CN114601399B

CN114601399B - Control method and device of cleaning equipment, cleaning equipment and storage medium

Info

Publication number: CN114601399B
Application number: CN202111492870.1A
Authority: CN
Inventors: 王恺靖
Original assignee: Beijing Stone Innovation Technology Co ltd
Current assignee: Beijing Stone Innovation Technology Co ltd
Priority date: 2021-12-08
Filing date: 2021-12-08
Publication date: 2023-07-04
Anticipated expiration: 2041-12-08
Also published as: CN114601399A

Abstract

The embodiment of the disclosure provides a control method and device of cleaning equipment, the cleaning equipment and a storage medium. The control method of the cleaning device comprises the following steps: acquiring first detection information of a first detection piece based on the triggering piece being triggered; determining a first movement distance based at least on the acquired first detection information; after the cleaning equipment is controlled to move backwards for a first moving distance, performing a first obstacle approaching operation according to the first detection information; acquiring second detection information of a second detection piece; and controlling the cleaning equipment to execute the barrier-following walking operation according to the second detection information. Therefore, the number of times of collision between the cleaning equipment and the obstacle again can be reduced as much as possible, the cleaning equipment can quickly walk along the obstacle, and the problem of missing of the adjacent part of the ground and the wall is reduced.

Description

Control method and device of cleaning equipment, cleaning equipment and storage medium

Technical Field

The disclosure relates to the technical field of intelligent control, and in particular relates to a control method and device of cleaning equipment, the cleaning equipment and a storage medium.

Background

Current cleaning devices, such as self-moving cleaning robots, are generally capable of automatically traveling in an area to be cleaned to complete a cleaning operation without user operation. During cleaning, the cleaning device encounters an obstacle and, as the cleaning device moves along the obstacle, the portion of the surface to be cleaned adjacent the obstacle can be cleaned.

Disclosure of Invention

In view of the above, embodiments of the present disclosure provide a control method, apparatus, cleaning device, and storage medium for a cleaning device, which can reduce the number of collisions between the cleaning device and an obstacle again as much as possible, so that the cleaning device can quickly walk along the obstacle, and reduce problems such as missed scanning on adjacent portions of a floor and a wall.

An embodiment of a first aspect of the present disclosure provides a control method of a cleaning apparatus including a machine body, and a trigger member, a first detecting member, and a second detecting member disposed on the machine body, the trigger member being configured to be triggered when the cleaning apparatus collides with an obstacle, the first detecting member being configured to sense the obstacle on a peripheral side of the machine body, the second detecting member being disposed on one side of the machine body, and configured to sense the obstacle on a side of the machine body, the control method including:

acquiring first detection information of a first detection piece based on the triggering piece being triggered; determining a first movement distance based at least on the acquired first detection information; after the cleaning equipment is controlled to move backwards for a first moving distance, performing a first obstacle approaching operation according to the first detection information; acquiring second detection information of a second detection piece; and controlling the cleaning equipment to execute the barrier-following walking operation according to the second detection information.

Further, the first detection information includes at least: a first included angle between the machine body and the obstacle, a vertical distance between the machine body and the obstacle, and a horizontal distance between the machine body and a target end of the obstacle, wherein the target end of the obstacle is positioned at one side of the front of the cleaning device, which is far away from the second detection piece; wherein determining the first movement distance based on the acquired first detection information includes: the first movement distance is determined according to the first included angle, the vertical distance between the machine body and the obstacle, and the horizontal distance between the machine body and the target end of the obstacle.

Further, according to the first detection information, performing a first obstacle approaching operation, including:

determining a first rotation angle according to the first included angle; controlling the cleaning device to rotate a first rotation angle to a side far away from the second detection piece; the cleaning apparatus is controlled to move forward according to the horizontal distance between the machine body and the target end of the obstacle.

Further, controlling the cleaning apparatus to move forward according to the horizontal distance of the machine body from the target end of the obstacle includes: controlling the cleaning device to move forward based on the horizontal distance between the machine body and the target end of the obstacle being equal to or greater than a preset value; acquiring a second included angle between the machine main body and the obstacle at the current position based on the triggering piece triggered again; determining a second rotation angle according to the second included angle; the cleaning device is controlled to rotate a second rotation angle to a side far away from the second detection piece.

Further, determining the second rotation angle according to the second included angle specifically includes: and determining a second rotation angle according to the second included angle and the setting position of the second detection piece relative to the machine body.

Further, controlling the cleaning apparatus to move forward according to the horizontal distance of the machine body from the target end of the obstacle includes:

and controlling the cleaning equipment to move to one side far away from the second detection piece at the first linear speed and the first angular speed based on the horizontal distance between the machine main body and the target end part of the obstacle is smaller than a preset value, and controlling the cleaning equipment to perform obstacle searching operation if the trigger piece is not triggered when the preset time length is reached.

Further, the control method of the cleaning device further includes: and controlling the cleaning equipment to move backwards by a first preset distance based on the fact that the first detection information is not acquired, and executing the obstacle searching operation after rotating a second preset angle towards the side far away from the second detection piece.

Further, the obstacle seeking operation includes: the cleaning device is controlled to move and rotate in the direction of the side provided with the second detection member at the seek linear speed and the seek angular speed until the trigger member is triggered.

An embodiment of a second aspect of the present disclosure provides a control device of a cleaning apparatus including a machine body, and a trigger member, a first detecting member, and a second detecting member provided on the machine body, the trigger member being configured to be triggered when the cleaning apparatus collides with an obstacle, the first detecting member being configured to sense the obstacle on a peripheral side of the machine body, the second detecting member being provided on one side of the machine body for sensing the obstacle on a side of the machine body, the control device including:

The first acquisition module is used for acquiring first detection information of the first detection piece based on the triggering piece being triggered; the first determining module is used for determining a first moving distance at least based on the acquired first detection information; the first processing module is used for executing a first obstacle approaching operation according to the first detection information after controlling the cleaning equipment to move backwards for a first moving distance; the second acquisition module is used for acquiring second detection information of a second detection piece; and the second processing module is used for controlling the cleaning equipment to execute barrier-following walking operation according to the second detection information.

Further, the first detection information includes at least: the first contained angle of the machine body and the obstacle, the vertical distance between the machine body and the obstacle, and the horizontal distance between the machine body and the target end of the obstacle, wherein the target end of the machine body and the obstacle is located at one side of the front of the cleaning device away from the second detection piece, and the first determination module comprises: and the first determining unit is used for determining a first moving distance according to the first included angle, the vertical distance between the machine body and the obstacle and the horizontal distance between the machine body and the target end part of the obstacle.

Further, the first processing module includes:

The second determining unit is used for determining a first rotation angle according to the first included angle; a first processing unit for controlling the cleaning device to rotate a first rotation angle to a side far from the second detection member; and a second processing unit for controlling the cleaning device to move forward according to a horizontal distance between the machine body and a target end of the obstacle.

Further, the second processing unit includes: a first processing subunit for controlling the cleaning apparatus to move forward based on a horizontal distance of the machine body from the target end of the obstacle being equal to or greater than a preset value; the first acquisition sub-module is used for acquiring a second included angle between the machine main body and the obstacle at the current position based on the triggering piece being triggered again; the first determining subunit is used for determining a second rotation angle according to the second included angle; and the second processing subunit is used for controlling the cleaning device to rotate a second rotation angle towards the side far away from the second detection piece.

Further, the first determining subunit specifically includes: and determining a second rotation angle according to the second included angle and the setting position of the second detection piece relative to the machine body.

Further, the second processing unit includes: and the third processing subunit is used for controlling the cleaning equipment to move to one side far away from the second detection piece at the first linear speed and the first angular speed based on the fact that the horizontal distance between the machine main body and the target end of the obstacle is smaller than a preset value, and controlling the cleaning equipment to perform obstacle searching operation if the trigger piece is not triggered when the preset time length is reached.

Further, the control device of the cleaning apparatus further includes: and the third processing module is used for controlling the cleaning equipment to move backwards by a first preset distance based on the fact that the first detection information is not acquired, and executing the obstacle seeking operation after rotating a second preset angle towards one side far away from the second detection piece.

Embodiments of a third aspect of the present disclosure provide a cleaning apparatus comprising a processor and a memory; a memory for storing operation instructions; a processor for executing the control method of the cleaning apparatus of any one of the above first aspect by calling an operation instruction.

