in the art from the embodiments disclosed herein without making any creative effort, shall fall within the scope of protection of the present disclosure.

The terminology used in the embodiments of the present disclosure is for the purpose of describing particular embodiments only and is not intended to be limiting of the disclosure. As used in the disclosed embodiments and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise, and "a plurality" typically includes at least two.

It should be understood that the term "and/or" as used herein is merely one type of association that describes an associated object, meaning that three relationships may exist, e.g., a and/or B may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship.

It should be understood that although the terms first, second, third, etc. may be used to describe … … in embodiments of the present disclosure, these … … should not be limited to these terms. These terms are used only to distinguish … …. For example, the first … … can also be referred to as the second … … and, similarly, the second … … can also be referred to as the first … … without departing from the scope of embodiments of the present disclosure.

The words "if", as used herein, may be interpreted as "at … …" or "at … …" or "in response to a determination" or "in response to a detection", depending on the context. Similarly, the phrase "if determined" or "if detected (a stated condition or event)" may be interpreted as "upon determining" or "in response to determining" or "upon detecting (a stated condition or event)" or "in response to detecting (a stated condition or event)", depending on the context.

It is also noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that an article or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such article or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of additional like elements in the article or device in which the element is contained.

Fig. 1-2 are schematic structural views illustrating an automatic cleaning apparatus, which may be a vacuum robot, a mopping/brushing robot, a window climbing robot, etc., according to an exemplary embodiment, and which may include a mobile platform 100, a sensing system 120, a control system 130, a drive system 140, a cleaning module 150, an energy system 160, and a human-machine interaction system 170, as shown in fig. 1-2. Wherein:

the mobile platform 100 may be configured to automatically move along a target direction on the operation surface. The operating surface may be a surface to be cleaned by the automatic cleaning device. In some embodiments, the robotic cleaning device may be a floor-mopping robot, and the robotic cleaning device operates on a floor surface, the floor surface being the operating surface; the automatic cleaning equipment can also be a window cleaning robot, and the automatic cleaning equipment works on the outer surface of the glass of the building, wherein the glass is the operation surface; the automatic cleaning device can also be a pipeline cleaning robot, and the automatic cleaning device works on the inner surface of the pipeline, wherein the inner surface of the pipeline is the operation surface. The following description in this application is given by way of example of a floor-mopping robot, purely for illustration purposes.

In some embodiments, mobile platform 100 may be an autonomous mobile platform or a non-autonomous mobile platform. The autonomous mobile platform means that the mobile platform 100 itself can automatically and adaptively make operation decisions according to unexpected environmental inputs; the non-autonomous mobile platform itself cannot adaptively make operational decisions based on unexpected environmental inputs, but may execute established programs or operate according to certain logic. Accordingly, when the mobile platform 100 is an autonomous mobile platform, the target direction may be autonomously determined by the robotic cleaning device; when the mobile platform 100 is a non-autonomous mobile platform, the target direction may be systematically or manually set. When the mobile platform 100 is an autonomous mobile platform, the mobile platform 100 includes a forward portion 111 and a rearward portion 110.

The sensing system 120 includes a position determining device 121 located above the mobile platform 100, a buffer 122 located at the forward portion 111 of the mobile platform 100, a cliff sensor 123 and an ultrasonic sensor (not shown), an infrared sensor (not shown), a magnetometer (not shown), an accelerometer (not shown), a gyroscope (not shown), an odometer (not shown), and other sensing devices located at the bottom of the mobile platform, and provides various position information and motion state information of the machine to the control system 130.

To describe the behavior of the automatic cleaning device more clearly, the following directional definitions are made: the robotic cleaning device may travel over the floor through various combinations of movement relative to the following three mutually perpendicular axes defined by the mobile platform 100: a lateral axis x, a front-to-back axis y, and a central vertical axis z. The forward driving direction along the forward-backward axis y is denoted as "forward", and the backward driving direction along the forward-backward axis y is denoted as "backward". The transverse axis x extends between the right and left wheels of the robotic cleaning device substantially along the axis defined by the center point of the drive wheel assembly 141. Wherein the robotic cleaning device is rotatable about an x-axis. The "pitch up" is when the forward portion of the automatic cleaning apparatus is tilted upward and the rearward portion is tilted downward, and the "pitch down" is when the forward portion of the automatic cleaning apparatus is tilted downward and the rearward portion is tilted upward. Additionally, the robotic cleaning device may be rotatable about the z-axis. In the forward direction of the automatic cleaning apparatus, when the automatic cleaning apparatus is tilted to the right side of the Y axis, it turns to the right, and when the automatic cleaning apparatus is tilted to the left side of the Y axis, it turns to the left.

As shown in fig. 2, cliff sensors 123 are provided on the bottom of the moving platform 100 and in front of and behind the driving wheel assemblies 141, and the cliff sensors 123 serve to prevent the automatic cleaning apparatus from falling down when the automatic cleaning apparatus is retracted, so that the automatic cleaning apparatus can be prevented from being damaged. The foregoing "front" refers to the same side with respect to the traveling direction of the automatic cleaning apparatus, and the foregoing "rear" refers to the opposite side with respect to the traveling direction of the automatic cleaning apparatus.

The position determining device 121 includes, but is not limited to, a camera, a laser distance measuring device (LDS).

The various components of the sensing system 120 may operate independently or together to achieve a more accurate function. The surface to be cleaned is identified by the cliff sensor 123 and the ultrasonic sensor to determine the physical characteristics of the surface to be cleaned, including surface media, degree of cleaning, etc., and may be more accurately determined in conjunction with a camera, laser ranging device, etc.

For example, it may be determined whether the surface to be cleaned is a carpet by the ultrasonic sensor, and if the ultrasonic sensor determines that the surface to be cleaned is a carpet material, the control system 130 controls the automatic cleaning device to perform carpet mode cleaning.

The forward portion 111 of the mobile platform 100 is provided with a bumper 122, the bumper 122 detects one or more events (or objects) in the travel path of the robotic cleaning device via a sensor system, such as an infrared sensor, as the robotic cleaning device is propelled across the floor by the drive wheel assembly 141 during cleaning, and the robotic cleaning device can respond to the events (or objects), such as an obstacle, a wall, by controlling the drive wheel assembly 141 to cause the robotic cleaning device to respond to the events (or objects), such as a distance from the obstacle, detected by the bumper 122.

The control system 130 is disposed on a circuit board in the mobile platform 100, and includes a non-transitory memory, such as a hard disk, a flash memory, a random access memory, a communication computing processor, such as a central processing unit, and an application processor, and the application processor is configured to receive sensed environmental information of the plurality of sensors from the sensing system 120, draw an instantaneous map of the environment in which the automatic cleaning apparatus is located using a positioning algorithm, such as SLAM, based on obstacle information fed back from the laser ranging device, and the like, and autonomously determine a travel path based on the environmental information and the environmental map, and then control the driving system 140 to perform operations, such as forward, backward, and/or steering, based on the autonomously determined travel path. Further, the control system 130 can also determine whether to start the cleaning module 150 for cleaning operation according to the environmental information and the environmental map.

Specifically, the control system 130 may comprehensively determine what working state the sweeper is currently in by combining the distance information and the speed information fed back by the buffer 122, the cliff sensor 123, the ultrasonic sensor, the infrared sensor, the magnetometer, the accelerometer, the gyroscope, the odometer and other sensing devices, for example, when the distance information and the speed information are passed through a threshold, the sweeper is positioned at the cliff, the upper side or the lower side of the working state is clamped, the dust box is full, the sweeper is taken up and the like, and further, specific next-step action strategies are provided according to different conditions, so that the working of the automatic cleaning device better meets the requirements of an owner, and better user experience is achieved. Furthermore, the control system can plan the most efficient and reasonable cleaning path and cleaning mode based on the instant map information drawn by the SLAM, and the cleaning efficiency of the automatic cleaning equipment is greatly improved.

