CN114601399A

CN114601399A - Control method and device of cleaning equipment, cleaning equipment and storage medium

Info

Publication number: CN114601399A
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: 2022-06-10
Anticipated expiration: 2041-12-08
Also published as: CN114601399B

Abstract

The embodiment of the disclosure provides a control method and device of a cleaning device, the cleaning device and a storage medium. The control method of the cleaning equipment comprises the following steps: acquiring first detection information of a first detection piece based on the triggering of a triggering piece; determining a first moving distance at least based on the acquired first detection information; after the cleaning equipment is controlled to move backwards for a first moving distance, a first obstacle approaching operation is executed according to first detection information; acquiring second detection information of a second detection piece; and controlling the cleaning equipment to perform obstacle-following walking operation according to the second detection information. Therefore, the collision frequency of the cleaning equipment colliding with the barrier again can be reduced as much as possible, the cleaning equipment can walk along the barrier quickly, and the problem that the adjacent part of the ground and the wall is not swept is solved.

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 to a control method and device for a cleaning device, the cleaning device and a storage medium.

Background

Current cleaning devices, such as self-moving cleaning robots, are generally capable of automatically moving to perform a cleaning operation in a certain area to be cleaned 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 this, embodiments of the present disclosure provide a control method and apparatus for a cleaning device, and a storage medium, which can reduce the number of times of collision between the cleaning device and an obstacle again, so that the cleaning device can quickly walk along the obstacle, and reduce problems such as missing sweeping of the ground and the adjacent portion of the wall.

In an embodiment of the first aspect of the present disclosure, there is provided a control method of a cleaning apparatus, the cleaning apparatus including a machine main body, and a trigger, a first detection member, and a second detection member, which are provided on the machine main body, the trigger 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 main body, the second detection member being provided on a side of the machine main body and being configured to sense the obstacle on a side of the machine main body, the control method including:

acquiring first detection information of a first detection piece based on the triggering of a triggering piece; determining a first moving distance at least based on the acquired first detection information; after the cleaning equipment is controlled to retreat for a first movement distance, a first obstacle approaching operation is executed according to first detection information; acquiring second detection information of a second detection piece; and controlling the cleaning equipment to perform obstacle-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 on one side, far away from the second detection piece, in front of the cleaning equipment; wherein, based on the acquired first detection information, determining a first movement distance comprises: and 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 of the obstacle.

Further, according to the first detection information, a first obstacle approaching operation is executed, and the method comprises the following steps:

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

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

Further, determining a 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 arrangement position of the second detection piece relative to the machine body.

Further, controlling the cleaning apparatus to move forward according to a horizontal distance of the machine body from a 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 that the horizontal distance between the machine 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 is reached.

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

Further, the fault finding 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 obstacle seeking linear speed and the obstacle seeking angular speed until the trigger piece is triggered.

In an embodiment of the second aspect of the present disclosure, there is provided a control device of a cleaning apparatus, the cleaning apparatus including a machine main body, and a trigger, a first detection member, and a second detection member, which are provided on the machine main body, the trigger being configured to be triggered when the cleaning apparatus collides with an obstacle, the first detection member being configured to sense the obstacle on the peripheral side of the machine main body, the second detection member being provided on one side of the machine main body and being configured to sense the obstacle on the side of the machine main 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 of the triggering piece; 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 the second detection piece; and the second processing module is used for controlling the cleaning equipment to execute obstacle-following walking operation according to the second detection information.

Further, the first detection information includes at least: the first contained angle of machine main part and barrier, the vertical distance between machine main part and the barrier, the horizontal distance of the target tip of machine main part and barrier, the target tip of machine main part and barrier is located the preceding one side of keeping away from the second detection piece of cleaning device, wherein, first definite module 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.

Further, the first processing module comprises:

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

Further, the second processing unit includes: a first processing subunit, which is used for controlling the cleaning device to move forwards based on that the horizontal distance between the machine body and the target end part of the obstacle is greater than or equal to a preset value; the first obtaining submodule is used for obtaining a second included angle between the machine main body and the barrier at the current position based on the triggering of the triggering piece; 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 to the side away from the second detection piece by a second rotation angle.

Further, the first determining subunit specifically includes: and determining a second rotation angle according to the second included angle and the arrangement 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 that 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 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 retreat by a first preset distance based on that the first detection information is not acquired, and executing obstacle searching operation after rotating by a second preset angle to one side far away from the second detection piece.

An embodiment of a third aspect of the present disclosure provides a cleaning device comprising a processor and a memory; a memory for storing operating instructions; a processor for executing the control method of the cleaning device according to 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 method of controlling a cleaning apparatus of any one of the first aspects described above.

According to the control method of the cleaning robot, after the cleaning equipment collides with the obstacle in the advancing process to trigger the trigger piece to act, the position relation of the obstacle relative to the cleaning equipment can be known, the first detection information of the first detection piece is obtained, the first moving distance can be determined, 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 can be 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 device and barrier collided once more as far as possible, simultaneously, make the second detect the piece can sense the barrier, make and to control cleaning device to carry out along barrier walking operation according to second detection information, make cleaning device can follow the barrier walking fast, reduce the problem that ground and wall adjacent part missed the sweeping, improved cleaning efficiency greatly, and can ensure good clean effect.