An embodiment of a fourth aspect of the present disclosure provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the control method of the cleaning apparatus of any one of the above first aspects.

According to the control method of the cleaning robot, after the cleaning equipment collides with the obstacle in the advancing process to trigger the action of the trigger piece, the position relation of the obstacle relative to the cleaning equipment can be known, the first moving distance can be determined by further acquiring the first detection information of the first detection piece, and then the cleaning equipment is controlled to move backwards for the first distance, so that the cleaning equipment is separated from the obstacle, and the cleaning equipment is ensured to move smoothly. Then, according to the difference of first detection information, carry out different first nearly barrier operation, can reduce the number of times that cleaning equipment collided once more with the barrier as far as possible, simultaneously, make the second detect the piece and can sense the barrier, make according to the second detection information can control cleaning equipment carry out along barrier walking operation, make cleaning equipment can follow the barrier walking fast, reduce the problem that the adjacent part of ground and wall was missed the sweep, cleaning efficiency has been improved greatly, and can ensure good cleaning performance.

Drawings

In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, a brief description will be given below of the drawings required for the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are some embodiments of the present disclosure, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic structural view of a cleaning apparatus provided in accordance with an alternative embodiment of the present disclosure;

FIG. 2 is a schematic view of the embodiment of FIG. 1 from one perspective;

FIG. 3a is an intent of a bumper of a cleaning apparatus to collide with an obstacle on the right side according to an alternative embodiment of the present disclosure;

FIG. 3b is a schematic view of the cleaning apparatus retracted a first distance of movement based on the pose of FIG. 3 a;

FIG. 4a is an intent of a bumper of a cleaning apparatus to collide with an obstacle on the left side according to an alternative embodiment of the present disclosure;

FIG. 4b is a schematic view of the cleaning device retracted a first distance of movement based on the pose of FIG. 4 a;

FIG. 4c is a schematic view of the cleaning apparatus rotated a first rotation angle based on the pose of FIG. 4 b;

FIG. 4d is a schematic view of the cleaning apparatus after advancing to again collide with an obstacle based on the posture of FIG. 4 c;

FIG. 4e is a schematic view of the cleaning apparatus rotated a second rotation angle based on the pose of FIG. 4 d;

FIG. 4f is a schematic illustration of the cleaning apparatus walking along the barrier based on the pose of FIG. 4 e;

FIG. 4g is a schematic view of the cleaning apparatus rotating to travel over a target obstacle entering location based on the pose of FIG. 4 c;

FIG. 5a is an intent of a bumper of a cleaning apparatus to collide with an obstacle on the left side according to another alternative embodiment of the present disclosure;

FIG. 5b is a schematic view of the cleaning apparatus retracted a second distance of movement based on the pose of FIG. 5 a;

FIG. 5c is a schematic view of the cleaning apparatus rotated a second rotational angle based on the pose of FIG. 5 b;

FIG. 5d is a schematic view of the cleaning apparatus after advancing to again collide with an obstacle based on the posture of FIG. 5 c;

FIG. 5e is a schematic view of the cleaning apparatus retracted a third distance of movement based on the pose of FIG. 5 d;

FIG. 5f is a schematic view of the cleaning apparatus rotated a third rotational angle based on the pose of FIG. 5 e;

FIG. 6 is a flow chart of a method of controlling a cleaning apparatus provided in accordance with an alternative embodiment of the present disclosure;

FIG. 7 is a schematic electrical configuration of a cleaning device provided in accordance with an alternative embodiment of the present disclosure;

Fig. 8 is a schematic block diagram of a control device of a cleaning apparatus provided in accordance with an alternative embodiment of the present disclosure.

100 cleaning apparatus, 110 machine body, 111 forward part, 112 backward part, 120 perception system, 121 position determining device, 122 buffer, 130 driving system, 131 driving wheel, 132 driven wheel, 133 first driving wheel, 134 second driving wheel, 140 cleaning system, 141 dry cleaning system, 142 wet cleaning system, 143 side brush, 200 obstacle, 701 processing device, 702rom,703ram,704 bus, 705I/O interface, 706 input device, 707 output device, 708 storage device, 709 communication device, 800 control device, 810 first acquisition module, 820 first determination module, 830 first processing module, 840 second acquisition module, 850 second processing module.

Detailed Description

Embodiments of the present disclosure are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are exemplary only for the purpose of illustrating the present disclosure and are not to be construed as limiting the present disclosure.

As used herein, the singular forms "a", "an", "the" and "the" are intended to include the plural forms as well, unless expressly stated otherwise, as understood by those skilled in the art. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. It will be understood that when an element is referred to as being "connected" or "coupled" to another element, it can be directly connected or coupled to the other element or intervening elements may also be present. Further, "connected" or "coupled" as used herein may include wirelessly connected or wirelessly fused. The term "and/or" as used herein includes all or any element and all combination of one or more of the associated listed items.

For the purpose of making the objects, technical solutions and advantages of the present application more apparent, the embodiments of the present application will be described in further detail below with reference to the accompanying drawings.

The disclosed embodiments provide a possible application scenario including a cleaning device, wherein the cleaning device includes a self-moving cleaning robot, such as a floor sweeping robot, a mopping robot, a dust collector, a weeder, and the like. In some embodiments, as shown in fig. l and fig. 2, a home type sweeping robot is taken as an example, and during the working process of the sweeping robot, the sweeping robot can sweep according to a preset route or an automatically planned route, but the sweeping robot can inevitably collide with an obstacle 200, for example, the obstacle 200 is a wall, a cabinet or the like. Meanwhile, when the sweeping robot moves along the wall at a smaller distance, the part, adjacent to the wall, of the floor can be cleaned, and the cleaning capacity is improved. Therefore, if the cleaning device can move along the wall with a small distance quickly after colliding with the obstacle 200, the cleaning efficiency of the cleaning device can be greatly improved, the problem of missing the part of the ground adjacent to the wall can be effectively reduced, and the satisfaction degree of the user can be improved.

In the embodiments provided by the present disclosure, as shown in fig. 1 and 2, the cleaning apparatus includes a machine main body 110, a sensing system 120, a control system, a driving system 130, a cleaning system 140, an energy system, and a man-machine interaction system.

The machine body 110 includes a forward portion 111 and a backward portion 112 having an approximately D-shape of a front-rear circle, i.e., the forward portion is approximately rectangular, and the backward portion is approximately circular, i.e., the cleaning apparatus may be a D-shaped sweeping robot. Of course, the machine body 110 may have other shapes, such as a triangle, a rectangle, and the like.

As shown in fig. 2, the sensing system 120 includes a trigger member, a first detecting member and a second detecting member, which are disposed on the machine body, wherein the trigger member is configured such that the cleaning device collides with the obstacle 200 to be triggered, for example, the trigger member may be a collision sensor, a proximity sensor, or other structures as required, which are disposed on the buffer 122 of the forward portion 111 of the machine body 110.

The first detecting element is used for sensing the obstacle 200 on the periphery of the machine body, for example, the first detecting element comprises a position determining device 121 arranged above the machine body, wherein the position determining device 121 comprises, but is not limited to, a camera, a laser ranging device (LDS, full scale Laser Distance Sensor), it is understood that the laser ranging device is located at the uppermost end of the machine body, and can rotate 360 degrees to emit laser, and the reflected laser can determine which direction has the obstacle 200, and the distance relation between the obstacle 200 and the machine body.

The second detecting element is disposed at one side of the machine body, and is used for sensing the obstacle 200 at the side of the machine body 110. For example, the second detecting member may be a wall sensor (wallsensor) disposed on the left side or the right side of the machine body 110, or a smaller laser ranging device, where the second detecting member can sense the distance between a point on the side of the machine body 110 and the machine body 110, and the accuracy is high. In particular, when the second detecting member is able to detect information of the wall, the cleaning device can be controlled by the control system to move along the wall at a small distance from the wall.

Further, the sensing system 120 further includes a cliff sensor disposed at a lower portion of the machine body 110, and sensing devices such as a magnetometer, an accelerometer, a gyroscope (Gyro), an odometer (ODO), etc. disposed inside the machine body 110, for providing various positional information and movement status information of the machine to the control system.