Drive system 140 may execute drive commands to steer the robotic cleaning device across the floor based on specific distance and angle information, such as x, y, and theta components. Fig. 3 and 4 are oblique and front views of one side drive wheel assembly 141 in accordance with an embodiment of the present disclosure, and as shown, drive system 140 includes drive wheel assembly 141, and drive system 140 can control both left and right wheels, and in order to more precisely control the motion of the machine, drive system 140 preferably includes left and right drive wheel assemblies, respectively. The left and right drive wheel assemblies are symmetrically disposed along a lateral axis defined by the mobile platform 100. The driving wheel assembly comprises a shell and a connecting frame, driving motors 146 are respectively arranged in the driving wheel assembly, the driving motors 146 are located on the outer side of the driving wheel assembly 141, the axis of each driving motor 146 is located in the section projection of the driving wheel assembly, and the driving wheel assembly 141 can also be connected with a circuit for measuring driving current and a mileometer.

In order to provide more stable movement or greater mobility of the robotic cleaning device over the floor surface, the robotic cleaning device may include one or more steering assemblies 142, the steering assemblies 142 may be driven wheels or driving wheels, and the steering assemblies 142 may be configured to include, but are not limited to, universal wheels, and the steering assemblies 142 may be positioned in front of the driving wheel assemblies 141.

The drive motor 146 powers rotation of the drive wheel assembly 141 and/or the steering assembly 142.

The drive wheel assembly 141 may be removably attached to the mobile platform 100 to facilitate disassembly and maintenance. The drive wheel may have a biased drop-type suspension system movably secured, e.g., rotatably attached, to the robotic cleaning device moving platform 100 and maintained in contact with the floor and traction with a certain grounding force by a resilient element 143, such as a tension or compression spring, while the cleaning module 150 of the robotic cleaning device also contacts the surface to be cleaned with a certain pressure.

Energy source system 160 includes rechargeable batteries such as nickel metal hydride batteries and lithium batteries. The charging battery can be connected with a charging control circuit, a battery pack charging temperature detection circuit and a battery under-voltage monitoring circuit, and the charging control circuit, the battery pack charging temperature detection circuit and the battery under-voltage monitoring circuit are connected with the single chip microcomputer control circuit. The host computer is connected with charging pile through setting up the charging electrode in fuselage side or below and charges. If dust is attached to the exposed charging electrode, the plastic body around the electrode is melted and deformed due to the accumulation effect of electric charge in the charging process, even the electrode itself is deformed, and normal charging cannot be continued.

The human-computer interaction system 170 comprises keys on a panel of the host computer, and the keys are used for a user to select functions; the machine control system can further comprise a display screen and/or an indicator light and/or a loudspeaker, wherein the display screen, the indicator light and the loudspeaker show the current state or function selection item of the machine to a user; and a mobile phone client program can also be included. For the path navigation type cleaning equipment, a map of the environment where the equipment is located and the position of a machine can be displayed for a user at a mobile phone client, and richer and more humanized function items can be provided for the user.

The cleaning module 150 may include a dry cleaning module 151 and/or a wet cleaning module 400.

As shown in fig. 5 to 8, the dry cleaning module 151 includes a roller brush, a dust box, a blower, and an air outlet. The rolling brush with certain interference with the ground sweeps the garbage on the ground and winds the garbage to the front of a dust suction opening between the rolling brush and the dust box, and then the garbage is sucked into the dust box by air which is generated by the fan and passes through the dust box and has suction force. The dust removal capability of the sweeper can be represented by the sweeping efficiency DPU (dust pick up efficiency), which is influenced by the structure and the material of the rolling brush, the wind power utilization rate of an air duct formed by a dust suction port, a dust box, a fan, an air outlet and connecting parts among the dust suction port, the dust box, the fan, the air outlet and the dust box, the type and the power of the fan, and the sweeper is a complicated system design problem. Compared with the common plug-in dust collector, the improvement of the dust removal capability has greater significance for cleaning automatic cleaning equipment with limited energy. Because the improvement of the dust removal capability directly and effectively reduces the energy requirement, namely the machine which can clean the ground of 80 square meters by charging once originally can be changed into a machine which can clean 180 square meters or more by charging once. And the service life of the battery, which reduces the number of times of charging, is also greatly increased, so that the frequency of replacing the battery by the user is also increased. More intuitively and importantly, the improvement of the dust removal capability is the most obvious and important user experience, and the user can directly draw a conclusion whether the sweeping/wiping is clean. The dry cleaning module may also include an edge brush 157 having an axis of rotation that is angled relative to the floor for moving debris into the roller brush area of the cleaning module 150.

Fig. 5 is a schematic structural view of the dust box 152 in the dry cleaning module, fig. 6 is a schematic structural view of the fan 156 in the dry cleaning module, fig. 7 is a schematic structural view of the dust box 152 in an open state, and fig. 8 is a schematic structural view of the dust box and the fan in an assembled state.

The rolling brush with certain interference with the ground sweeps up the garbage on the ground and takes the garbage in front of the dust suction opening 154 between the rolling brush and the dust box 152, then the garbage is sucked into the dust box 152 by the air which is generated by the structure of the fan 156 and passes through the dust box 152 and has suction force, the garbage is isolated inside the dust box 152 by the filter screen 153 and close to one side of the dust suction opening 154, the filter screen 153 completely isolates the dust suction opening from the air outlet, and the filtered air enters the fan 156 through the air outlet 155.

Typically, the dust collection opening 154 of the dust box 152 is located at the front of the machine, the air outlet 155 is located at the side of the dust box 152, and the air suction opening of the fan 156 is connected with the air outlet of the dust box.

The front panel of the dirt tray 152 can be opened for cleaning the dirt tray 152 of the trash.

The filter screen 153 is connected for dismantling with the box body of dirt box 152, makes things convenient for the filter screen to dismantle and wash.

As shown in fig. 9-11, the present disclosure provides a wet cleaning module 400 configured to clean at least a portion of the working surface by wet cleaning; wherein the wet cleaning module 400 comprises: a cleaning head 410 and a driving unit 420, wherein the cleaning head 410 is used for cleaning at least one part of the operation surface, and the driving unit 420 is used for driving the cleaning head 410 to reciprocate along a target surface which is one part of the operation surface. The cleaning head 410 reciprocates along the surface to be cleaned, cleaning cloth or a cleaning plate is arranged on the surface of the contact surface of the cleaning head 410 and the surface to be cleaned, and high-frequency friction is generated between the cleaning head 410 and the surface to be cleaned through reciprocating motion, so that stains on the surface to be cleaned are removed. The reciprocating motion may be a reciprocating motion in any one or more directions in the operation surface, or may be a vibration perpendicular to the operation surface, which is not strictly limited.

As shown in fig. 9, the driving unit 420 includes: a driving platform 421 connected to the bottom surface of the moving platform 100 for providing a driving force; and a supporting platform 422 detachably connected to the driving platform 421, for supporting the cleaning head 410, and capable of being lifted and lowered under the driving of the driving platform 421.

A lifting module is disposed between the cleaning module 150 and the mobile platform 100 for making the cleaning module 150 contact with the surface to be cleaned better, or adopting different cleaning strategies for the surfaces to be cleaned made of different materials.

The dry type cleaning module 151 may be connected to the mobile platform 100 through a passive type lifting module, and when the cleaning device encounters an obstacle, the dry type cleaning module 151 may more conveniently pass over the obstacle through the lifting module.

The wet cleaning module 400 may be connected to the movable platform 100 through an active lifting module, and when the wet cleaning module 400 does not work temporarily or a surface to be cleaned that cannot be cleaned by the wet cleaning module 400 is encountered, the wet cleaning module 400 is lifted up by the active lifting module and separated from the surface to be cleaned, thereby changing a cleaning means.