Drawings

In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present disclosure, and other drawings can be obtained according to the drawings without creative efforts for those 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 diagram of a perspective view of the embodiment of FIG. 1;

FIG. 3a is an intention of a right side of a bumper of a cleaning apparatus colliding with an obstacle provided in accordance with an alternative embodiment of the present disclosure;

FIG. 3b is a schematic view of the cleaning apparatus retreating by a first movement distance based on the attitude of FIG. 3 a;

FIG. 4a is an intention of a left side of a bumper of a cleaning device colliding with an obstacle provided in accordance with an alternative embodiment of the present disclosure;

FIG. 4b is a schematic view of the cleaning apparatus retreating by a first movement distance based on the attitude of FIG. 4 a;

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

FIG. 4d is a schematic view of the cleaning device after it has advanced to a position where it again collides with the obstacle based on the attitude of FIG. 4 c;

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

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

FIG. 4g is a schematic view of the cleaning device being rotationally walked across a target obstacle entry location based on the attitude of FIG. 4 c;

FIG. 5a is an intention of a left side of a bumper of a cleaning apparatus colliding with an obstacle provided in accordance with another alternative embodiment of the present disclosure;

FIG. 5b is a schematic view of the cleaning apparatus retreating by a second movement distance based on the attitude of FIG. 5 a;

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

FIG. 5d is a schematic view of the cleaning device after it has advanced to a position where it again collides with the obstacle based on the attitude of FIG. 5 c;

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

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

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

FIG. 7 is a schematic diagram of an electrical configuration of a cleaning apparatus 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 section, 112 rearward section, 120 sensing system, 121 position determining device, 122 bumper, 130 drive system, 131 drive wheel, 132 driven wheel, 133 first drive wheel, 134 second drive wheel, 140 cleaning system, 141 dry cleaning system, 142 wet cleaning system, 143 edge 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

Reference will now be made in detail to the embodiments of the present disclosure, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining 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 the context clearly indicates otherwise. 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. As used herein, the term "and/or" includes all or any element and all combinations of one or more of the associated listed items.

To make the objects, technical solutions and advantages of the present application more clear, 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 that includes a cleaning device, wherein the cleaning device includes a self-moving cleaning robot, such as a sweeping robot, a mopping robot, a vacuum cleaner, a weeding machine, and the like. In some embodiments, as shown in fig. l and fig. 2, a household sweeping robot is taken as an example for illustration, and during the operation of the sweeping robot, the cleaning robot can perform cleaning according to a preset route or an automatically planned route, but inevitably collides 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 in a small distance, the part of the ground adjacent to the wall can be cleaned, and the cleaning capability is improved. Therefore, if the cleaning device can move along the wall in a short distance after colliding with the obstacle 200, the cleaning efficiency of the cleaning device can be greatly improved, the problem that the part of the floor adjacent to the wall is missed is effectively reduced, and the using satisfaction of the user is improved.

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

The machine body 110 includes a forward portion 111 and a rearward portion 112 having an approximately D-shape with a front and a rear circle, i.e., the forward portion is approximately rectangular and the rearward 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 irregular shapes, such as a triangular shape and a rectangular shape.

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

The first detecting element is used for sensing the obstacle 200 around the machine main body, for example, the first detecting element includes a position determining device 121 disposed above the machine main body, where the position determining device 121 includes, but is not limited to, a camera and a Laser Distance measuring device (LDS), it is understood that the Laser Distance measuring device is located at the uppermost end of the machine main body, and can emit Laser light in 360 ° rotation, and it can be determined which direction has the obstacle 200 and the Distance relationship between the obstacle 200 and the machine main body through the reflected Laser light.

The second detecting member is disposed at one side of the machine body for sensing the obstacle 200 at the side of the machine body 110. If the second detecting member can be a wall sensor (wallsensor) disposed at the left or right side of the machine body 110, or a smaller laser distance measuring device, the second detecting member can sense the distance between a point on the side of the machine body 110 and the machine body 110 with higher accuracy. In particular, when the second detection 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 a sensing device such as a magnetometer, an accelerometer, a gyroscope (Gyro), and an odometer (odograph) disposed inside the machine body 110, for providing various position information and motion state 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, the bumper 122 detecting one or more events in the travel path of the cleaning device via a trigger, such as an infrared sensor, provided thereon, as the drive wheel 131 propels the robot across the floor during cleaning, the cleaning device may respond to the events, such as an obstacle 200, a wall, detected by the bumper 122 by controlling the drive wheel 131 module to cause the cleaning device to move away from the obstacle 200, over the obstacle 200, and so on.

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, And the application processor draws an instant map of the environment where the robot is located by using a positioning algorithm, such as instant positioning And Mapping (SLAM), according to the information of the obstacle 200 fed back by the laser distance measuring device. And the distance information and speed information fed back by the sensors, cliff sensors, magnetometers, accelerometers, gyroscopes, odometers and other sensing devices arranged on the buffer 122 are combined to comprehensively judge the current working state and position of the sweeper, and the current pose of the sweeper, such as the passing threshold 170, the position at, above or below the cliff being blocked, the dust box being full, the sweeper being taken up and the like, and specific next-step action strategies can be provided according to different conditions, so that the robot can work more in accordance with the requirements of an owner, and better user experience can be achieved.

As shown in fig. 1 and 2, the drive system 130 may steer the robot across the ground based on drive commands having distance and angle information (e.g., x, y, and o components). The drive system 130 includes a drive wheel 131 and drive modules that can control both the left and right drive wheels, preferably including a left and right drive wheel module, respectively, for more precise control of the motion of the machine. The left and right drive wheel modules are opposed along a transverse axis defined by the body 110. In order for the robot to be able to move more stably or with greater mobility over 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 also be connected with a circuit for measuring driving current and a speedometer. The driving module may be detachably coupled to the main body 110 to facilitate disassembly and maintenance. The drive wheel 131 may have a biased drop-type suspension system movably secured, e.g., rotatably attached, to the robot body 110 and receiving a 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 ground contact force while the cleaning elements of the robotic cleaning device also contact the floor with a certain pressure.