As shown in fig. 1 and 2, the forward portion 111 of the machine body 110 may carry a bumper 122, and the bumper 122 may detect one or more events in the travel path of the cleaning device via a trigger, such as an infrared sensor, disposed thereon as the driving wheel 131 advances the robot across the floor during cleaning, and the cleaning device may control the driving wheel 131 module to cause the cleaning device to respond to the events, such as moving away from the obstacle 200, moving over the obstacle 200, etc., by the events detected by the bumper 122, such as the obstacle 200, a wall, etc.

The control system is disposed on a circuit board in the machine body 110, 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, wherein the application processor draws an instant map of the environment of the robot according to the obstacle 200 information fed back by the laser ranging device by using a positioning algorithm, such as an instant localization and mapping (SLAM, full name Simultaneous Localization And Mapping). And comprehensively judging what working state and position the sweeper is currently in by combining distance information and speed information fed back by sensing devices such as a sensor, a cliff sensor, a magnetometer, an accelerometer, a gyroscope, an odometer and the like arranged on the buffer 122, and the current pose of the sweeper, such as passing a threshold 170, being positioned at the cliff, being blocked above or below, being full of dust boxes, being picked up and the like, and giving a specific next action strategy according to different conditions, so that the work of the robot meets the requirements of an owner better, and better user experience is achieved.

As shown in fig. 1 and 2, the drive system 130 may maneuver the robot to travel across the ground based on drive commands with distance and angle information (e.g., x, y, and o components). The drive system 130 comprises a drive wheel 131 and a drive module which can control both the left and right drive wheels simultaneously, preferably the drive module comprises a left drive wheel module and a right drive wheel module, respectively, for more accurate control of the movement of the machine. The left and right drive wheel modules are opposed along a transverse axis defined by the main body 110. In order for the robot to be able to move more stably or with greater motion capabilities on the ground, the robot may include one or more driven wheels 132, the driven wheels 132 including, but not limited to, universal wheels. The driving module comprises a driving motor and a control circuit for controlling the driving motor, and the driving module can be connected with a circuit for measuring driving current and an odometer. The driving module may be detachably connected to the main body 110, facilitating disassembly and maintenance. The drive wheel 131 may have a biased drop-down suspension system movably secured, e.g., rotatably attached, to the robot body 110 and receiving spring bias biased downward and away from the robot body 110. The spring bias allows the drive wheel 131 to maintain contact and traction with the floor with a certain footprint while the cleaning elements of the robotic cleaning device also contact the floor with a certain pressure.

Further, the cleaning apparatus may travel on the floor by various combinations of movements relative to three mutually perpendicular axes defined by the machine body: front-rear axis X, lateral axis Y and central vertical axis Z. The forward driving direction along the front-rear axis X is denoted as "forward direction", and the backward driving direction along the front-rear axis X is denoted as "backward direction". The direction of the transverse axis Y is essentially the direction extending between the right and left wheels of the robot along the axis defined by the centre point of the drive wheel 131 module.

Wherein the cleaning device is rotatable about the Y-axis. The rearward portion 112 is "pitched up" when the forward portion 111 of the robotic cleaning device is tilted up, and is "pitched down" when the forward portion 111 of the robotic cleaning device is tilted down, and the rearward portion 112 is tilted up. In addition, the robot may rotate about the Z axis. In the forward direction of the automatic cleaning apparatus, the right turn is when the automatic cleaning apparatus is tilted to the right of the X axis, and the left turn is when the automatic cleaning apparatus is tilted to the left of the X axis. Wherein the X-axis and Y-axis are shown by the arrows in fig. 1.

As shown in fig. 1 and 2, the cleaning system 140 includes a dry cleaning system. As the dry cleaning system 141, a main cleaning function is derived from a cleaning system composed of a roll brush, a dust box, a blower, an air outlet, and connection members between the four. The rolling brush with certain interference with the ground sweeps up the garbage on the ground and winds up the garbage in front of the dust collection opening between the rolling brush and the dust box, and then the dust box is sucked by the suction gas generated by the fan and passing through the dust box. The dry cleaning system 141 may also include an edge brush 143 having a rotational axis that is angled relative to the floor for moving debris into the roller brush area of the cleaning system 140. Further, the side brush 143 is located at a side of the machine main body 110 near the second detecting member, when the side of the cleaning apparatus 10 where the second detecting member is located runs along the wall with a smaller distance from the wall, the side brush 143 can move the debris in the corner or gap between the floor and the wall to the rolling brush area of the cleaning system 140, so as to clean the adjacent part of the floor and the wall, and ensure good cleaning efficiency.

It is to be appreciated that the cleaning system may also include a wet cleaning system, and the wet cleaning system 142 may include: cleaning head, drive unit, water delivery mechanism, liquid storage tank etc.. The cleaning head can be arranged below the liquid storage tank, and cleaning liquid in the liquid storage tank is transmitted to the cleaning head through the water delivery mechanism, so that the cleaning head can perform wet cleaning on a plane to be cleaned. In other embodiments, the cleaning liquid in the liquid storage tank can be directly sprayed to the plane to be cleaned, and the cleaning head can uniformly spread the cleaning liquid to clean the plane. Of course, the cleaning head can also be a rolling brush with water storage capacity, and the cleaning head can be taken out from the base station for wet cleaning after water storage. Wherein the cleaning head is used for cleaning a surface to be cleaned, and the driving unit is used for driving the cleaning head to basically reciprocate along a target surface, and the target surface is a part of the surface to be cleaned. The cleaning head reciprocates along the surface to be cleaned, and the contact surface of the cleaning head and the surface to be cleaned is provided with cleaning cloth or a cleaning plate, and high-frequency friction is generated between the cleaning head and the surface to be cleaned through the reciprocation, so that stains on the surface to be cleaned are removed.

The energy system comprises a rechargeable battery, such as a hydrogen-retaining battery and a carp battery. The rechargeable 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 singlechip control circuit. The host computer charges through setting up the charging electrode in fuselage side or below and charging pile connection. 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 the electric charge in the charging process, and even the electrode itself is deformed, so that normal charging cannot be continued.

The man-machine interaction system comprises keys on a panel of the host machine, wherein the keys are used for users to select functions; the system also comprises 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; a child client program may also be included. For the path navigation type automatic cleaning equipment, a map of the environment where the equipment is located and the position where the machine is located can be displayed to a user at the client side of the sub-machine, and more abundant and humanized functional items can be provided for the user.

According to the control method of the cleaning equipment, after the cleaning equipment collides with the barriers 200 such as the wall and the cabinet in the travelling process, the collision times can be reduced as much as possible, the cleaning equipment can move along the wall or the cabinet at a smaller distance, the cleaning efficiency is improved, the problem of leakage scanning of the part, adjacent to the wall, of the ground is effectively reduced, and the use experience of a user is improved. Specifically, the following is described.

As one of the embodiments of the present disclosure, as shown in fig. 6, an embodiment of the present disclosure provides a control method of a cleaning apparatus, including the following method steps.

Step S602: and acquiring first detection information of the first detection piece based on the trigger piece being triggered.

When the trigger is triggered, it indicates that the cleaning apparatus 100 collides with the obstacle 200 during the forward movement, such as the buffer 122 of the cleaning apparatus 100 collides with the wall, the collision sensor is triggered, that is, the trigger is triggered, so that the approximate position of the wall relative to the cleaning apparatus 100 and the collision position of the machine body 110 of the cleaning apparatus 100 can be known according to the information of the trigger. As shown in fig. 4a, when the right side of the forward portion 111 of the cleaning device 100 collides with the wall, it can be known that the wall is located in the right front of the cleaning device 100 by the trigger; as shown in fig. 3a, when the left side of the forward portion 111 of the cleaning device 100 collides with the wall, it can be known that the wall is located in the left front of the cleaning device 100 by the trigger; when the intermediate position of the forward part 111 of the cleaning device 100 collides with the wall, it can be known from the trigger that the wall is located directly in front of the cleaning device 100.