As shown in fig. 10 to 11, the driving stage 421 includes: a motor 4211, which is disposed on one side of the driving platform 421 close to the movable platform 100 and outputs power through a motor output shaft; the driving wheel 4212 is connected with the output shaft of the motor, and the driving wheel 4212 is of an asymmetric structure; and a vibration member 4213 disposed on the opposite side of the driving platform 421 to the motor 4211, connected to the driving wheel 4212, and configured to reciprocate by the asymmetric rotation of the driving wheel 4212.

The drive platform 421 may further include a drive wheel and gear mechanism. A gear mechanism 235 may connect the motor 4211 and the drive wheel 4212. The motor 4211 can directly drive the driving wheel 4212 to make a rotary motion, or indirectly drive the driving wheel 4212 to make a rotary motion through a gear mechanism. One skilled in the art will appreciate that the gear mechanism may be a single gear or a gear set comprising a plurality of gears.

The motor 4211 transmits power to the cleaning head 410, the driving platform 421, the supporting platform 422, the water feeding mechanism, the water tank, etc. at the same time through the power transmission device. The energy system 160 provides power and energy to the electric machine 4211 and is controlled as a whole by the control system 130. The power transmission device can be a gear transmission, a chain transmission, a belt transmission, a worm gear and the like.

The motor 4211 comprises a forward output mode and a reverse output mode, wherein in the forward output mode, the motor 4211 rotates forward, in the reverse output mode, the motor 4211 rotates reversely, and in the forward output mode of the motor 4211, the motor 4211 can simultaneously drive the cleaning head 410 and the water feeding mechanism in the wet type cleaning assembly 400 to synchronously move through a power transmission device.

Further, the driving platform 421 further includes: a connecting rod 4214 extending along the edge of the driving platform 421 to connect the driving wheel 4212 and the vibrating member 4213, so that the vibrating member 4213 extends to a preset position, wherein the extending direction of the vibrating member 4213 is perpendicular to the connecting rod 4214.

The motor 4211 is connected to a drive wheel 4212, a vibration element 4213, a link 4214 and a vibration damper 4215 via a power transmission device. When the wet type cleaning assembly 400 is started, the motor 4211 starts to work and starts to rotate forward, the motor 4211 drives the connecting rod 4214 to reciprocate along the surface of the driving platform 421 through the driving wheel 4212, meanwhile, the vibration buffering device 4215 drives the vibration piece 4213 to reciprocate along the surface of the driving platform 421, the vibration piece 4213 drives the cleaning base plate 4221 to reciprocate along the surface of the supporting platform 422, and the cleaning base plate 4221 drives the movable area 412 to reciprocate along the surface to be cleaned. At this time, the clean water pump makes the clean water flow out from the clean water tank and sprinkle the clean water on the cleaning head 410 through the water outlet device 4217, and the cleaning head 410 cleans the surface to be cleaned through reciprocating motion.

The cleaning intensity/efficiency of the automatic cleaning device can also be automatically and dynamically adjusted according to the working environment of the automatic cleaning device. For example, the automatic cleaning device may be dynamically adjusted based on the sensing system 120 detecting physical information about the surface to be cleaned. For example, the sensing system 120 may detect information about the flatness of the surface to be cleaned, the material of the surface to be cleaned, the presence of dirt and dust, etc., and communicate this information to the control system 130 of the robotic cleaning device. Accordingly, the control system 130 can instruct the automatic cleaning apparatus to automatically and dynamically adjust the rotation speed of the motor and the transmission ratio of the power transmission device according to the working environment of the automatic cleaning apparatus, thereby adjusting the preset reciprocating period of the reciprocating motion of the cleaning head 410.

For example, when the automatic cleaning device works on a flat ground, the preset reciprocating period can be automatically and dynamically adjusted to be longer, and the water quantity of the water pump can be automatically and dynamically adjusted to be smaller; when the automatic cleaning equipment works on a not-flat ground, the preset reciprocating period can be automatically and dynamically adjusted to be shorter, and the water quantity of the water pump can be automatically and dynamically adjusted to be larger. This is because a flat floor surface is easier to clean than a less flat floor surface, and thus cleaning an uneven floor surface requires a faster reciprocating motion (i.e., higher frequency) and a greater volume of water by the cleaning head 410.

For another example, when the automatic cleaning device works on a table, the preset reciprocating period can be automatically and dynamically adjusted to be longer, and the water quantity of the water pump can be automatically and dynamically adjusted to be smaller; when the automatic cleaning device 100 is operated on the ground, the preset reciprocation period may be automatically and dynamically adjusted to be shorter, and the water amount of the water pump may be automatically and dynamically adjusted to be larger. This is because the tabletop has less dust and oil contamination relative to the floor, and the material of the tabletop is easier to clean, so that the cleaning head 410 is required to perform a relatively small number of reciprocations, and the water pump provides a relatively small amount of water to clean the tabletop.

The support platform 422 includes: the cleaning base plate 4221 is freely movably arranged on the supporting platform 422, and the cleaning base plate 4221 reciprocates under the vibration of the vibration piece 4213. Optionally, the cleaning substrate 4221 includes: and an assembly notch (not shown) disposed at a position contacting with the vibration member 4213, wherein when the support platform 422 is connected to the driving platform 421, the vibration member 4213 is assembled in the assembly notch, so that the cleaning substrate 4221 can synchronously reciprocate along with the vibration member 4213.

FIG. 12 illustrates another cleaning head drive mechanism 800 based on a slider-crank mechanism in accordance with various embodiments of the present application. The drive mechanism 800 may be applied to the drive platform 421. The drive mechanism 800 includes a drive wheel 4212, a vibrating member 4213, a cleaning base plate 4221, a link 4222 (first link), and a link 4223 (second link).

The sliding

grooves

4222 and 4223 are opened on the supporting platform 422. Both ends of the cleaning substrate 4221 respectively include a slider 525 (first slider) and a slider 528 (second slider). The

sliders

525 and 528 are respectively a protrusion at both ends of the cleaning substrate 4221. The slider 525 is inserted in the slide groove 4222 and can slide along the slide groove 4222; the slider 4223 is inserted into the slide groove 4223, and can slide along the slide groove 4223. In some embodiments, slot 4222 is collinear with slot 4223. In some embodiments, chute 4222 and chute 4223 are not collinear. In some embodiments, slot 4222 extends in the same direction as slot 4223. In some embodiments, the sliding slot 4222 and the sliding slot 4223 extend in the same direction as the cleaning substrate 4221. In some embodiments, the direction of extension of the link 4222 and link 4223 is different from the direction of extension of the cleaning base plate 4221. In some embodiments, the extension directions of chute 4222 and chute 4223 are different. For example, as shown in fig. 12, the extending direction of the link 4222 is the same as the extending direction of the cleaning base plate 4221, and the extending direction of the link 4223 is at an angle to the extending direction of the link 4222.

The shock 4213 includes a swivel end 512 and a sliding end 514. The rotating end 512 is connected to the driving wheel 4212 via a first pivot 516, and the sliding end 514 is connected to the cleaning base plate 4221 via a second pivot 518.

The rotation center of the drive wheel 4212 is point O, and the pivot center of the first pivot 516 is point a. The point O and the point A are not coincident, and the distance between the point O and the point A is a preset distance d.