Further, the cleaning apparatus can travel over the ground through various combinations of movements relative to the following three mutually perpendicular axes defined by the machine body: a front-back axis X, a lateral axis Y, and a central vertical axis Z. The forward driving direction along the forward-rearward axis X is denoted as "forward", and the rearward driving direction along the forward-rearward axis X is denoted as "rearward". 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 center points of the drive wheel 131 modules.

Wherein the cleaning device is rotatable about the Y-axis. The "pitch up" is when the forward portion 111 of the automatic cleaning apparatus is tilted up and the rearward portion 112 is tilted down, and the "pitch down" is when the forward portion 111 of the automatic cleaning apparatus is tilted down and the rearward portion 112 is tilted up. In addition, the robot can rotate around the Z axis. In the forward direction of the automatic cleaning apparatus, when the automatic cleaning apparatus is tilted to the right side of the X axis, it turns to the right, and when the automatic cleaning apparatus is tilted to the left side of the X axis, it turns to the left. Wherein the X-axis and Y-axis are shown as arrows in fig. 1.

As shown in fig. 1 and 2, the cleaning system 140 comprises a dry cleaning system. As the dry cleaning system 141, a main cleaning function is derived from a cleaning system constituted by a roll brush, a dust box, a fan, an air outlet, and connecting members between the four. The rolling brush with certain interference with the ground sweeps the garbage on the ground and winds the garbage to the front of a dust suction opening between the rolling brush and the dust box, and then the garbage is sucked into the dust box by air which is generated by the fan and passes through the dust box and has suction force. The dry cleaning system 141 can also include an edge brush 143 having an axis of rotation 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 on the side of the machine body 110 close to the second detecting member, and when the side of the cleaning apparatus 10 on which the second detecting member has been provided runs along the wall at a small distance from the wall, the debris in the corners and gaps between the floor and the wall can be moved into the rolling brush area of the cleaning system 140 by the side brush 143, thereby achieving sweeping of the adjacent portion of the floor and the wall and ensuring good cleaning efficiency.

It is understood that the cleaning system may also include a wet cleaning system, and the wet cleaning system 142 may include: cleaning head, drive unit, water feeding mechanism, liquid storage tank, etc. Wherein, the cleaning head can set up in the liquid reserve tank below, and the inside cleaning solution of liquid reserve tank transmits to the cleaning head through sending water mechanism to make the cleaning head carry out wet-type cleaning to treating clean plane. In other embodiments, the inside cleaning solution of liquid reserve tank also can directly spray to treating clean the plane, and the cleaning head is through scribbling the cleaning solution evenly realize the cleanness to 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 of the station for wet cleaning after being stored with water from the base station. Wherein the cleaning head is for cleaning a surface to be cleaned, and the drive unit is for driving the cleaning head in a substantially reciprocating motion along a target surface, the target surface being a part of the surface to be cleaned. The cleaning head reciprocates along the surface to be cleaned, cleaning cloth or a cleaning plate is arranged on the surface of the contact surface of the cleaning head and the surface to be cleaned, and high-frequency friction is generated between the cleaning head and the surface to be cleaned through reciprocating motion, so that stains on the surface to be cleaned are removed.

The energy system includes rechargeable batteries such as hydrogen-retention batteries and carp batteries, among others. The charging battery can be connected with a charging control circuit, a battery pack charging temperature detection circuit and a battery under-voltage monitoring circuit, and the charging control circuit, the battery pack charging temperature detection circuit and the battery under-voltage monitoring circuit are connected with the single chip microcomputer control circuit. The host computer is connected with the charging pile through the charging electrode arranged on the side or the lower part of the machine body for charging. If dust is attached to the exposed charging electrode, the plastic body around the electrode is melted and deformed due to the accumulation effect of electric charge in the charging process, even the electrode itself is deformed, and normal charging cannot be continued.

The man-machine interaction system comprises keys on a host panel, and the keys are used for a user to select functions; the machine control system can further comprise a display screen and/or an indicator light and/or a loudspeaker, wherein the display screen, the indicator light and the loudspeaker show the current state or function selection item of the machine to a user; a sub-machine 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 of the machine can be displayed to a user at a sub-machine client, and richer and more humanized function items can be provided for the user.

According to the control method of the cleaning equipment provided by the embodiment of the disclosure, after the cleaning equipment collides with the wall, the cabinet and other obstacles 200 in the advancing process, the collision frequency can be reduced as much as possible, the cleaning equipment can move along the wall or the cabinet in a short distance, the cleaning efficiency is further improved, the problem that the floor and the part adjacent to the wall are not swept is effectively reduced, and the use experience of a user is improved. The details are as follows.

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: based on the trigger piece being triggered, first detection information of the first detection piece is acquired.

When the trigger is triggered, which indicates that the cleaning device 100 collides with the obstacle 200 during the forward process, for example, the bumper 122 of the cleaning device 100 collides with a wall, the collision sensor is triggered, that is, the trigger is triggered, so that the general position of the wall relative to the cleaning device 100 and the collision position of the machine body 110 of the cleaning device 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 apparatus 100 collides with the wall, it can be understood that the wall is positioned at the right front of the cleaning apparatus 100 by the trigger; as shown in fig. 3a, when the left side of the forward portion 111 of the cleaning apparatus 100 collides with the wall, it can be understood that the wall is positioned at the left front of the cleaning apparatus 100 by the trigger; when the middle position of the forward portion 111 of the cleaning apparatus 100 collides with the wall, it can be understood that the wall is positioned right in front of the cleaning apparatus 100 through the trigger.