Since the first detecting member is used to sense the obstacle 200 information on the peripheral side of the cleaning apparatus 100 and the second detecting member is used to sense the obstacle 200 information on the side of the cleaning apparatus 100, the detection range of the second detecting member is limited, and there is a case where the obstacle 200 is not within the detection range of the second detecting member, that is, the control system cannot acquire the second detection information, that is, the cleaning apparatus 100 cannot perform the obstacle-following walking operation. In general, taking the cleaning apparatus 100 as an example of a D-type machine, the buffer 122 includes a front transverse section and two side sections, and two collision sensors, that is, two triggering members, are generally disposed at the front transverse section, and one collision sensor is disposed at each of the two side sections, that is, one triggering member is disposed at each of the two side sections, so that when the cleaning apparatus 100 collides with the obstacle 200, the position of the obstacle 200 with respect to the machine body 110 can be generally confirmed by a combination signal of one collision sensor or several collision sensors. That is, after the trigger member is triggered, by acquiring the detection information of the first detection member, the relative position condition of the cleaning device 100 and the obstacle 200 can be known, so that the cleaning device 100 can be conveniently guided to perform subsequent operations.

Specifically, the trigger may be a collision sensor, such as a photo interrupter switch type sensor or a hall type sensor, and when the trigger of the cleaning apparatus 100 is triggered, the collision position of the cleaning apparatus 100 may transmit collision position information to the control system through the collision sensor, thereby determining which position of the cleaning apparatus 100 has collided, and thus further confirming the orientation of the obstacle 200 with respect to the cleaning apparatus 100.

The first detecting member may be a laser ranging sensor of the cleaning device 100, where the laser ranging sensor is located at an upper end of the machine body 110, and may rotate 360 ° to emit laser, and determine a distance and a direction of the obstacle 200 relative to the cleaning device 100 by the reflected laser, so that the first detecting information may be determined according to the above information.

Step S604: determining a first movement distance based at least on the acquired first detection information;

step S606: and after the cleaning equipment is controlled to move backwards for a first moving distance, executing a first obstacle approaching operation according to the first detection information.

Wherein, according to at least the obtained first detection information, the first movement distance is determined, so that the first movement distance can be matched with the relative position of the obstacle 200 and the cleaning device 100, and the cleaning device 100 is controlled to move backwards for the first movement distance, thus, the cleaning device 100 is separated from the obstacle 200, the triggering state of the triggering piece is released, and the cleaning device 100 can be ensured to move smoothly. By executing the first obstacle approaching operation according to the first detection information, different first obstacle approaching operations can be executed according to different first detection information, so that the number of times that the cleaning device 100 collides with the obstacle 200 again can be reduced as much as possible, the problem of missed scanning of the adjacent parts of the ground and the wall is reduced, and the cleaning efficiency and the cleaning effect are improved.

It will be appreciated that the first movement distance may also be determined in combination with the acquired first detection information in combination with the own structural parameters of the cleaning device 100. Among them, the self-structural parameters of the cleaning apparatus 100 may include a positional relationship of the second detection member with respect to the geometric center of the machine body 110 of the cleaning apparatus 100, a distance between the geometric center of the machine body 110 of the cleaning apparatus 100 and the collision position, and the like.

Wherein controlling the backward movement of the cleaning apparatus 100 means controlling the backward movement of the cleaning apparatus 100 while maintaining the posture of the cleaning apparatus 100 colliding with the obstacle 200. That is, during the backward movement of the cleaning apparatus 100, the cleaning apparatus 100 is retreated in a straight line and does not rotate. Specifically, as shown in fig. 3b and 4b, fig. 3b is a schematic view of the cleaning apparatus 100 moving backward by a first moving distance based on the posture of fig. 3a, and fig. 4b is a schematic view of the cleaning apparatus 100 moving backward by the first moving distance based on the posture of fig. 4 a. Wherein the first movement distance is shown as D1 in fig. 3b and 4b, wherein in fig. 3b and 4b, O1 is the geometric center when the cleaning apparatus 100 collides with the obstacle 200, and O2 is the geometric center after the cleaning apparatus 100 moves backward by the first movement distance D1.

Step S608: acquiring second detection information of a second detection piece;

step S610: and controlling the cleaning equipment to execute the barrier-following walking operation according to the second detection information.

Wherein, after the cleaning apparatus 100 performs the first obstacle approaching operation, the side of the cleaning apparatus 100 provided with the second detecting member approaches the obstacle 200, so that the second detecting member can sense the obstacle 200, and therefore, by acquiring the second detecting information of the second detecting member, the positional relationship between the cleaning apparatus 100 and the obstacle 200, such as the positional relationship between the cleaning apparatus 100 and the wall, can be more precisely known, and further, the cleaning apparatus 100 can be controlled to perform the obstacle following operation through the second detecting information, such as the cleaning apparatus 100 can be controlled to move along the wall with a smaller wall separating distance. It will be appreciated that at this point, debris from the adjacent floor and wall sections may be moved by the side brushes 143 into the roller brush area of the cleaning system to effect cleaning of the adjacent floor and wall sections.

The second detecting element may be a smaller laser ranging sensor disposed at one side of the machine body 110, for example, the second detecting element is disposed at the right side of the machine body 110, and is capable of sensing a distance between a point on the obstacle 200 on the right side of the machine body 110 and the machine body 110, so that the accuracy is higher. The first detecting member detects the distance of the obstacle 200 around the machine body 110 from the machine body 110, but with a low accuracy. That is, the first detecting member is mainly used to find where the wall is, the length of the wall, the relative positions of the wall and the machine body 110, and the first detecting member is rotatably provided on the machine body 110. The second detecting means transmits and receives a reflected signal in a fixed direction from the side surface of the machine main body 110; when the machine body 110 and the wall surface are parallel, the distance sensor with higher accuracy, such as the second detecting member, is used to achieve the millimeter-level walk along the wall. I.e. when the second detecting member is able to detect information of the wall, the cleaning device 100 can be controlled by the control system to move along the wall with a small distance from the wall.

That is, according to the control method of the cleaning device 100 provided in the embodiment of the present disclosure, after the cleaning device 100 collides with the obstacle 200 in the forward process to trigger the action of the trigger member, the positional relationship of the obstacle 200 relative to the cleaning device 100 can be known, and further the first detection information of the first detection member is obtained to determine the first moving distance, and then the cleaning device 100 is controlled to move backward for the first distance, so that the cleaning device 100 is separated from the obstacle 200, and smooth movement of the cleaning device 100 is ensured. Then, according to the difference of the first detection information, different first obstacle approaching operations are performed, so that the number of times that the cleaning device 100 collides with the obstacle 200 again can be reduced as much as possible, and meanwhile, the obstacle 200 can be sensed by the second detection member, so that the cleaning device 100 can be controlled to perform obstacle following walking operations according to the second detection information, the cleaning device 100 can rapidly walk along the obstacle, the problem of missed scanning of the adjacent parts of the ground and the wall is reduced, the cleaning efficiency is greatly improved, and a good cleaning effect can be ensured.

Further, the first detection information includes at least: the first included angle between the machine body and the obstacle, the vertical distance between the machine body and the obstacle, and the horizontal distance between the machine body and the target end of the obstacle, wherein the target end of the obstacle is positioned at one side, far away from the second detection piece, of the front of the cleaning device, namely the end, reached by the cleaning device, of performing obstacle-following walking operation in advance. It will be appreciated that the first detection information may also be other parameters that satisfy the requirements, where the parameters are used to characterize the positional relationship between the obstacle and the machine body where the trigger acts, and the positional relationship between the target end of the obstacle and the machine body.

As shown in fig. 3a and fig. 4a, the first angle β1 between the machine body 110 and the obstacle 200 may be an angle between a center line m1 of the machine body 110 in the front-rear direction and a projection of the surface of the obstacle 200 on a horizontal plane, wherein the center line of the machine body 110 in the front-rear direction is shown as a straight line m1 in fig. 3a and fig. 4a, and the first angle is shown as β1.

The vertical distance d between the machine body 110 and the obstacle 200 may be a vertical distance between a geometric center O of the machine body 110 projected in a horizontal plane and a surface of the obstacle 200, wherein the geometric center O of the machine body 110 projected in the horizontal plane may be an intersection point of a center line m1 of the machine body 110 in the front-rear direction and a center line m2 of the machine body in the left-right direction.