When the driving wheel 4212 rotates, the point a makes a circular rotation movement. Accordingly, the turning end 512 makes a circular turning motion following the point a; the sliding end 514 drives the cleaning substrate 4221 to slide via the second pivot 518. Accordingly, the slider 525 of the cleaning base plate 4221 makes a reciprocating linear motion along the slide groove 4222; the slider 528 reciprocates linearly along the slide groove 4223. In fig. 4, the moving speed of the moving platform 210 is V0, and the moving direction is the target direction. According to some embodiments, when the chute 4223 and the chute 4222 are respectively approximately perpendicular to the direction of the moving speed V0 of the moving platform 210, the overall displacement of the cleaning base plate 4221 is substantially perpendicular to the target direction. According to other embodiments, when any one of the

chutes

4223 and 4222 is at an angle other than 90 degrees to the target direction, the overall displacement of the cleaning base plate 4221 includes both components perpendicular to the target direction and parallel to the target direction.

Further, a shock absorber 4215 is included, which is disposed on the connecting rod 4214, and is used for reducing the shock in a specific direction, in this embodiment, a moving component direction perpendicular to the target direction of the automatic cleaning apparatus.

Figure 13 illustrates another dual crank mechanism based cleaning head drive mechanism 600 according to various embodiments of the present application. The drive mechanism 600 may be applied to the drive platform 421. The drive mechanism 600 includes a drive wheel 4212 (first drive wheel), a drive wheel 4212' (second drive wheel), and a cleaning substrate 4221.

The cleaning substrate 4221 has two ends. The first end is connected with the driving wheel 4212 through a pivot 624 (first pivot); the second end is connected to the drive wheel 4212' via a pivot 626 (second pivot). The rotation center of the drive wheel 4212 is point O, and the pivot center of the pivot shaft 624 is point a. The point O and the point A are not coincident, and the distance between the point O and the point A is a preset distance d. The center of rotation of the drive wheel 236 is point O 'and the center of pivot of the pivot 626 is point a'. The point O 'and the point A' are not coincident, and the distance between the point O 'and the point A' is a preset distance d. In some embodiments, point a ', point O, and point O' lie on the same plane. Thus, drive wheel 4212 ', and cleaning base plate 4221 may form a double crankshaft mechanism (or parallelogram mechanism) in which cleaning base plate 4221 acts as a coupling rod and drive wheels 4212 and 4212' act as two cranks.

Further, a vibration damping device 4215 is included, which is disposed on the connecting rod 4214, and is used for damping vibration in a specific direction, in this embodiment, in a direction of a movement component perpendicular to a target direction of the automatic cleaning apparatus.

Fig. 14 illustrates a drive mechanism 700 based on a slider-crank mechanism in accordance with various embodiments of the present application. The drive mechanism 700 may be applied to the drive platform 421. The drive mechanism 700 includes a drive wheel 4212, a cleaning base plate 4221, and a chute 4222.

The slot 4222 is opened on the support platform 422. The cleaning base plate 4221 includes a swivel end 4227 and a sliding end 4226. Swivel end 4227 is connected to drive wheel 4212 by pivot 4228. The rotation center of the driving wheel 4212 is point O, and the rotation center of the rotation end pivot 4228 is point a. The point O and the point A are not coincident, and the distance between the point O and the point A is a preset distance d. The slide end 4226 comprises a slider 4225. Slider 4225 is a projection on slider end 4226. The slider 4225 is inserted into the slide groove 4222 and can slide along the slide groove 4222. Therefore, the drive wheel 4221, the cleaning base plate 4221, the slider 4225 and the slide groove 4222 constitute a crank-slider mechanism.

When the driving wheel 4212 rotates, the point a makes a circular rotation motion. Accordingly, the rotation end 4227 of the cleaning substrate 4221 makes a circular rotation movement following the point a; the slider 4225 slides in the sliding slot 4222 and reciprocates linearly. As a result, the cleaning substrate 4221 starts to reciprocate. According to some embodiments, the slide slot 4222 is approximately perpendicular to the moving speed of the mobile platform in the direction of the target direction, and thus, the linear movement of the sliding end 4226 comprises a component perpendicular to the target direction, and the circular swiveling motion of the swiveling end 4227 comprises both a component perpendicular to the target direction and a component parallel to the target direction.

In fig. 14, the moving speed of the moving platform is V0, and the moving direction is the target direction; and the slot 4222 is approximately perpendicular to the target direction. At this time, the cleaning substrate 4221 as a whole makes a reciprocating motion having a moving component parallel to the target direction of the automatic cleaning apparatus and a moving component perpendicular to the target direction of the automatic cleaning apparatus.

Further, the supporting platform 422 further comprises: and an elastic disassembling button 4229 arranged on at least one side of the supporting platform 422 and used for detachably connecting the supporting platform 422 to the claw 4216 of the driving platform 421. At least one mounting area 4224 provided on the support platform 422 for mounting the cleaning head 410. The mounting region 4224 may be formed of an adhesive material having an adhesive layer.

As shown in fig. 9, the cleaning head 410 includes: and the movable area 412 is connected with the cleaning base plate 4221 and reciprocates along the cleaning surface under the driving of the cleaning base plate 4221. The active region 412 is disposed at a substantially central location of the cleaning head 410. An adhesive layer is arranged on one side of the active region 412 connected with the cleaning substrate 4221, and the active region 412 is connected with the cleaning substrate 4221 through the adhesive layer.

Optionally, the cleaning head 410 further comprises: a fixed area 411 connected to the bottom of the support platform 422 through the at least one mounting area 4224, the fixed area 411 cleaning at least a portion of the worktop as the support platform 422 moves.

Further, the cleaning head 410 further includes: and a flexible connection part 413 disposed between the fixed region 411 and the movable region 412, for connecting the fixed region 411 and the movable region 412. The cleaning head 410 further comprises: a slide latch 414, extending along the edge of the cleaning head 410, is removably mounted to the support platform 422 at a latch position 4225.

As shown in fig. 9, the cleaning head 410 may be made of a material having certain elasticity, and the cleaning head 410 is fixed to the surface of the support platform 422 by an adhesive layer so as to perform a reciprocating motion. The cleaning head 410 is in contact with the surface to be cleaned at all times while the cleaning head 410 is in operation.

The water supply device comprises a water outlet 4217, and the water outlet 4217 may be directly or indirectly connected to a cleaning solution outlet of a water tank (not shown), i.e. a liquid outlet of the clean water tank, wherein the cleaning solution may flow to the water outlet 4217 through the cleaning solution outlet of the water tank, and may be uniformly coated on the surface to be cleaned through the water outlet. The water outlet device can be provided with a connecting element (not shown) by means of which the water outlet device is connected to the cleaning fluid outlet of the water tank. The water outlet device is provided with a distribution port which can be a continuous opening or a combination of a plurality of broken small openings, and the distribution port can be provided with a plurality of nozzles. The cleaning solution is through the water tank the cleaning solution export with go out water installation the connecting piece flow direction distribution mouth, through the distribution mouth scribbles uniformly on the operation face.

The water feeding mechanism can also comprise a clean water pump 4219 and/or a clean water pump tube 4218, and the clean water pump 4219 can be directly communicated with a cleaning liquid outlet of the water tank or can be communicated with the cleaning liquid outlet of the water tank through the clean water pump tube 4218.

A cleaning water pump 4219 may be connected with the connection of the water outlet device and may be configured to pump the cleaning liquid from the tank to the water outlet device. The clean water pump may be a gear pump, a vane pump, a plunger pump, a peristaltic pump, or the like.

The water delivery mechanism pumps the cleaning solution in the clean water tank out through a clean water pump 4219 and a clean water pump tube 4218 and delivers the cleaning solution to a water outlet device, the water outlet device 4217 can be a nozzle, a water dropping hole, a soaking cloth and the like, and the water is uniformly distributed on the cleaning head, so that the cleaning head and the surface to be cleaned are wetted. The stains on the wet surface to be cleaned can be cleaned more easily. In the wet cleaning assembly 400, the power/flow of the clean water pump may be adjusted.