Since the first detecting element is used for sensing the information of the obstacle 200 on the peripheral side of the cleaning device 100, and the second detecting element is used for sensing the information of the obstacle 200 on one side of the cleaning device 100, the detection range of the second detecting element is limited, and the obstacle 200 is not in the detection range of the second detecting element, that is, the control system cannot acquire the second detection information, that is, the cleaning device 100 cannot perform obstacle following operation. In the case of the cleaning apparatus 100 being a D-type cleaner, the bumper 122 includes a front lateral section and two side sections, two collision sensors, i.e., two triggering members, are generally disposed at the front lateral section, and one collision sensor is disposed at each of the side sections, i.e., one triggering member is disposed at each of the 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 substantially confirmed by a signal of one collision sensor or a combination of several collision sensors. That is, after the trigger is triggered, by acquiring the detection information of the first detection member, the relative position of the cleaning device 100 and the obstacle 200 can be known, so as to guide the cleaning device 100 to perform subsequent operations.

Specifically, the trigger may be an impact sensor, such as a photo interrupter type sensor or a hall type sensor, and when the trigger of the cleaning apparatus 100 is triggered, the impact position of the cleaning apparatus 100 may send impact position information to the control system through the impact sensor, so as to determine which position of the cleaning apparatus 100 has been impacted, thereby further confirming the orientation of the obstacle 200 with respect to the cleaning apparatus 100.

The first detection member may be a laser ranging sensor of the cleaning apparatus 100, the laser ranging sensor is located at an upper end of the machine body 110, and may be rotated 360 ° to emit laser light, and the distance and direction of the obstacle 200 with respect to the cleaning apparatus 100 are determined by the reflected laser light, so that the first detection information may be determined according to the above information.

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

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

The first moving distance is determined at least according to the acquired first detection information, so that the first moving 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 by the first moving distance, so that the cleaning device 100 is separated from the obstacle 200, the trigger state of the trigger is released, and the cleaning device 100 can be ensured to move smoothly. Through carrying out first near barrier operation according to first detection information for according to the difference of first detection information, can carry out different first near barrier operation, and then can reduce the number of times that cleaning device 100 collides with barrier 200 once more as far as possible, reduce the problem that ground and the adjacent part of wall were missed to sweep, be favorable to improving cleaning efficiency and clean effect.

It is understood that the first moving distance may also be determined by combining the acquired first detection information with the self-structural parameters of the cleaning device 100. The self-structural parameters of the cleaning apparatus 100 may include a positional relationship of the second detection member with respect to a 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, among others.

Here, controlling the cleaning apparatus 100 to move backward means controlling the cleaning apparatus 100 to move backward in a posture in which the cleaning apparatus 100 is kept colliding with the obstacle 200. That is, during the backward movement of the cleaning apparatus 100, the cleaning apparatus 100 is moved backward in a straight line and does not rotate. Specifically, as shown in fig. 3b and 4b, wherein fig. 3b is a schematic diagram of the cleaning apparatus 100 retreating by the first movement distance based on the posture of fig. 3a, and fig. 4b is a schematic diagram of the cleaning apparatus 100 retreating by the first movement distance based on the posture of fig. 4 a. Wherein the first moving distance is D1 in fig. 3b and 4b, wherein in fig. 3b and 4b, O1 is the geometric center of the cleaning apparatus 100 when colliding with the obstacle 200, and O2 is the geometric center of the cleaning apparatus 100 after moving backward by the first moving distance D1.

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

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

After the cleaning device 100 performs the first obstacle approaching operation, one side of the cleaning device 100, which is provided with the second detection piece, is close to the obstacle 200, so that the second detection piece can sense the obstacle 200, therefore, the position relationship between the cleaning device 100 and the obstacle 200 can be known more accurately by acquiring the second detection information of the second detection piece, such as the position relationship between the cleaning device 100 and the wall, and then the cleaning device 100 can be controlled to perform the obstacle following operation through the second detection information, such as the cleaning device 100 can be controlled to move along the wall at a smaller distance from the wall. It will be appreciated that at this point, debris from the adjacent portion of the floor and wall can be moved by the edge brush 143 into the roller brush area of the cleaning system, thereby sweeping the adjacent portion of the floor and wall.

The second detecting element may be a smaller laser distance measuring sensor disposed on one side of the machine body 110, and if the second detecting element is disposed on the right side of the machine body 110, the second detecting element can sense the distance between one point on the obstacle 200 on the right side of the machine body 110 and the machine body 110, and the accuracy is high. And the first detecting member detects the distance of the obstacle 200 around the machine body 110 from the machine body 110, but the accuracy is a little lower. That is, the first sensing member is mainly used to find where the wall is, the length of the wall, and the relative positions of the wall and the machine body 110, and the first sensing member is rotatably provided on the machine body 110. The second detecting member transmits and receives a reflected signal in a fixed direction from the side of the machine body 110; when the machine body 110 is parallel to the wall surface, the higher-precision distance sensor, i.e., the second detecting member, is used to realize the travel along the wall in the millimeter level. That is, when the second detecting member can detect the information of the wall, the cleaning apparatus 100 can be controlled by the control system to move along the wall at a small distance from the wall.