The horizontal distance L of the machine body 110 from the target end Q of the obstacle 200 may be a horizontal distance between a horizontal projection of the geometric center O of the machine body 110 on the obstacle 200 and the target end Q of the obstacle 200, where the target end Q of the obstacle 200 is an end to which the cleaning apparatus 100 is intended to perform the obstacle-following walking operation. As the target end of the obstacle 200 is denoted by a letter Q, wherein the target end Q of the obstacle 200 is located at a side of the front of the cleaning apparatus 100 away from the second detecting member, it is understood that the horizontal distance L between the machine body 110 and the target end Q of the obstacle 200 can determine whether the first obstacle approaching operation of the cleaning apparatus 100 can be successfully completed, and if the horizontal distance L between the machine body 110 and the target end Q of the obstacle 200 is shorter, as shown in fig. 4g, there is a case that the first obstacle approaching operation is not completed, and as a result, the second detecting member at the side of the machine body 110 cannot detect the wall surface due to insufficient wall surface length, so that the walking operation cannot be successfully performed, or the machine body 110 cannot trigger the triggering member again during the obstacle approaching operation, so that the subsequent obstacle approaching operation cannot be completed. Therefore, the horizontal distance L of the machine body 110 from the target end Q of the obstacle 200 plays an important role in how the obstacle approaching operation is performed later. Specifically, the horizontal distance L of the machine body 110 from the target end Q of the obstacle 200 is shown as L in fig. 3a and 4 a.

In the above embodiment, step S604 includes the following method steps.

Step S604-2: the first movement distance is determined according to the first included angle, the vertical distance between the machine body and the obstacle, and the horizontal distance between the machine body and the target end of the obstacle.

Since the first included angle β1, the vertical distance D between the machine body 110 and the obstacle 200, and the horizontal distance L between the machine body 110 and the target end Q of the obstacle 200 can represent specific positional relationships between the cleaning device 100 and the obstacle 200, and between the cleaning device 100 and the target end Q of the obstacle 200, the first moving distance D1 is determined according to the first included angle β1, the vertical distance D between the machine body 110 and the obstacle 200, and the horizontal distance L between the machine body 110 and the target end Q of the obstacle 200, so that after the cleaning device 100 moves back by the first moving distance D1, in the process of executing the first obstacle approaching operation according to the first detection information, the possibility of triggering the trigger action again can be reduced, that is, the cleaning device 100 can reduce the number of collisions with the obstacle 200 as much as possible, and meanwhile reduce the area of missing and improve the cleaning efficiency.

In particular, during the backward movement of the cleaning apparatus 100, the data of the odometer of the driving wheel 131 can be facilitated to ensure that the cleaning apparatus 100 is backward moved out of an accurate distance in the current posture. That is, when the change information of the odometer matches with the first movement distance D1 during the backward movement of the cleaning apparatus 100, the cleaning apparatus 100 is controlled to stop the backward movement, and at this time, it is ensured that the backward movement distance of the cleaning apparatus 100 is the first movement distance D1.

In some possible implementations provided by the present disclosure, step S410 includes the following method steps.

Step S610-2: determining a first rotation angle according to the first included angle;

step S610-4: controlling the cleaning device to rotate a first rotation angle to a side far away from the second detection piece;

step S610-6: the cleaning apparatus is controlled to move forward according to the horizontal distance between the machine body and the target end of the obstacle.

In this embodiment, since the first included angle β1 can characterize the inclined position of the cleaning apparatus 100 with respect to the obstacle 200, the first rotation angle α1 is determined according to the first included angle β1 such that the first rotation angle is related to the current inclined state of the cleaning apparatus 100 with respect to the obstacle 200, and then, as shown in fig. 4c, the cleaning apparatus 100 is controlled to rotate by the first rotation angle α1 to a side away from the second detection member, so that the advancing direction of the cleaning apparatus 100 after rotation is maintained within a preferred angle range with respect to the obstacle 200, and the second detection member is enabled to face and approach the obstacle 200 as much as possible on the basis of ensuring that the cleaning apparatus 100 can be rapidly moved to the vicinity of the obstacle 200, so that the second detection member can acquire the second detection information as early as possible to enable the cleaning apparatus 100 to perform the obstacle-following operation. Wherein fig. 4c shows a schematic view of the cleaning device 100 after rotation of the first rotation angle based on the posture of fig. 4b, wherein the first rotation angle is indicated as α1 in fig. 4 c.

Specifically, the preferred obstacle entering angle θ of the cleaning apparatus 100 may be calculated based on the first angle β1, the vertical distance d between the machine body 110 and the obstacle 200, and the horizontal distance L between the machine body 110 and the target end Q of the obstacle 200, wherein the obstacle entering angle θ refers to an angle between a center line of the machine body 110 of the cleaning apparatus 100 in the front-rear direction and a projection of the surface of the obstacle 200 on a horizontal plane when the cleaning apparatus 100 performs the first obstacle approaching operation, as shown by θ in fig. 4 c. Typically, the preferred entry barrier angle θ is less than 45 °. Then, according to the calculated preferred obstacle entering angle θ and the first included angle β1, the first rotation angle α1 can be determined, that is, the first rotation angle α1 can be understood as the difference between the first included angle β1 and the preferred obstacle entering angle θ. Wherein, can control the differential rotation of left and right wheels through monitoring gyroscope data, realize controlling cleaning equipment 100 to the one side that keeps away from the second detection piece in situ rotation first rotation angle α1.

In some possible implementations provided by the present disclosure, step S410-6 includes the following method steps.

Step S610-6-11: controlling the cleaning device to move forward based on the horizontal distance between the machine body and the target end of the obstacle being equal to or greater than a preset value;

Step S610-6-12: acquiring a second included angle between the machine main body and the obstacle at the current position based on the triggering piece triggered again;

step S610-6-13: determining a second rotation angle according to the second included angle;

step S610-6-14: the cleaning device is controlled to rotate a second rotation angle to a side far away from the second detection piece.

The preset value is a value that, after the cleaning device 100 can smoothly complete the first obstacle approaching operation with respect to the obstacle 200, the second detecting member can detect information of the obstacle 200 and can adjust the cleaning device 100 to a horizontal distance in a stable obstacle along state. If the obstacle 200 is provided with a target obstacle entering position of the cleaning device 100 in the extending direction, the target obstacle entering position is denoted by a letter P, and the target obstacle entering position P is located at a side, away from the second detecting member, in front of the cleaning device 100, where the target obstacle entering position P may be a position of the obstacle 200 opposite to the cleaning device 100 when the first obstacle approaching operation is switched to the obstacle following operation, that is, after the cleaning device 100 passes over the target obstacle entering position P, the cleaning device may be controlled to execute the obstacle following operation according to the information that the second detecting member detects the obstacle. Wherein the preset value is a horizontal distance between a projection of the geometrical center of the machine body 110 of the cleaning apparatus 100 on the obstacle and the target obstacle entering position P, as shown by H in fig. 4d and 4 g.

Specifically, the preset value may be set in the system in advance, or the system may be calculated according to the posture and position of the cleaning device 100 when it collides with the obstacle 200, and the structural parameters of the cleaning device 100 itself. For example, the system may calculate a reasonable preset value according to parameters such as a first angle between the machine body 110 and the obstacle 200 in the first detection information, a vertical distance between the machine body 110 and the obstacle 200, a horizontal distance between the machine body 110 and the target end Q of the obstacle 200, a distance between the geometric center of the machine body 110 of the cleaning apparatus 100 and the collision position, and a relative position between the geometric center of the machine body 110 and the second detection member, so as to ensure that the cleaning apparatus 100 can perform the obstacle following operation when the second detection member can detect the information of the obstacle 200 after the first obstacle approaching operation can be successfully completed with respect to the obstacle 200.

In this embodiment, as shown in fig. 4d and 4e, when the horizontal distance L between the machine body 110 and the target end Q of the obstacle 200 is equal to or greater than the preset value H, it is explained that the obstacle 200 is long enough that the cleaning apparatus 100 can smoothly complete the first obstacle approaching operation, that is, the information that the second detecting member can detect the obstacle after the cleaning apparatus 100 performs the first obstacle approaching operation, the cleaning apparatus 100 can perform the obstacle following operation based on the obstacle 200. Therefore, as shown in fig. 4c and 4d, the cleaning apparatus 100 is controlled to move forward, i.e., the cleaning apparatus 100 is advanced in a direction approaching the obstacle 200 at a preferred obstacle entering angle θ, and when the trigger is triggered again, it is indicated that the cleaning apparatus 100 collides with the obstacle 200 again, at this time, a second angle β2 between the machine body 110 and the obstacle 200 at the current position is obtained, wherein the second angle β2 is an angle between a center line of the machine body 110 in the front-rear direction and a surface of the obstacle 200 at the current posture. Then, the second rotation angle α2 is determined according to the second included angle β2, as shown in fig. 4e, the cleaning apparatus 100 is controlled to rotate to a side far from the second detecting member by the second angle α2, so that the trigger member is released, that is, the buffer 122 of the cleaning apparatus 100 is separated from the obstacle 200, and the second detecting member can sense the obstacle 200, that is, the second detecting member feeds back the second detection information. Thus, the control system can control the cleaning apparatus 100 to walk along the obstacle according to the second detection information, as shown in fig. 4 f.