The wet cleaning module has the advantages that the driving unit is additionally arranged, the vibration area is increased, the cleaning head can reciprocate, the surface to be cleaned can be repeatedly cleaned, multiple cleaning can be realized through one area at a time in the movement track of the automatic cleaning equipment, the cleaning effect is greatly enhanced, and particularly, the cleaning effect is obvious for the area with more stains.

According to this disclosed embodiment, this disclosure provides a liftable automatic cleaning equipment, includes: a mobile platform 100 configured to automatically move on an operation surface; a wet cleaning module 400 movably connected to the movable platform 100 through a four-bar linkage lifting structure 500, and configured to clean at least a portion of the operation surface in a wet cleaning manner; the four-bar linkage lifting structure 500 is a parallelogram structure, and is used for switching the wet cleaning module 400 between a rising state and a sinking state, where the rising state is that the wet cleaning module 400 leaves the operation surface, as shown in fig. 15; the sinking state is that the wet cleaning module 400 is attached to the operation surface, as shown in fig. 16.

As shown in fig. 17 to 18, the four-bar linkage elevating structure 500 includes: a first connection end 501 for providing a main power to switch the wet cleaning module 400 between a rising state and a sinking state; the second connection end 502 is disposed opposite to the first connection end 501, and rotates under the action of the main power. The first connection end 501 and the second connection end 502 are respectively located at both sides of the wet cleaning module 400, and the wet cleaning module 400 is lifted up or lowered down by stably providing a lifting force.

Specifically, the first connection end 501 includes a first bracket 5011 fixedly connected to the bottom of the mobile platform 100; the first bracket 5011 has a substantially zigzag structure, and the first bracket 5011 includes: the cross beam 50111, the first longitudinal beam 50114 and the second longitudinal beam 50115 are fixedly connected to the moving platform 100 at the tail ends of the first longitudinal beam 50114 and the second longitudinal beam 50115 through bolts, respectively, so as to provide a supporting force when the wet cleaning module 400 is lifted.

The first connection end 501 further includes a first connection rod pair 5012, one end of the first connection rod pair 5012 is rotatably connected to the first bracket 5011, and the other end is rotatably connected to the wet cleaning module 400. The first connecting rod pair 5012 can be of a hollow structure, and the whole weight of the lifting end can be reduced.

Alternatively, the first connecting rod pair 5012 includes a first connecting rod 50121 and a second connecting rod 50122 which are disposed in parallel, first ends of the first connecting rod 50121 and the second connecting rod 50122 are rotatably connected to the first longitudinal beam 50114 by movable studs, and second ends of the first connecting rod 50121 and the second connecting rod 50122 are rotatably connected to the wet cleaning module 400 by movable studs. For example, through holes with a diameter larger than that of the movable stud are respectively formed at two ends of the first connecting rod 50121 and the second connecting rod 50122, so that the movable stud can freely rotate in the through holes, and the movable stud passes through the through holes and then is fixedly connected to the first longitudinal beam 50114. When the motor 4211 provides a pulling force to the first end through the cable, the first ends of the first and

second connection rods

50121 and 50122 simultaneously rotate around the movable stud of the first end, and the second end rises under the pulling force of the cable, so that the wet cleaning module 400 is lifted. When the motor 4211 releases a pulling force to the first end through the pulling cable, the first ends of the first and

second connection rods

50121 and 50122 rotate reversely around the movable stud of the first end at the same time, and the second end descends under the action of gravity, so that the wet cleaning module 400 sinks.

The lifting structure 500 further includes a pull cable 42194 for providing a pulling power to rotate the first pair of connecting rods 5012 within a predetermined angle. The stay cable 42194 includes: the cable motor terminal 50131 is connected to the driving unit 420, for example, is connected to a gear connected to the output shaft of the motor in a winding manner, and performs a telescopic motion by the rotation of the motor. The cable bracket terminal 50132 is connected to the first bracket 5011, and the motor raises or lowers the second ends of the first and

second connection rods

50121 and 50122 through the cable 42194.

Optionally, the first bracket 5011 further includes: the cable support structure comprises a sliding groove 50112 extending along the surface of the beam 50111, and a clamping hole 50113 penetrating through the beam 50111 and arranged at the extending tail end of the sliding groove 50112 and used for containing and clamping the cable support terminal 50132, wherein the cable 42194 is connected with the first ends of the first connecting rod 50121 and the second connecting rod 50122 through the sliding groove 50112 and the clamping hole 50113, the sliding groove 50112 can limit the moving direction of the cable, the lifting stability of a module is guaranteed, and the width of the sliding groove is matched with the thickness of the cable.

As shown in fig. 17, the second connection end 502 includes: a second bracket 5021 fixedly connected to the bottom of the mobile platform 100; a second link pair 5022 having one end rotatably connected to the second bracket 5021 and the other end rotatably connected to the wet type cleaning module 400; the second coupling lever pair 5022 rotates with the rotation of the first coupling lever pair 5012. The second connecting rod pair 5022 can be of a hollow structure, and the overall weight of the lifting end can be reduced.

Specifically, the second connection lever pair 5022 includes a third connection lever 50221 and a fourth connection lever 50222 which are arranged in parallel, first ends of the third connection lever 50221 and the fourth connection lever 50222 are rotatably connected to the second bracket 5021 through a movable stud, and second ends of the third connection lever 50221 and the fourth connection lever 50222 are rotatably connected to the wet cleaning module 400 through a movable stud. For example, through holes having a diameter larger than that of the movable studs are respectively formed at both ends of the third connecting rod 50221 and the fourth connecting rod 50222, so that the movable studs can freely rotate in the through holes, and the movable studs pass through the through holes and then are fixedly connected to the second bracket 5021 and the wet cleaning module 400. When the first connection end 501 is driven by the motor 4211 to rotate, the first ends of the third connection rod 50221 and the fourth connection rod 50222 simultaneously rotate around the movable stud of the first end, and the second ends of the third connection rod 50221 and the fourth connection rod 50222 simultaneously rotate around the movable stud of the second end, so that the wet cleaning module 400 is lifted. When the first connection end 501 releases the pulling force, the third connection rod 50221 and the fourth connection rod 50222 rotate around the movable stud in opposite directions, and descend under the action of gravity, so that the wet cleaning module 400 sinks.

Through the four-bar lifting structure arranged between the wet type cleaning module and the moving platform, the wet type cleaning module can be lifted relative to the moving platform, when the floor mopping task is executed, the wet type cleaning module is lowered to enable the wet type cleaning module to be in contact with the ground, when the floor mopping task is completed, the wet type cleaning module is lifted to enable the wet type cleaning module to be separated from the ground, and the resistance increase caused by the existence of the cleaning module when the cleaning equipment freely moves on a cleaned surface is avoided.

The cooperation surface medium sensor 103 etc. can detect the sensor of treating the surface type on clean surface, and the lift module can clean the operation with wet-type cleaning module according to the surface of treating that the difference cleans, if clean the module lifting with wet-type on the carpet surface to put down the clean module of wet-type on surfaces such as floor/ceramic tile and clean, thereby realize more comprehensive clean effect.

The automatic cleaning device will usually make a turning motion or the like as required during the cleaning process, for example, as shown in fig. 19, the automatic cleaning device 2000 may rotate and turn around if encountering an obstacle during the cleaning process, and the carpet 2001 which is not touched during the cleaning process may be reached by the automatic cleaning device 2000 during the rotation process.

Since the automatic cleaning apparatus 2000 is installed with the dry type cleaning module 151 and the wet type cleaning module 400 at the same time, the dry type cleaning module 151 is located at the front end of the traveling direction to clean the floor; the wet cleaning module 400 is located at the rear end of the traveling direction, and can scrub and clean the floor after the dry cleaning module 151 cleans the floor. The wet cleaning module 400 is generally not useful for cleaning carpets and the like. Therefore, if the automatic cleaning device 2000 is moved up to the carpet 2001 in a state where the wet cleaning module 400 is operated, the carpet is easily wetted and may get stuck on the carpet 2001, causing a trouble to a customer.