That is to say, according to the control method of the cleaning device 100 provided by the embodiment of the disclosure, after the cleaning device 100 collides with the obstacle 200 in the forward process to trigger the trigger to move, the position relationship of the obstacle 200 relative to the cleaning device 100 can be known, the first detection information of the first detection member is acquired to determine the first moving distance, and then the cleaning device 100 is controlled to move backwards by the first distance, so that the cleaning device 100 is separated from the obstacle 200, and the cleaning device 100 can be ensured to move smoothly. Then, according to the difference of the first detection information, different first near-obstacle operations are executed, the number of times of secondary collision between the cleaning equipment 100 and the obstacle 200 can be reduced as much as possible, meanwhile, the second detection piece can sense the obstacle 200, the cleaning equipment 100 can be controlled to execute the operation of walking along the obstacle according to the second detection information, the cleaning equipment 100 can walk along the obstacle quickly, the problem that the ground and the adjacent part of the wall are not swept 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 robot comprises a first included angle between a machine body and an 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 on one side, far away from the second detection piece, in front of the cleaning device, namely the target end of the obstacle is an end, to which the cleaning device is to perform obstacle-following walking operation. It is understood that the first detection information may be other parameters meeting the requirement, and the parameters are used for representing the position relation between the obstacle where the trigger is triggered to act and the machine body, and the position relation between the target end of the obstacle and the machine body.

As shown in fig. 3a and 4a, a first included angle β 1 between the machine body 110 and the obstacle 200 may be an included angle between a projection of a center line m1 of the machine body 110 in the front-back direction and a surface of the obstacle 200 on a horizontal plane, where the center line of the machine body 110 in the front-back direction is shown as a straight line m1 in fig. 3a and 4a, and the first included angle is shown as β 1.

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 of a center line m1 of the front-rear direction and a center line m2 of the left-right direction of the machine body 110.

The horizontal distance L of the machine body 110 from the target end Q of the obstacle 200, which is an end to which the cleaning apparatus 100 is intended to perform the barrier following operation, 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. If the target end of the obstacle 200 is indicated by a letter Q, wherein the target end Q of the obstacle 200 is located at the front side of the cleaning apparatus 100 far from the second detecting member, it can be 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, if the horizontal distance L between the machine body 110 and the target end Q of the obstacle 200 is short, as shown in fig. 4g, 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 and the obstacle following operation cannot be successfully performed due to insufficient length of the wall surface, or the machine body 110 cannot trigger the trigger again in the obstacle approaching operation, and the subsequent obstacle following operation cannot be completed. Therefore, the horizontal distance L between the machine body 110 and the target end Q of the obstacle 200 plays an important role in how to perform the obstacle approaching operation subsequently. 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: and 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 of the obstacle.

Since the first included angle β 1, 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 β 1, 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 the possibility of triggering the trigger again to operate can be reduced in the process of performing the first obstacle approaching operation according to the first detection information after the cleaning device 100 moves backward by the first moving distance D1, that is, the cleaning device 100 can reduce the number of collisions with the obstacle 200 as much as possible, and reduce the missed cleaning area, thereby improving the cleaning efficiency.

Specifically, during the backward movement of the cleaning apparatus 100, the data of the odometer of the driving wheel 131 may be used to ensure that the cleaning apparatus 100 moves backward by an accurate distance in the current posture. That is, when the change information of the odometer matches 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, the first movement distance D1 is secured as the distance that the cleaning apparatus 100 moves backward.

In some possible implementation embodiments 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 equipment to rotate to the side far away from the second detection piece by a first rotation angle;

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

In this embodiment, since the first included angle β 1 can represent the inclined position of the cleaning device 100 relative to the obstacle 200, the first rotation angle α 1 is determined according to the first included angle β 1, so that the first rotation angle is related to the current inclined state of the cleaning device 100 relative to the obstacle 200, and then, as shown in fig. 4c, the cleaning device 100 is controlled to rotate towards the side away from the second detection member by the first rotation angle α 1, so that the advancing direction of the cleaning device 100 after rotation is kept within a preferable angle range with the obstacle 200, and on the basis of ensuring that the cleaning device 100 can rapidly move to the vicinity of the obstacle 200, the second detection member can be as close to the obstacle 200 as possible, so that the second detection member can acquire the second detection information as early as possible to enable the cleaning device 100 to perform the obstacle following operation. Wherein fig. 4c shows the cleaning device 100 after being rotated by a first rotation angle based on the posture of fig. 4b, wherein the first rotation angle is shown as α 1 in fig. 4 c.

Specifically, a preferred obstacle entering angle θ of the cleaning apparatus 100 may be calculated based on the first included angle β 1, 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, where the obstacle entering angle θ refers to an included angle between a projection of a center line of the machine body 110 of the cleaning apparatus 100 in the front-rear direction and 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. Generally, the preferred barrier entry angle θ is less than 45 °. Then, according to the calculated better barrier entry angle θ and the first included angle β 1, the first rotation angle α 1 can be determined, that is, the first rotation angle α 1 can be understood as a difference between the first included angle β 1 and the better barrier entry angle θ. The left wheel and the right wheel can be controlled to rotate at different speeds by monitoring gyroscope data, and the cleaning equipment 100 is controlled to rotate at the first rotation angle alpha 1 in situ to the side far away from the second detection piece.

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

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

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

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

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

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

Specifically, the preset value may be set in the system in advance, or the system may be calculated from the posture and position of the cleaning apparatus 100 when colliding with the obstacle 200, and the structural parameters of the cleaning apparatus 100 itself. The system can calculate a reasonable preset value according to the first included angle between the machine body 110 and the obstacle 200, the vertical distance between the machine body 110 and the obstacle 200, the horizontal distance between the machine body 110 and the target end Q of the obstacle 200, the distance between the geometric center of the machine body 110 of the cleaning device 100 and the collision position, the relative position between the geometric center of the machine body 110 and the second detection element, and other parameters in the first detection information, so as to ensure that the cleaning device 100 can successfully complete the first obstacle approaching operation relative to the obstacle 200, and the second detection element can detect the information of the obstacle 200, and actually perform the obstacle following walking operation.