In the above embodiment, determining the second rotation angle according to the second included angle specifically includes:

and determining a second rotation angle according to the second included angle and the setting position of the second detection piece relative to the machine body.

Since it is necessary to control the cleaning apparatus 100 to perform the obstacle-following traveling operation based on the second detection information of the second detection member, the second detection member can sense the obstacle 200 as early as possible during traveling of the cleaning apparatus 100, so that the cleaning apparatus 100 can perform the obstacle-following traveling operation as early as possible. The second detecting member is disposed at a different position with respect to the machine body 110, so that the cleaning apparatus 100 can be rotated to different angles in the same posture to enable the second detecting member to sense the obstacle 200. Therefore, the second rotation angle α2 is determined according to the second included angle β2 and the setting position of the second detecting member relative to the machine body 110, so that the triggering member is released after the cleaning apparatus 100 rotates by the second rotation angle α2 to a side far away from the second detecting member, and meanwhile, the second detecting member can sense the obstacle 200, that is, the second detecting member feeds back the second detecting information, so that the triggering member can be contacted only by avoiding two rotations or multiple rotations, and the second detecting member can sense the obstacle 200, thereby greatly improving the efficiency of the cleaning apparatus 100 in performing the obstacle-following walking operation.

Specifically, the second detecting element is disposed on the right side of the machine body 110, and the distance between the second detecting element and the front end of the machine body 110 is a fixed value, for example, 9cm to 15cm, for example, the distance between the second detecting element and the front end of the machine body 110 is 9cm, 11cm, 13cm, 15cm, or other values meeting the requirements, it is understood that the distance between the second detecting element and the front end of the machine body 110 may also be proportional to the size of the machine body 110 in the front-rear direction, for example, the distance between the second detecting element and the front end of the machine body 110 is 0.3 times, 0.4 times, 0.6 times, or other values meeting the requirements, which are not particularly limited in the disclosure. The arrangement is such that the second detecting member is able to sense the obstacle 200 only when the angle between the cleaning device 100 and the obstacle 200 reaches a certain range. If the distance between the second detecting member and the front end of the machine body 110 is 11cm, the second detecting member can only sense the wall when the angle between the machine body 110 and the wall is within a certain angle range, for example, within 27 °, so that the cleaning apparatus 100 needs to be rotated within the angle range as soon as possible to realize the obstacle-following walking operation. Therefore, the second rotation angle α2 is determined according to the second included angles β2 and 27 °, so that the trigger is released and the second detecting member can sense the wall after the cleaning apparatus 100 rotates the second rotation angle α2 to the left.

S610-6-21: and controlling the cleaning equipment to move to one side far away from the second detection piece at the first linear speed and the first angular speed based on the horizontal distance between the machine main body and the target end part of the obstacle is smaller than a preset value, and controlling the cleaning equipment to perform obstacle searching operation if the trigger piece is not triggered when the preset time length is reached.

In this embodiment, as shown in fig. 4g, when the horizontal distance L between the machine body 110 and the target end Q of the obstacle 200 is smaller than the preset value H, that is, the obstacle 200 is short, so that the cleaning apparatus 100 cannot smoothly complete the first obstacle approaching operation, it may be understood that the combination of various sensors of the cleaning apparatus 100 does not realize the stable obstacle following operation of the cleaning apparatus 100. Thus, as shown in fig. 4g, the cleaning apparatus 100 is controlled to move to a side away from the second detecting member at a first linear velocity and a first angular velocity, that is, the cleaning apparatus 100 is controlled to be inclined to approach the obstacle 200 as a whole, so as to increase the cleaning area to a larger extent, to achieve the overall cleaning as much as possible, and to adhere to such a walking state, and if the triggering member is not triggered when the preset time period is reached, it is indicated that the forward portion 111 of the cleaning apparatus 100 passes over the obstacle 200, and then the cleaning apparatus 100 is controlled to perform the obstacle seeking operation to find a new obstacle 200 to achieve the obstacle following walking operation.

The preset duration may be 400ms, 500ms, 600ms, or other durations that meet the requirement, where the preset duration is within a reasonable range, so that the forward portion 112 of the cleaning apparatus 100 can be ensured to pass over the target end Q of the obstacle 200, such as pass over a corner, and further the cleaning apparatus will not collide with the corner during the obstacle seeking operation performed by the cleaning apparatus 100, so as to waste time.

Specifically, the first linear velocity and the first angular velocity may be preset values of the control system. Taking the example that the second detecting member is disposed at the right side of the machine body 110 of the cleaning apparatus 100, when the horizontal distance between the target obstacle entering position and the machine body 110 is smaller than the preset value, the cleaning apparatus 100 is controlled to rotate to the left side at the first linear velocity and the first angular velocity.

In the above embodiment, the seek operation includes: and controlling the cleaning equipment to move to the side provided with the second detection piece at the seek linear speed and the seek angular speed until the trigger piece is triggered.

In this embodiment, in order to enable the second detecting member to sense the obstacle 200 as early as possible so that the cleaning apparatus 100 can perform the obstacle-following operation to clean the area adjacent to the floor and the wall, the cleaning apparatus 100 should be controlled to be rotated toward the side where the second detecting member is disposed until the triggering member is triggered, which means that the cleaning apparatus 100 collides with the obstacle 200, i.e., the obstacle 200 is found, and the obstacle-finding operation is completed.

The cleaning device 100 is controlled to rotationally move to the side where the second detecting member is disposed, so that the probability that the second detecting member senses the obstacle 200 can be increased in the process that the cleaning device 100 moves to the triggering member to be triggered, and further, the efficiency of the cleaning device 100 finding the obstacle 200 or executing the obstacle-following walking operation can be improved.

Specifically, the cleaning apparatus 100 is controlled to move to the side where the second detection member is provided at the seek linear velocity, the seek angular velocity, which may be preset values of the control system. Taking the case that the second detecting member is disposed on the right side of the machine body 110 of the cleaning apparatus 100 as shown in fig. 4g, when the horizontal distance between the machine body 110 and the target end Q of the obstacle 200 is smaller than a preset value, the cleaning apparatus 100 is controlled to rotate to the left side at a first linear velocity and a first angular velocity, and when a preset period is reached, the triggering member is not triggered, after the triggering member passes over the target obstacle entering position P, the cleaning apparatus 100 is controlled to move to the right side at a obstacle seeking linear velocity and a obstacle seeking angular velocity, that is, to rotate to advance to the right in the arrow in fig. 4g, at this time, the cleaning apparatus 100 does not collide with the target end Q of the obstacle 200, so that the second detecting member can sense a vertical wall connected with the wall just passed over, and further, the cleaning apparatus 100 can quickly perform an obstacle following operation, and clean a partial area adjacent between the ground and a new wall is realized.

In some possible embodiments provided by the present disclosure, the control method further includes:

step S612: and controlling the cleaning equipment to move backwards by a first preset distance based on the fact that the first detection information is not acquired, and executing the obstacle searching operation after rotating a second preset angle towards the side far away from the second detection piece.

In this embodiment, as shown in fig. 5a, when the trigger member is triggered and the first detection information is not acquired, such as the cleaning device 100 collides with the obstacle 200, the first detection member fails to sense, such as the obstacle 200 is too low in height, the first detection member fails to sense, or the obstacle 200 is a light absorbing material, resulting in the second detection member not receiving a return signal of sufficient intensity, etc. At this time, as shown in fig. 5b, the control system controls the cleaning apparatus 100 to retract by the first preset distance D01, so that the cleaning apparatus 100 is separated from the obstacle 200, the triggering state of the triggering member is released, so that the cleaning apparatus 100 can be ensured to move smoothly, and then, as shown in fig. 5c, after the cleaning apparatus 100 is controlled to rotate to a side far from the second detecting member by the second preset angle δ1, the obstacle seeking operation is performed to find a new obstacle 200, so that the probability that the second detecting member senses the obstacle 200 can be increased in the process that the cleaning apparatus 100 moves to the triggering member to be triggered again, thereby being beneficial to improving the efficiency of the cleaning apparatus 100 finding the obstacle 200 or performing the obstacle following operation.