Based on this, the exemplary embodiment of the present disclosure provides an automatic cleaning apparatus control method, and referring to fig. 20, a flowchart of the automatic cleaning apparatus control method provided by the exemplary embodiment of the present disclosure is shown, the automatic cleaning apparatus control method is mainly used in an automatic cleaning apparatus including a surface medium sensor, and may include the following steps:

step S2110, when the automatic cleaning device cleans in the first surface medium area, if the surface medium sensor triggers the surface medium change signal, determining whether the automatic cleaning device is located in the second surface medium area;

and S2120, under the condition that the automatic cleaning device is located in the second surface medium area, according to the established second surface medium area map and the current position of the automatic cleaning device, controlling the automatic cleaning device to be separated from the second surface medium area along the direction perpendicular to the edge of the second surface medium area.

According to the automatic cleaning device control method provided by the exemplary embodiment of the disclosure, on the basis of acquiring the surface medium change signal and based on the condition that the automatic cleaning device is determined to be located in the second surface medium region, the automatic cleaning device can be controlled to be separated from the second surface medium region along the direction perpendicular to the edge of the second surface medium region according to the established second surface medium region map and the current position of the automatic cleaning device, so that the automatic cleaning device can be helped to come out of the inside of the second surface medium region as soon as possible, the occurrence of the situations of jamming and the like can be reduced, and the user experience is improved.

It should be noted that the above-mentioned control method of the automatic cleaning device is suitable for the mode of the automatic cleaning device in the carpet non-cleaning mode or the mode of the wet cleaning module being turned on, in which the automatic cleaning device is not carpet-capable, i.e. the mode of cleaning only the first surface medium region. Therefore, when the automatic cleaning device is trapped by the carpet, the automatic cleaning device can be controlled to get rid of the carpet as soon as possible by the control method of the automatic cleaning device provided by the exemplary embodiment of the disclosure, so that the probability that the automatic cleaning device is trapped by the carpet is reduced.

In addition, the first surface medium is one or more of floor surface media such as wood floor, carpet, ceramic tile, cement surface and the like; the second surface medium is one or more of wood floor, carpet, ceramic tile, cement surface and other floor surface media different from the first surface medium.

Continuing with the case shown in fig. 19 as an example, the description will be made of a control method of an automatic cleaning apparatus according to an exemplary embodiment of the present disclosure.

When the automatic cleaning device 2000 is turned around to sweep a first surface medium area 2002 (e.g., a floor) along a wall, the automatic cleaning device 2000 may easily go up into a second surface medium area 2001 (e.g., a carpet) as shown, and at this time, the automatic cleaning device 2000 may be controlled to go out of the second surface medium area 2001 by an automatic cleaning device control method provided by an exemplary embodiment of the present disclosure, which specifically includes:

when the surface media sensor triggers the surface media change signal while the automatic cleaning device 2000 is cleaning in the first surface media area 2002, it indicates that the surface media sensor on the automatic cleaning device 2000 has detected the second surface media area 2001. At this time, it is necessary to determine whether or not the automatic cleaning device 2000 is located within the second surface medium region 2001.

In an exemplary embodiment of the present disclosure, the case of determining whether the automatic cleaning device 2000 is located within the second surface medium region 2001 may include: detecting whether the position of the surface medium sensor is already within the second surface medium region 2001; if the position of the surface medium sensor is already in the second surface medium region 2001, it is determined that the automatic cleaning device 2000 has already entered the second surface medium region 2001, or that at least a part of the automatic cleaning device 2000 has already entered the second surface medium region 2001.

The existing commonly used surface medium sensors mainly include an infrared sensor recognition device, an ultrasonic sensor recognition device and the like, and different sensor recognition devices, and the specific methods for detecting whether the position of the surface medium sensor of the automatic cleaning equipment is in the second surface medium area may be different. The present exemplary embodiment describes a method of specifically detecting whether the position of the surface medium sensor is already in the second surface medium region, taking the ultrasonic sensor recognition device as an example:

in practical applications, the ultrasonic sensor identification device is used for transmitting an ultrasonic signal to the ground and receiving a return signal reflected by the ground. The waveform of the ultrasonic echo signal of the normal floor is deviated from the waveform of the ultrasonic echo signal of the surface of the second surface medium region such as a carpet, as shown in fig. 21 and 22. The first surface medium region surface and the second surface medium region surface can be distinguished according to the difference of echo signals. The second surface medium region surface refers to the surface of the second surface medium region laid on the ground surface. Wherein, the waveform and the wave peak number of the echo signal can be used to characterize the signal.

In an exemplary embodiment of the present disclosure, detecting whether the position where the surface medium sensor is located is already within the second surface medium region includes: controlling a surface medium sensor to vertically transmit an ultrasonic signal to a current surface and receiving an actual echo signal reflected by the current surface; and judging whether the actual echo signal is different from the echo signal of the first surface medium region, and if so, determining that the position of the surface medium sensor is in the second surface medium region.

In practical application, after receiving the electric signal, the ultrasonic sensor converts the electric signal into an ultrasonic signal and transmits the ultrasonic signal downwards to the surface of the medium area, and the ultrasonic signal is reflected by the surface of the medium area, received by the ultrasonic sensor and converted into the electric signal. The specific judgment of the difference between the actual echo signal and the echo signal of the surface of the first surface medium region may include: and judging whether the number of wave crests in the actual echo signal is smaller than that of the wave crests in the echo signal of the surface of the first surface medium area, and if the number of the wave crests in the actual echo signal is smaller than that of the wave crests in the echo signal of the surface of the first surface medium area, identifying the current ground as the surface of the second surface medium area. Specifically, for different regions, the actual echo signal may be compared with the echo signal of the surface of the first surface medium region corresponding to the current region separately, so as to improve the accuracy of identifying the second surface medium region.

According to the exemplary embodiment, the echo signal of the second surface medium region is judged by taking the echo signal of the surface of the first surface medium region as a reference, so that the difficulty of identifying the second surface medium region can be reduced, and the accuracy and precision of identifying the second surface medium region by the automatic cleaning equipment are improved.

In an exemplary embodiment of the present disclosure, in case that it is determined that the automatic cleaning apparatus is located within the second surface medium region, the automatic cleaning apparatus may be controlled to escape from the second surface medium region in a direction perpendicular to an edge of the second surface medium region according to the established second surface medium region map and the current position of the automatic cleaning apparatus.

Generally, before cleaning the first surface medium region, the automatic cleaning device scans a space, such as a room, in which the first surface medium region is located to obtain a room map; if the second surface media area is found during the process of obtaining the room map or cleaning the room, a second surface media area map is created.

The method for establishing the second surface medium area map specifically comprises the following steps: controlling the automatic cleaning device to operate to the edge of the second surface medium region and then scanning the boundary of the second surface medium region, after scanning, producing an initialization region 2400 as shown in fig. 23 according to the scanned boundary, and recording the initialization region 2400 in the automatic cleaning device.

The boundary coordinates of the initialization area may then be merged, for example, by merging adjacent boundary coordinates into one coordinate, resulting in a merged area 2500 smoother than the boundary of the initialization area as shown in fig. 24, to create a second surface media area map, and storing the second surface media area map in the automatic cleaning device.

In addition, as shown in fig. 25, the present exemplary embodiment further includes splitting the merged region 2500 according to a preset shape to form a plurality of

sub-regions

2601 and 2602, storing the plurality of

sub-regions

2601 and 2602 in the automatic cleaning device, and performing partial sub-region cleaning as required in a subsequent cleaning process.