In this embodiment, as shown in fig. 4d and 4e, when the horizontal distance L between the machine main body 110 and the target end Q of the obstacle 200 is greater than or equal to the preset value H, it means that the obstacle 200 is long enough, so that the cleaning apparatus 100 can smoothly complete the first obstacle approaching operation, i.e., the cleaning apparatus 100 can detect the information of the obstacle after performing the first obstacle approaching operation, and 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 device 100 is controlled to move forward, that is, the cleaning device 100 moves forward in a direction approaching the obstacle 200 at the preferred obstacle entering angle θ, when the triggering member is triggered again, it is described that the cleaning device 100 collides with the obstacle 200 again, and at this time, a second included angle β 2 between the machine body 110 and the obstacle 200 in the current position is obtained, where the second included angle β 2 is an included angle between a center line of the machine body 110 in the front-back direction in the current posture and the surface of the obstacle 200. Then, a second rotation angle α 2 is determined according to the second included angle β 2, and as shown in fig. 4e, the cleaning device 100 is controlled to rotate by the second angle α 2 to a side away from the second detecting member, so that the triggering member is released, that is, the bumper 122 of the cleaning device 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 second detection information. The control system can thus control the cleaning device 100 to walk along the barrier on the basis of 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 arrangement position of the second detection piece relative to the machine body.

Since the cleaning device 100 needs to be controlled to perform the obstacle following walking operation according to the second detection information of the second detection member, the second detection member can sense the obstacle 200 as early as possible during the traveling of the cleaning device 100, so that the cleaning device 100 can perform the obstacle following walking operation as early as possible. And the second detecting member is disposed at a different position with respect to the machine body 110 so that the second detecting member can sense the obstacle 200 only when the cleaning apparatus 100 is rotated to a different angle in the same posture. Therefore, the second rotation angle α 2 is determined according to the second included angle β 2 and the setting position of the second detection member relative to the machine body 110, so that after the cleaning device 100 rotates the second rotation angle α 2 to the side far away from the second detection member, the trigger member is released, and meanwhile, the second detection member can sense the obstacle 200, that is, the second detection member feeds back the second detection information, thereby avoiding the need of rotating twice or rotating for multiple times to enable the trigger member to be contacted, and the second detection member can sense the obstacle 200, thereby greatly improving the efficiency of the cleaning device 100 in performing the obstacle following walking operation.

Specifically, the second detecting member is disposed at the right side of the machine main body 110, and the distance between the second detecting member and the front end of the machine main body 110 is a fixed value, such as 9cm to 15cm, and the distance between the second detecting member and the front end of the machine main body 110 is 9cm, 11cm, 13cm, 15cm, or other values meeting the requirement, it can be understood that the distance between the second detecting member and the front end of the machine main body 110 may also be in a proportional relationship with the dimension of the machine main body 110 in the front-back direction, such as the distance between the second detecting member and the front end of the machine main body 110 is 0.3 times, 0.4 times, 0.6 times, or other values meeting the requirement of the dimension of the machine main body 110 in the front-back direction, and the disclosure is not particularly limited. The arrangement is such that the second detecting member can sense the obstacle 200 only when the angle between the cleaning apparatus 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 sense the wall only when the included angle between the machine body 110 and the wall surface is within a certain angle range, for example, 27 °, and therefore, it is necessary to rotate the cleaning apparatus 100 within the angle range as soon as possible to perform the obstacle-following walking operation. Therefore, the second rotation angle α 2 is determined according to the second included angles β 2 and 27 ° such that the trigger is released and the second sensing member can sense the wall after the cleaning apparatus 100 is rotated to the left side by the second rotation angle α 2.

S610-6-21: 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 that the horizontal distance between the machine 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 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 can also be understood that the combination of various sensors of the cleaning apparatus 100 cannot achieve the stable obstacle following operation of the cleaning apparatus 100. Therefore, as shown in fig. 4g, the cleaning apparatus 100 is controlled to move to a side away from the second detecting member at the first linear speed and the first angular speed, that is, the cleaning apparatus 100 is controlled to approach the obstacle 200 in an inclined manner as a whole, so as to increase the cleaning area to a greater extent and achieve the overall cleaning as much as possible, and the walking state is maintained, if the trigger 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 time period may be 400ms, 500ms, 600ms, or other time period meeting the requirement, and the preset time period is within a reasonable range, so that the forward portion 112 of the cleaning device 100 can be ensured to pass over the target end Q of the obstacle 200, such as over a corner, and further, during the obstacle seeking operation performed by the cleaning device 100, the cleaning device does not collide with the corner, so as to waste time.

In particular, the first linear velocity and the first angular velocity may be preset values of the control system. Taking the second detecting member disposed on the right side of the machine body 110 of the cleaning apparatus 100 as an example, 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 speed and the first angular speed.

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

In this embodiment, in order to enable the second detecting element to sense the obstacle 200 as early as possible, so that the cleaning device 100 can perform the obstacle following operation to clean the area adjacent to the ground and the wall, the cleaning device 100 should be controlled to rotate towards the side provided with the second detecting element until the triggering element is triggered, which indicates that the cleaning device 100 collides with the obstacle 200, that is, the obstacle 200 is found, and the obstacle searching operation is completed.

Wherein, control cleaning device 100 to be provided with the rotatory removal of one side of second detection piece, like this, can increase the probability that the second detection piece senses barrier 200 when cleaning device 100 moves to the trigger piece in-process that is triggered, and then be favorable to improving cleaning device 100 and discover barrier 200 or carry out the efficiency along barrier walking operation.