Wherein the seek operation is to control the cleaning apparatus 100 to rotationally move in a direction of a side where the second detecting member is provided until the triggering member is triggered. If the cleaning apparatus 100 is controlled to move to the side where the second detecting member is disposed at the obstacle-seeking linear velocity or the obstacle-seeking angular velocity until the triggering member is triggered by collision with the obstacle 200, it means that the cleaning apparatus 100 finds the obstacle 200 again, and the obstacle 200 may be a reference for the cleaning apparatus 100 to perform the obstacle-following operation, that is, when the second detecting member senses the obstacle 200, the cleaning apparatus 100 may perform the obstacle-following operation.

The second preset angle δ1 may be a preset value of the control system, after the cleaning device 100 is controlled to move back by the first preset distance D01, the second preset angle δ1 is rotated to a side far away from the second detection member, so that a situation that the first detection member still cannot sense the obstacle 200 after the cleaning device 100 moves forward again in the current posture and collides with the obstacle 200 can be avoided, and the cleaning device 100 is controlled to perform the obstacle seeking operation after rotating by the second angle δ1, so that the possibility that the first detection member can sense the obstacle 200 after the cleaning device 100 collides with the obstacle 200 again is improved.

It can be understood that, when the cleaning apparatus 100 is moved back by the first preset distance D01, rotated by the second preset angle δ1 toward the side far from the second detection member, and the obstacle 200 is found by performing the obstacle seeking operation, if the control system still cannot acquire the first detection information, that is, the first detection member still cannot sense the obstacle 200, as shown in fig. 5D, 5e and 5f, the cleaning apparatus 100 may be controlled to be moved back again by the third preset distance D02, rotated by the third preset angle δ2 toward the side far from the detection member, and then the obstacle seeking operation is performed.

As shown in fig. 8, an embodiment of a second aspect of the present disclosure provides a control device 800 of a cleaning apparatus including a machine body, and a trigger member provided on the machine body, the trigger member being configured to be triggered when the cleaning apparatus collides with an obstacle, a first detection member for sensing the obstacle on a peripheral side of the machine body, and a second detection member provided on one side of the machine body for sensing the obstacle on a side of the machine body, the control device 800 including:

a first obtaining module 810, configured to obtain first detection information of a first detection element based on the trigger element being triggered; a first determining module 820, configured to determine a first moving distance based at least on the acquired first detection information; the first processing module 830 performs a first obstacle approaching operation according to the first detection information after controlling the cleaning device to move backward by a first moving distance; a second obtaining module 840, configured to obtain second detection information of a second detection element; and a second processing module 850 for controlling the cleaning device to perform the obstacle-following walking operation according to the second detection information.

According to the control device 800 of the cleaning device, after the cleaning device collides with the obstacle in the forward process to trigger the action of the trigger piece, the position relation of the obstacle 200 relative to the cleaning device 100 can be known, the first moving distance can be determined by acquiring the first detection information of the first detection piece through the first acquisition module 810, and the cleaning device is controlled to move backwards by the first distance through the first processing module 830, so that the cleaning device is separated from the obstacle, and the cleaning device is ensured to move smoothly. Then, the first processing module 830 performs different first obstacle approaching operations according to the difference of the first detection information, so that the number of times that the cleaning device collides with the obstacle again can be reduced as much as possible, meanwhile, the second detection piece can sense the obstacle, the second acquisition module 840 can acquire the second detection information, and the second processing module 850 can control the cleaning device to perform the obstacle following walking operation according to the second detection information, so that the cleaning device can quickly walk along the obstacle, the problem that the adjacent part of the ground and the wall is missed is reduced, the cleaning efficiency is greatly improved, and a good cleaning effect can be ensured.

As one example, the first detection information includes at least: the first included angle between the machine body and the obstacle, the vertical distance between the machine body and the obstacle, and the horizontal distance between the machine body and the target end of the obstacle, the target end of the obstacle being located at a side of the front of the cleaning device away from the second detecting member, wherein the first determining module 820 includes: and the first determining unit is used for determining a first moving distance according to the first included angle, the vertical distance between the machine body and the obstacle and the horizontal distance between the machine body and the target end part of the obstacle.

As an example, the first processing module 830 includes: the second determining unit is used for determining a first rotation angle according to the first included angle; a first processing unit for controlling the cleaning device to rotate a first rotation angle to a side far from the second detection member; and a second processing unit for controlling the cleaning device to move forward according to a horizontal distance between the machine body and a target end of the obstacle.

As an example, the second processing unit includes: a first processing subunit for controlling the cleaning apparatus to move forward based on a horizontal distance of the machine body from the target end of the obstacle being equal to or greater than a preset value; the first acquisition sub-module is used for acquiring a second included angle between the machine main body and the obstacle at the current position based on the triggering piece being triggered again; the first determining subunit is used for determining a second rotation angle according to the second included angle; and the second processing subunit is used for controlling the cleaning device to rotate a second rotation angle towards the side far away from the second detection piece.

As an example, the first determining subunit specifically includes: and determining a second rotation angle according to the second included angle and the setting position of the second detection piece relative to the machine body.

As an example, the second processing unit includes: and the third processing subunit is used for controlling the cleaning equipment to move to one side far away from the second detection piece at the first linear speed and the first angular speed based on the fact that the horizontal distance between the machine main body and the target end of the obstacle is smaller than a preset value, and controlling the cleaning equipment to perform obstacle searching operation if the trigger piece is not triggered when the preset time length is reached.

As an example, the control device 800 of the cleaning apparatus further includes: and the third processing module is used for controlling the cleaning equipment to move backwards by a first preset distance based on the fact that the first detection information is not acquired, and executing the obstacle seeking operation after rotating a second preset angle towards one side far away from the second detection piece.

As one example, the seek operation includes: the cleaning device is controlled to move and rotate in the direction of the side provided with the second detection member at the seek linear speed and the seek angular speed until the trigger member is triggered.

An embodiment of the present disclosure provides a cleaning device including a processor and a memory storing computer program instructions executable by the processor, the processor implementing the steps of the method of controlling the cleaning device of any of the embodiments when executing the computer program instructions.

As shown in fig. 7, the cleaning apparatus may include a processing device 701 (e.g., a central processing unit, a graphic processor, etc.), which may perform various appropriate actions and processes according to a program stored in a read only memory (ROM 702) or a program loaded from a storage device 708 into a random access memory (RAM 703). In the RAM703, various programs and data necessary for the operation of the electronic robot are also stored. The processing device 701, the ROM702, and the RAM703 are connected to each other through a bus 704. An input/output (I/O) interface is also connected to bus 704.

In general, the following devices may be connected to the I/O interface 705: input devices 706 including, for example, a touch screen, touch pad, keyboard, mouse, camera, microphone, sensing device, etc.; an output device 707 including, for example, a Liquid Crystal Display (LCD), a speaker, a vibrator, and the like; storage 708 including, for example, a hard disk; and a communication device 709. The communication means 709 may allow the cleaning robot to communicate wirelessly or wired with other base stations to exchange data, e.g. the communication means 709 may enable communication between the cleaning robot and the base station or remote mobile device. While fig. 7 shows a cleaning apparatus having various means, it should be understood that not all of the illustrated means are required to be implemented or provided. More or fewer devices may be implemented or provided instead.

In particular, according to embodiments of the present disclosure, the process described above with reference to the flowcharts may be implemented as a robot software program. For example, embodiments of the present disclosure include a robot software program product comprising a computer program embodied on a readable medium, the computer program comprising program code for performing the method shown in flowchart 6. In such an embodiment, the computer program may be downloaded and installed from a network via communication device 709, or installed from storage 708, or installed from ROM 702. The above-described functions defined in the methods of the embodiments of the present disclosure are performed when the computer program is executed by the processing device 701.

It should be noted that the computer readable medium described in the present disclosure may be a computer readable signal medium or a computer readable storage medium, or any combination of the two. The computer readable storage medium may be, for example, but not limited to: an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples of the computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM 703), a read-only memory (ROM 702), an erasable programmable read-only memory (EPROM 702 or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM 702), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this disclosure, a computer-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. In the present disclosure, however, the computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, with the computer-readable program code embodied therein. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer 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 computer readable medium may be transmitted using any appropriate medium, including but not limited to: electrical wires, fiber optic cables, RF (radio frequency), and the like, or any suitable combination of the foregoing.