In practical applications, the preset shape may be a square shape, a circular shape, or other shapes such as a diamond shape, as shown in fig. 25, the sub-region 2601 determined according to the preset shape is a square region, and the sub-region 2602 is a circular region. The exemplary embodiments of the present disclosure are not particularly limited with respect to the specific preset shape.

In the exemplary embodiment of the present disclosure, after obtaining the second surface medium area map, the current position of the automatic cleaning device 2000 may be combined to determine the edge of the second surface medium area perpendicular to the traveling direction D1 when the automatic cleaning device 2000 enters the second surface medium area 2001, and control the automatic cleaning device 2000 to reverse and separate from the second surface medium area along the direction D2 perpendicular to the edge of the second surface medium area, that is, the direction opposite to the traveling direction D1 when entering the second surface medium area, so as to reduce other operations such as rotation and improve the success rate and efficiency of escaping.

Or, determining the edge of the second surface medium area closest to the automatic cleaning device 2000 based on the established second surface medium map and the current position of the automatic cleaning device 2000; the automatic cleaning device 2000 is controlled to escape the second surface medium region 2000 in a direction D3 perpendicular to the nearest edge of the second surface medium region to help the automatic cleaning device 2000 escape the second surface medium region 2000 as soon as possible with the shortest distance.

It should be noted that when the automatic cleaning device 2000 is controlled to disengage the second surface medium region 2000 in the direction D3 perpendicular to the nearest edge of the second surface medium region, the automatic cleaning device 2000 needs to be controlled to rotate by a first preset angle to disengage the second surface medium region 2000 in a forward direction or a reverse direction.

In practical applications, the first preset angle may be determined according to an included angle between the traveling direction of the automatic cleaning device and the nearest edge of the second surface medium region, for example, if the included angle is 90 degrees, the first preset angle is 90 degrees. In addition, in the process of controlling the automatic cleaning device 2000 to rotate by the first preset angle, the automatic cleaning device 2000 may be controlled to rotate clockwise by the first preset angle, or the automatic cleaning device 2000 may be controlled to rotate clockwise by the first preset angle, and the rotation directions are different, and it may be finally determined whether the automatic cleaning device 2000 is separated from the second surface medium region 2000 in a forward traveling manner or in a reverse manner. The exemplary embodiments of the present disclosure are not particularly limited thereto.

In the exemplary embodiment of the present disclosure, after the automatic cleaning device performs the reverse operation for a preset time, if the surface media sensor still detects the second surface media area 2000, it indicates that the speed of the automatic cleaning device during the reverse operation is too slow, and at this time, the automatic cleaning device 2000 may be controlled to rotate by a second preset angle and then be separated from the second surface media area in the forward direction. The second predetermined angle here is 180 degrees.

In an exemplary embodiment of the present disclosure, after determining that the automatic cleaning device is detached from the second surface medium region, the automatic cleaning device may be controlled to clean along the edge of the second surface medium region, and after the cleaning along the edge of the second surface medium region is finished, the other regions of the first surface medium region are cleaned again, and during the cleaning along the edge of the second surface medium region, the second surface medium region map is rescanned and drawn to update the established second surface medium region map.

According to the automatic cleaning device control method provided by the exemplary embodiment of the disclosure, when the automatic cleaning device enters the second surface medium area by mistake, the moving direction of the automatic cleaning device can be determined according to the established second surface medium area map and the current position of the automatic cleaning device, so that the automatic cleaning device can conveniently separate from the second surface medium area in a fastest way, and the rolling of the automatic cleaning device on the second surface medium area can also be reduced.

In practical applications, the automatic cleaning device further includes other functions that help to realize the overall operation, which is not described in detail in this exemplary embodiment.

The method described above is not limited to being used in an automatic cleaning device having a dry cleaning module and a wet cleaning module, but may also be used in a floor sweeping robot having only a dry cleaning module, a floor mopping robot having only a wet cleaning module, other intelligent robots having an autonomous traveling mechanism and requiring recognition of the shape of the floor, and the like.

It should be noted that although the steps of the methods of the present disclosure are depicted in the drawings in a particular order, this does not require or imply that the steps must be performed in this particular order or that all of the depicted steps must be performed to achieve desirable results. Additionally or alternatively, certain steps may be omitted, multiple steps combined into one step execution, and/or one step broken down into multiple step executions, etc.

In an exemplary embodiment of the present disclosure, there is also provided an automatic cleaning apparatus control device provided to an automatic cleaning apparatus including a surface medium sensor, as shown in fig. 26, the automatic cleaning apparatus control device 2700 may include: a location determination module 2701, and a navigation control module 2702, wherein:

a position determining module 2701, configured to determine whether the automatic cleaning device is located in a second surface medium region if the surface medium sensor triggers a surface medium change signal when the automatic cleaning device is cleaning in a first surface medium region;

and the navigation control module 2702 is used for controlling the automatic cleaning device to be separated from the second surface medium area along the direction vertical to the edge of the second surface medium area according to the established second surface medium area map and the current position of the automatic cleaning device under the condition that the automatic cleaning device is determined to be positioned in the second surface medium area.

The specific details of each of the above-mentioned automatic cleaning device control means modules have been described in detail in the corresponding automatic cleaning device control method, and therefore are not described herein again.

It should be noted that although in the above detailed description several modules or units of the apparatus for performing are mentioned, such a division is not mandatory. Indeed, the features and functionality of two or more modules or units described above may be embodied in one module or unit, according to embodiments of the present disclosure. Conversely, the features and functions of one module or unit described above may be further divided into embodiments by a plurality of modules or units.

In an exemplary embodiment of the present disclosure, an electronic device capable of implementing the above method is also provided.

As will be appreciated by one skilled in the art, aspects of the present disclosure may be embodied as a system, method or program product. Accordingly, various aspects of the present disclosure may be embodied in the form of: an entirely hardware embodiment, an entirely software embodiment (including firmware, microcode, etc.) or an embodiment combining hardware and software aspects that may all generally be referred to herein as a "circuit," module "or" system.

An electronic device 2800 according to this embodiment of the disclosure is described below with reference to fig. 27. The electronic device 2800 shown in fig. 27 is only an example and should not place any limitation on the scope of use and functionality of embodiments of the present disclosure.

As shown in fig. 27, electronic device 2800 is represented in the form of a general purpose computing device. Components of electronic device 2800 may include, but are not limited to: the at least one processing unit 2810, the at least one memory unit 2820, a bus 2830 connecting different system components (including the memory unit 2820 and the processing unit 2810), and a display unit 2840.

Wherein the storage unit 2820 stores program code that is executable by the processing unit 2810, such that the processing unit 2810 performs steps according to various exemplary embodiments of the present disclosure described in the above section "exemplary method" of this specification. For example, the processing unit 2810 may perform step S2110 of fig. 20, when the automatic cleaning device cleans in the first surface medium region, if the surface medium sensor triggers the surface medium change signal, determine whether the automatic cleaning device is located in the second surface medium region; and S2120, under the condition that the automatic cleaning device is located in the second surface medium area, according to the established second surface medium area map and the current position of the automatic cleaning device, controlling the automatic cleaning device to be separated from the second surface medium area along the direction perpendicular to the edge of the second surface medium area.

The storage unit 2820 may include readable media in the form of volatile memory units, such as a random access memory unit (RAM)28201 and/or a cache memory unit 28202, and may further include a read only memory unit (ROM) 28203.

The storage unit 2820 may also include a program/utility 28204 having a set (at least one) of program modules 28205, such program modules 28205 include, but are not limited to: an operating system, one or more application programs, other program modules, and program data, each of which, or some combination thereof, may comprise an implementation of a network environment.

The bus 2830 may be any bus representing one or more of several types of bus structures, including a memory unit bus or memory unit controller, a peripheral bus, an accelerated graphics port, a processing unit, or a local bus using any of a variety of bus architectures.