Specifically, the cleaning device 100 is controlled to move to the side provided with the second detection member at an obstacle seeking linear velocity and an obstacle seeking angular velocity, wherein the obstacle seeking linear velocity and the obstacle seeking angular velocity may be preset values of the control system. Taking the example that the second detecting member is provided at 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 less than a preset value, controlling the cleaning device 100 to rotate and move to the left side at a first linear speed and a first angular speed, when the preset time is reached, the trigger piece is not triggered, which means that the cleaning equipment 100 is controlled to move towards the right side at the obstacle searching linear velocity and the obstacle searching angular velocity after the trigger piece crosses the target obstacle entering position P, i.e., rotates to the right in fig. 4g, 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 to the wall just passed, thereby enabling the cleaning apparatus 100 to quickly perform a barrier-following walking operation, enabling sweeping of a neighboring partial area between the floor and a new wall.

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

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

In this embodiment, as shown in fig. 5a, when the trigger is triggered and the first detection information is not acquired, for example, after the cleaning device 100 collides with the obstacle 200, the first detection element fails to sense, for example, the obstacle 200 is too low to sense, or the obstacle 200 is a light absorbing material, so that the second detection element does not receive a return signal with sufficient strength. At this time, as shown in fig. 5b, the control system controls the cleaning device 100 to move backward by a first preset distance D01, so that the cleaning device 100 is separated from the obstacle 200, the trigger state of the trigger is released, and the cleaning device 100 can be ensured to move smoothly, and then as shown in fig. 5c, after the cleaning device 100 is controlled to rotate to a side away from the second detection member by a second preset angle δ 1, the obstacle searching operation is performed to search for a new obstacle 200, so that the probability that the second detection member senses the obstacle 200 can be increased in the process that the cleaning device 100 moves to the trigger again, and further, the efficiency of the cleaning device 100 finding the obstacle 200 or performing the obstacle following operation is improved.

Wherein the obstacle seeking operation is to control the cleaning device 100 to rotate and move towards the side provided with the second detection member until the trigger member is triggered. If the cleaning device 100 is controlled to move towards the side provided with the second detection piece at the obstacle seeking linear speed and the obstacle seeking angular speed until the triggering piece is triggered by collision with the obstacle 200, which indicates that the cleaning device 100 finds the obstacle 200 again, the obstacle 200 can be a reference object for the cleaning device 100 to perform the obstacle following operation, namely, when the second detection piece senses the obstacle 200, the cleaning device 100 can perform the obstacle following operation.

The second preset angle δ 1 may be a preset value of the control system, after the cleaning device 100 is controlled to move backwards by the first preset distance D01, the second preset angle δ 1 is rotated to one side away from the second detection piece, the situation that the first detection piece still cannot sense the obstacle 200 after the cleaning device 100 moves forwards again in the current posture and collides with the obstacle 200 can be avoided, the obstacle-finding operation is performed by controlling the cleaning device 100 after the second angle δ 1 is rotated, the improvement of the probability that the first detection piece can sense the obstacle 200 after the cleaning device 100 collides with the obstacle 200 again is facilitated, and in the same way, the probability that the second detection piece senses the obstacle 200 can be increased, and the efficiency of the cleaning device 100 in performing the obstacle-following walking operation is improved.

It can be understood that, when the cleaning device 100 moves backward for the first predetermined distance D01, and rotates to the side away from the second detecting element by the second predetermined angle δ 1, and the obstacle seeking operation is performed to find the obstacle 200, if the control system still cannot acquire the first detection information, that is, the first detecting element still cannot sense the obstacle 200, as shown in fig. 5D, 5e, and 5f, the cleaning device 100 can be controlled to move backward again for the third predetermined distance D02, and rotate to the side away from the detecting element by the third predetermined angle δ 2, and then the obstacle seeking operation is performed.

As shown in fig. 8, according to an embodiment of the second aspect of the present disclosure, there is provided a control device 800 of a cleaning apparatus, the cleaning apparatus includes a machine main body, and a trigger member, a first detection member and a second detection member, which are arranged on the machine main body, the trigger member is arranged to be triggered when the cleaning apparatus collides with an obstacle, the first detection member is used for sensing the obstacle on the peripheral side of the machine main body, the second detection member is arranged on one side of the machine main body and is used for sensing the obstacle on the side of the machine main body, the control device 800 includes:

a first obtaining module 810, configured to obtain first detection information of the first detection element based on the trigger element being triggered; a first determining module 820, configured to determine a first moving distance based on at least the obtained first detection information; the first processing module 830 is configured to execute a first obstacle approaching operation according to the first detection information after controlling the cleaning device to move backwards 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, configured to control the cleaning device to perform an obstacle following operation according to the second detection information.

According to the control device 800 of the cleaning device provided by the disclosure, after the cleaning device collides with an obstacle in the forward process to trigger the trigger to act, the position relationship of the obstacle 200 relative to the cleaning device 100 can be known, the first detection information of the first detection piece is acquired through the first acquisition module 810 to determine the first movement distance, and the cleaning device is controlled to retreat and move by the first processing module 830 to separate the cleaning device from the obstacle, so that the cleaning device can be moved smoothly. Then, first processing module 830 is according to the difference of first detection information, carry out different first nearly barrier operation, can reduce the number of times that cleaning device and barrier collided once more as far as possible, and simultaneously, make the second detect piece can sensing the barrier, second acquisition module 840 can acquire the second detection information, second processing module 850 can control cleaning device to carry out along barrier walking operation according to the second detection information, make cleaning device can follow the barrier walking fast, reduce the problem that ground and wall proximal part missed scanning, cleaning efficiency is greatly improved, and can ensure good clean effect.