The computer readable medium may be contained in the robot; or may exist alone without being assembled into the robot.

Computer program code for carrying out operations for aspects 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, small talk, 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 computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server.

In the case of a remote computer, the remote computer may be connected to the user's computer through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computer (for example, through the Internet using an Internet service provider).

The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that in some implementations as a tongue-and-groove, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

The apparatus embodiments described above are merely illustrative, wherein the elements illustrated as separate elements may or may not be physically separate, and the elements shown as elements may or may not be physical elements, may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art will understand and implement the present invention without undue burden.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solutions of the present disclosure, and not for limiting the same, and although the present disclosure has been described in detail with reference to the above embodiments, it should be understood by those skilled in the art that modifications may be made to the technical solutions described in the above embodiments or equivalents may be substituted for some of the technical features thereof, and these modifications or substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present disclosure in essence.

Finally, it should be noted that: the above embodiments are merely for illustrating the technical aspects of the present disclosure, and not for limiting the same, and although the present disclosure has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments may be modified, or some technical features thereof may be replaced by equivalents: such modifications and substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present disclosure.

Claims

1. A control method of a cleaning apparatus, characterized in that the cleaning apparatus includes a machine body, and a trigger member, a first detection member, and a second detection member provided on the machine body, the trigger member being configured to be triggered when the cleaning apparatus collides with an obstacle, the first detection member being configured to sense the obstacle on a peripheral side of the machine body, the second detection member being provided on one side of the machine body for sensing the obstacle on a side of the machine body, the control method comprising:

acquiring first detection information of the first detection piece based on the triggering piece being triggered;

determining a first movement distance based at least on the acquired first detection information;

after the cleaning equipment is controlled to move backwards for the first moving distance, a first obstacle approaching operation is executed according to the first detection information;

acquiring second detection information of the second detection piece;

controlling the cleaning equipment to execute barrier-following walking operation according to the second detection information;

the first detection information at least comprises: the first included angle between the machine body and the obstacle, the vertical distance between the machine body and the obstacle, and the horizontal distance between the machine body and the target end of the obstacle, wherein the target end of the obstacle is positioned at one side, far from the second detection piece, of the front of the cleaning equipment;

Wherein the determining a first moving distance based on the acquired first detection information includes:

and determining the first moving distance according to the first included angle, the vertical distance between the machine body and the obstacle, and the horizontal distance between the machine body and the target end of the obstacle.

2. The control method of the cleaning apparatus according to claim 1, wherein the performing a first obstacle approaching operation based on the first detection information includes:

determining a first rotation angle according to the first included angle;

controlling the cleaning device to rotate the first rotation angle to a side far away from the second detection piece;

the cleaning apparatus is controlled to move forward according to a horizontal distance between the machine body and a target end of the obstacle.

3. The control method of the cleaning apparatus according to claim 2, wherein the controlling the cleaning apparatus to move forward according to the horizontal distance of the machine body from the target end of the obstacle includes:

controlling the cleaning apparatus to move forward based on a horizontal distance of the machine body from a target end of the obstacle being equal to or greater than a preset value;

Acquiring a second included angle between the machine body and the obstacle at the current position based on the triggering piece triggered again;

determining a second rotation angle according to the second included angle;

and controlling the cleaning device to rotate the second rotation angle towards the side far away from the second detection piece.

4. A control method of a cleaning apparatus according to claim 3, wherein said determining the second rotation angle according to the second included angle specifically includes:

and determining the second rotation angle according to the second included angle and the setting position of the second detection piece relative to the machine body.

5. The control method of the cleaning apparatus according to claim 2, wherein the controlling the cleaning apparatus to move forward according to the horizontal distance of the machine body from the target end of the obstacle includes:

and controlling the cleaning equipment to move to one side far away from the second detection piece at a first linear speed and a first angular speed based on the horizontal distance between the machine main body and the target end part of the obstacle is smaller than a preset value, and controlling the cleaning equipment to execute obstacle searching operation if the trigger piece is not triggered when the preset time length is reached.

6. The control method of a cleaning apparatus according to any one of claims 1 to 5, characterized by further comprising:

and controlling the cleaning equipment to move backwards by a first preset distance based on the fact that the first detection information is not acquired, and executing the obstacle seeking operation after rotating a second preset angle towards the side far away from the second detection piece.

7. The control method of the cleaning apparatus according to claim 6, wherein the seek operation includes:

and controlling the cleaning equipment to move and rotate in the direction of the side provided with the second detection piece at the seek linear speed and the seek angular speed until the triggering piece is triggered.

8. A control device of a cleaning apparatus, characterized in that the cleaning apparatus includes a machine body, and a trigger member, a first detection member, and a second detection member provided on the machine body, the trigger member being configured to be triggered when the cleaning apparatus collides with an obstacle, the first detection member being configured to sense the obstacle on a peripheral side of the machine body, the second detection member being provided on one side of the machine body for sensing the obstacle on a side of the machine body, the control device comprising:

The first acquisition module is used for acquiring first detection information of the first detection piece based on the triggering piece being triggered;

a first determining module, configured to determine a first movement distance based at least on the acquired first detection information;

the first processing module is used for executing a first obstacle approaching operation according to the first detection information after controlling the cleaning equipment to move backwards for the first moving distance;

the second acquisition module is used for acquiring second detection information of the second detection piece;

the second processing module is used for controlling the cleaning equipment to execute obstacle-following walking operation according to the second detection information;

the first detection information at least comprises: the first included angle between the machine body and the obstacle, the vertical distance between the machine body and the obstacle, and the horizontal distance between the machine body and the target end of the obstacle, wherein the target end of the obstacle is located at one side of the front of the cleaning device away from the second detection member, and the first determining module comprises:

and the first determining unit is used for determining the first moving distance according to the first included angle, the vertical distance between the machine body and the obstacle and the horizontal distance between the machine body and the target end part of the obstacle.

9. The control device of a cleaning apparatus of claim 8, wherein the first processing module comprises:

the second determining unit is used for determining a first rotation angle according to the first included angle;

a first processing unit for controlling the cleaning device to rotate the first rotation angle to a side far from the second detection member;

and a second processing unit for controlling the cleaning device to move forward according to a horizontal distance between the machine body and a target end of the obstacle.

10. The control device of a cleaning apparatus according to claim 9, wherein the second processing unit includes:

a first processing subunit for controlling the cleaning apparatus to move forward based on a horizontal distance of the machine body from a target end of the obstacle being equal to or greater than a preset value;

the first acquisition sub-module is used for acquiring a second included angle between the machine main body and the obstacle at the current position based on the triggering piece which is triggered again;

the first determining subunit is used for determining a second rotation angle according to the second included angle;

and the second processing subunit is used for controlling the cleaning equipment to rotate the second rotation angle towards the side far away from the second detection piece.

11. The control device of a cleaning apparatus according to claim 10, wherein the first determination subunit specifically comprises:

12. The control device of a cleaning apparatus according to claim 9, wherein the second processing unit includes:

and the third processing subunit is used for controlling the cleaning equipment to move to one side far away from the second detection piece at a first linear speed and a first angular speed based on the fact that the horizontal distance between the machine main body and the target end of the obstacle is smaller than a preset value, and controlling the cleaning equipment to execute obstacle searching operation if the trigger piece is not triggered when the preset time length is reached.

13. The control device of a cleaning apparatus according to any one of claims 7 to 12, characterized by further comprising:

and the third processing module is used for controlling the cleaning equipment to move backwards by a first preset distance based on the fact that the first detection information is not acquired, and executing the obstacle seeking operation after rotating a second preset angle towards one side far away from the second detection piece.

14. The control device of the cleaning apparatus according to claim 13, wherein the seek operation includes:

15. A cleaning robot comprising a processor and a memory;

the memory is used for storing operation instructions;

the processor is configured to execute the control method of the cleaning apparatus according to any one of the above claims 1 to 7 by calling the operation instruction.

16. A computer-readable storage medium, on which a computer program is stored, characterized in that the program, when being executed by a processor, implements a method of controlling a cleaning device according to any one of the preceding claims 1 to 7.