The electronic device 2800 may also communicate with one or more external devices 2870 (e.g., keyboard, pointing device, bluetooth device, etc.), and may also communicate with one or more devices that enable a user to interact with the electronic device 2800, and/or any devices (e.g., router, modem, etc.) that enable the electronic device 2800 to communicate with one or more other computing devices. Such communication may occur through an input/output (I/O) interface 2850. Also, the electronic device 2800 may also communicate with one or more networks (e.g., a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public network such as the internet) via the network adapter 2860. As shown, the network adapter 2860 communicates with the other modules of the electronic device 2800 via a bus 2830. It should be appreciated that although not shown, other hardware and/or software modules may be used in conjunction with electronic device 2800, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, to name a few.

Through the above description of the embodiments, those skilled in the art will readily understand that the exemplary embodiments described herein may be implemented by software, or by software in combination with necessary hardware. Therefore, the technical solution according to the embodiments of the present disclosure may be embodied in the form of a software product, which may be stored in a non-volatile storage medium (which may be a CD-ROM, a usb disk, a removable hard disk, etc.) or on a network, and includes several instructions to enable a computing device (which may be a personal computer, a server, a terminal device, or a network device, etc.) to execute the method according to the embodiments of the present disclosure.

In an exemplary embodiment of the present disclosure, there is also provided a computer-readable storage medium having stored thereon a program product capable of implementing the above-described method of the present specification. In some possible embodiments, various aspects of the disclosure may also be implemented in the form of a program product comprising program code for causing a terminal device to perform the steps according to various exemplary embodiments of the disclosure described in the "exemplary methods" section above of this specification, when the program product is run on the terminal device.

According to the program product for implementing the above method of the embodiments of the present disclosure, it may employ a portable compact disc read only memory (CD-ROM) and include program codes, and may be run on a terminal device, such as a personal computer. However, the program product of the present disclosure is not limited thereto, and in this document, a readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.

The program product may employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium include: an electrical connection having one or more wires, a portable disk, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

A computer readable signal medium may include a propagated data signal with readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A readable signal medium may also be any readable medium that is not a readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.

Program code embodied on a readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

Program code for carrying out operations of the present disclosure may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device and partly on a remote computing device, or entirely on the remote computing device or server. In situations involving remote computing devices, the remote computing devices may be connected to the user computing device through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to external computing devices (e.g., through the internet using an internet service provider).

Furthermore, the above-described drawings are merely schematic illustrations of processes involved in methods according to exemplary embodiments of the present disclosure, and are not intended to be limiting. It will be readily understood that the processes shown in the above figures are not intended to indicate or limit the chronological order of the processes. In addition, it is also readily understood that these processes may be performed synchronously or asynchronously, e.g., in multiple modules.

Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This application is intended to cover any variations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.

It will be understood that the present disclosure is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is to be limited only by the terms of the appended claims.

Claims

1. An automatic cleaning apparatus control method for an automatic cleaning apparatus including a surface medium sensor, comprising:

when the automatic cleaning equipment is in a mode that the automatic cleaning equipment does not clean a second surface medium area or a wet type cleaning module of the automatic cleaning equipment is started, and the automatic cleaning equipment is cleaned in a first surface medium area, if a surface medium sensor triggers a surface medium change signal, determining whether the automatic cleaning equipment is located in the second surface medium area;

and under the condition that the automatic cleaning equipment is determined to be positioned in the second surface medium area, according to the established second surface medium area map and the current position of the automatic cleaning equipment, controlling the automatic cleaning equipment to be separated from the second surface medium area along the direction vertical to the edge of the second surface medium area, so that the automatic cleaning equipment can come out of the second surface medium area as soon as possible, and reducing the probability that the automatic cleaning equipment is trapped by the second surface medium.

2. The automatic cleaning device control method of claim 1, wherein controlling the automatic cleaning device to move away from the second surface media area in a direction perpendicular to the second surface media area edge comprises:

and determining a second surface medium area edge perpendicular to the traveling direction of the automatic cleaning device when entering the second surface medium area according to the established second surface medium map and the current position of the automatic cleaning device, and controlling the automatic cleaning device to be separated from the second surface medium area along the direction perpendicular to the second surface medium area edge.

3. The automatic cleaning apparatus control method according to claim 1, wherein controlling the automatic cleaning apparatus to leave the second surface medium region in a direction perpendicular to an edge of the second surface medium region includes:

determining the edge of the second surface medium area closest to the automatic cleaning equipment according to the established second surface medium map and the current position of the automatic cleaning equipment; controlling the automatic cleaning device to disengage the second surface media area in a direction perpendicular to the nearest edge of the second surface media area.

4. The automatic cleaning apparatus control method according to claim 3, characterized in that the method further comprises:

before the automatic cleaning equipment is controlled to be separated from the second surface medium region along the direction perpendicular to the nearest edge of the second surface medium region, the automatic cleaning equipment is controlled to rotate by a first preset angle according to the included angle between the walking direction of the automatic cleaning equipment and the nearest edge of the second surface medium region; and controlling the automatic cleaning equipment to be separated from the second surface medium region in a forward traveling or reverse mode.

5. The automatic cleaning apparatus control method according to claim 4, characterized in that the method further comprises:

after the automatic cleaning equipment executes the reversing operation for a preset time, if the surface medium sensor still detects the second surface medium area, the automatic cleaning equipment is controlled to rotate by a second preset angle and then is separated from the second surface medium area in the forward direction.

6. An automatic cleaning device control apparatus provided in an automatic cleaning device including a surface medium sensor, comprising:

a position determination module, configured to determine whether the automatic cleaning device is located in the second surface medium region if the surface medium sensor triggers the surface medium change signal when the automatic cleaning device is cleaning in the first surface medium region in a mode that the automatic cleaning device is not cleaning the second surface medium region or a wet cleaning module of the automatic cleaning device is turned on;

and the navigation control module is used for controlling the automatic cleaning equipment to be separated from the second surface medium area along the direction vertical to the edge of the second surface medium area according to the established second surface medium area map and the current position of the automatic cleaning equipment under the condition that the automatic cleaning equipment is determined to be positioned in the second surface medium area.

7. An automatic cleaning apparatus control method for an automatic cleaning apparatus including a surface medium sensor, comprising:

when the automatic cleaning device is in a mode that the second surface medium area is not cleaned or a wet type cleaning module of the automatic cleaning device is started, when the automatic cleaning device cleans in the first surface medium area, based on the detection of the second surface medium area by the surface medium sensor, the automatic cleaning device is controlled to be separated from the second surface medium area along a direction vertical to the edge of the second surface medium area according to the established second surface medium area map and the current position of the automatic cleaning device, so that the automatic cleaning device is prevented from being wetted or being trapped in the second surface medium area.

8. An automatic cleaning apparatus control method for an automatic cleaning apparatus including a surface medium sensor, characterized by comprising:

when the automatic cleaning equipment is in a mode that the automatic cleaning equipment does not clean a second surface medium area or a wet type cleaning module of the automatic cleaning equipment is started, when the automatic cleaning equipment cleans in the first surface medium area, if at least one part of the automatic cleaning equipment is determined to enter the second surface medium area, the automatic cleaning equipment is controlled to be separated from the second surface medium area along a direction vertical to the edge of the second surface medium area according to an established second surface medium area map and the current position of the automatic cleaning equipment, so that the automatic cleaning equipment is prevented from being wetted or being trapped in the second surface medium area.

9. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out a method of controlling an automatic cleaning apparatus according to any one of claims 1-5, 7-8.

10. An electronic device, comprising: a processor; and a memory for storing executable instructions of the processor; wherein the processor is configured to perform the automatic cleaning apparatus control method of any one of claims 1-5, 7-8 via execution of the executable instructions.