As an example, 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, the target end of the obstacle being located at a side of the front of the cleaning apparatus 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 the first rotating angle according to the first included angle; the first processing unit is used for controlling the cleaning equipment to rotate by a first rotation angle to one side far away from the second detection piece; and a second processing unit for controlling the cleaning device to move forward according to the horizontal distance between the machine body and the target end of the obstacle.

As an example, the second processing unit includes: a first processing subunit, which is used for controlling the cleaning device to move forwards based on that the horizontal distance between the machine body and the target end part of the obstacle is greater than or equal to a preset value; the first obtaining submodule is used for obtaining a second included angle between the machine main body and the barrier at the current position based on the triggering of the triggering piece; 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 to the side away from the second detection piece by a second rotation angle.

As an example, the first determining subunit specifically includes: and determining a second rotation angle according to the second included angle and the arrangement 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 that 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 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 retreat by a first preset distance based on that the first detection information is not acquired, and executing obstacle searching operation after rotating by a second preset angle to one side far away from the second detection piece.

As an example, the fault finding 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 obstacle seeking linear speed and the obstacle seeking angular speed until the trigger piece is triggered.

The embodiment of the disclosure provides a cleaning device, which comprises a processor and a memory, wherein the memory stores computer program instructions capable of being executed by the processor, and when the processor executes the computer program instructions, the steps of the control method of the cleaning device of any embodiment are realized.

As shown in fig. 7, the cleaning apparatus may include a processing device 701 (e.g., a central processing unit, a graphics processor, etc.) that may perform various appropriate actions and processes in accordance with a program stored in a read only memory (ROM702) 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 by a bus 704. An input/output (I/O) interface is also connected to bus 704.

Generally, 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 devices, etc.; an output device 707 including, for example, a Liquid Crystal Display (LCD), a speaker, a vibrator, and the like; a storage device 708 including, for example, a hard disk; and a communication device 709. The communication device 709 may allow the cleaning robot to communicate wirelessly or wiredly with other base stations to exchange data, e.g., the communication device 709 may enable communication between the cleaning robot and a base station or a remote mobile device. While FIG. 7 illustrates a cleaning appliance having various means, it is to be understood that not all of the illustrated means are required to be implemented or provided. More or fewer devices may alternatively be implemented or provided.

In particular, according to an embodiment of the present disclosure, the process described above with reference to the flow diagram 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 containing program code for performing the method illustrated in flowchart 6. In such embodiments, the computer program may be downloaded and installed from a network via the communication means 709, or may be installed from the storage means 708, or may be installed from the ROM 702. The computer program, when executed by the processing device 701, performs the above-described functions defined in the methods of embodiments of the present disclosure.

It should be noted that the computer readable medium in the present disclosure can 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 any combination thereof. 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 (RAM703), a read-only memory (ROM702), an erasable programmable read-only memory (EPROM702 or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM702), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the present 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 contrast, in the present disclosure, a computer readable signal medium may comprise a propagated data signal with computer readable program code embodied therein, either in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A 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, optical cables, RF (radio frequency), etc., or any suitable combination of the foregoing.

The computer readable medium may be included in the robot; or may be separate and not assembled into the robot.

Computer program code for carrying out operations for 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 + +, 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 type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).

The flowchart 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 an assembly, 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 above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.

Finally, it should be noted that: although the present disclosure has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that various changes and modifications can be made, and equivalents may be substituted for elements thereof without departing from the spirit and scope of the present disclosure.

Finally, it should be noted that: although the present disclosure has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced: and such modifications or 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 main body, and a trigger member, a first detection member, and a second detection member, which are provided on the machine main body, the trigger member being provided to be triggered when the cleaning apparatus collides with an obstacle, the first detection member being for sensing an obstacle on a peripheral side of the machine main body, the second detection member being provided on one side of the machine main body for sensing an obstacle on a side of the machine main body, the control method comprising:

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

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

after the cleaning equipment is controlled to retreat for the first movement distance, first obstacle approaching operation is executed according to the first detection information;

acquiring second detection information of the second detection piece;

and controlling the cleaning equipment to perform obstacle following walking operation according to the second detection information.

2. The control method of a cleaning apparatus according to claim 1,

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 on one side, far away from the second detection piece, in 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 part of the obstacle.

3. The control method of a cleaning apparatus according to claim 2, wherein the performing of 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 equipment to rotate to the side far away from the second detection piece by the first rotation angle;

controlling the cleaning apparatus to move forward according to a horizontal distance of the machine body from a target end of the obstacle.

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

controlling the cleaning device to move forwards based on that the horizontal distance between the machine body and the target end of the obstacle is greater than or equal to a preset value;

acquiring a second included angle between the machine main body and the barrier at the current position based on the triggering piece being triggered again;

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

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

5. The method according to claim 4, wherein the 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.

6. The method of claim 3, wherein said controlling the cleaning apparatus to move forward based on the horizontal distance of the target obstacle entry location from the machine body comprises:

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 that the horizontal distance between the machine 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 a preset time length is reached.

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

and controlling the cleaning equipment to retreat for a first preset distance based on the situation that the first detection information is not acquired, and executing obstacle searching operation after rotating for a second preset angle towards one side far away from the second detection piece.

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

a first determining module, configured to determine a first moving distance based on at least 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;

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

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

the memory is used for storing operation instructions;

the processor is used for executing the control method of the cleaning device according to any one of the claims 1 to 7 by calling the operation instruction.

10. 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.