CN118000614A

CN118000614A - Control method of cleaning equipment, cleaning equipment and cleaning system

Info

Publication number: CN118000614A
Application number: CN202410302596.4A
Authority: CN
Inventors: 唐堂; 杨咚浩; 许灿
Original assignee: Dreame Technology Suzhou Co ltd
Current assignee: Dreame Technology Suzhou Co ltd
Priority date: 2024-03-15
Filing date: 2024-03-15
Publication date: 2024-05-10

Abstract

The application provides a control method of cleaning equipment, the cleaning equipment and a cleaning system, and relates to the technical field of the cleaning equipment. The method comprises the following steps: controlling the cleaning device to travel along a target edge, wherein at least part of the target edge is a boundary between a first area and a second area; when the first cleaning component is positioned in the first area and the second cleaning component is at least partially positioned in the second area, the first cleaning component is controlled to be positioned in a first position, the second cleaning component is positioned in a second position, so as to at least partially clean the target edge, and the height of the first position is smaller than that of the second position. According to the method, the edge cleaning between different areas is realized by controlling the position adjustment of the cleaning component, and the cleaning effect of the edge area is improved.

Description

Control method of cleaning equipment, cleaning equipment and cleaning system

Technical Field

The present application relates to the field of cleaning devices, and in particular, to a control method of a cleaning device, and a cleaning system.

Background

The cleaning apparatus is an apparatus for cleaning a surface to be cleaned. At present, when cleaning equipment is used for cleaning, different areas are suitable for different cleaning strategies, and the cleaning equipment walks from the current area to another area suitable for different cleaning strategies, the position of the cleaning assembly can be adjusted in advance, so that the boundary zone between the different areas has poor cleaning effect and cannot meet the actual use requirements of users.

Disclosure of Invention

The application provides a control method of cleaning equipment, the cleaning equipment and a cleaning system, which are used for solving the problem that in the cleaning process of the conventional cleaning equipment, different areas are applicable to different cleaning strategies, so that the cleaning effect is poor in boundary zones among the different areas.

In a first aspect, the present application provides a method of controlling a cleaning apparatus comprising at least one set of cleaning assemblies, a set of said cleaning assemblies comprising: a first cleaning assembly and a second cleaning assembly located on opposite sides of a body of the cleaning apparatus along a direction of travel, the method comprising:

controlling the cleaning device to travel along a target edge, wherein at least part of the target edge is a boundary between a first area and a second area;

When the first cleaning component is positioned in the first area and the second cleaning component is positioned at least partially in the second area, the first cleaning component is controlled to be in a first position, and the second cleaning component is controlled to be in a second position so as to at least partially clean the target edge, and the height of the first position is smaller than that of the second position.

The cleaning device generally comprises a machine body and a cleaning component arranged below the machine body, wherein the cleaning component can be positioned at different positions in different working areas so as to realize different cleaning effects, and the cleaning device comprises two rag components, so that the cleaning device in the prior art can control the two rag components to contact the ground for cleaning at the same time or control the two rag components to lift at the same time so as not to pollute a carpet when the cleaning device cleans the carpet area; when the cleaning device performs a cleaning task, the coverage of the cleaning assembly is typically less than the maximum width of the cleaning device, making it difficult for the cleaning device to perform welt cleaning, e.g., on target edges of the first and second areas, which are difficult for the cleaning device to perform welt cleaning. In this embodiment, the first cleaning component located in the first area is controlled to be located in the first position, and the second cleaning component at least partially located in the second area is controlled to be located in the second position, so that the boundary zone of the different areas is effectively cleaned by at least one of the first cleaning component and the second cleaning component by utilizing different ground clearance heights of the cleaning components, and the problem that the boundary zone has a small contact area and cannot be cleaned is solved; that is, in the prior art, when the edge cleaning is realized through the outside of the cleaning component, because the coverage area of the cleaning component is smaller than the maximum width of the cleaning component, the outside of the cleaning component is difficult to clean by the edge, in the scheme, the first cleaning component and the second cleaning component are positioned at different positions, and the target edge is cleaned through the inner side area of one of the first cleaning component and the second cleaning component, so that the problem that the outside of the cleaning component is difficult to clean by the edge due to the limitation of the machine body of the cleaning equipment is solved.

The outer side of the cleaning component is the side, which is relatively closer to the outer contour of the machine body, of the cleaning component in the width direction of the cleaning equipment; the inner side of the cleaning component is the side of the cleaning component which is relatively far away from the outer contour of the machine body in the width direction of the cleaning equipment.

Furthermore, in the prior art, when cleaning equipment gets into the second region from the first region, for example, when the carpet region is got into by the ground region, cleaning equipment will in time lift up cleaning element when detecting work region or ground material and change to make cleaning element when not cleaning the target border, cleaning element just lifts to the lifting position, thereby can't clean the target border, the scheme of this embodiment can clean to the target border, thereby solve the too early technical problem that is difficult to clean the target border of lifting opportunity of cleaning element of prior art.

Optionally, the surface materials of the first area and the second area are different; and/or, the first area and the second area are different in ground clearance height.

In this way, the first cleaning assembly and the second cleaning assembly can be adapted to the cleaning strategies of different areas.

Illustratively, the first position is a cleaning position, the first cleaning assembly being in contact with a cleaning surface; the second position is a lifting position, the second cleaning assembly is separated from the cleaning surface, the first area is an area where the cleaning assembly is required to be in contact cleaning, and the second area is an area where the cleaning assembly is not required to be in contact cleaning.

Through the mode, the targeted cleaning of different areas is realized, the cleaning equipment is suitable for cleaning of various area boundary zones, and the cleaning functions of different areas and area boundaries are enriched by differently setting different ground-leaving positions of the cleaning assembly, so that the functionality of the cleaning equipment is improved.

In one possible design, the cleaning assembly comprises a wipe assembly comprising a wipe tray and a cleaning cloth mounted on the wipe tray, the first cleaning assembly and the second cleaning assembly are disposed side-by-side on opposite sides of the body, and an interference area exists between the first cleaning assembly and the second cleaning assembly.

By the mode, seamless splicing between the two cleaning assemblies is realized, and when the cleaning equipment executes a conventional cleaning task, no cleaning leakage area exists between the first cleaning assembly and the second cleaning assembly; when the cleaning equipment performs cleaning on the target edge, interference exists between the two cleaning components, the inner side of the cleaning component is beneficial to cleaning on the target edge when the cleaning equipment moves along the target edge, and meanwhile, when the cleaning equipment performs cleaning on the target edge, the interface area of the first area and the second area is difficult to generate cleaning leakage; avoiding that two cleaning components are far apart, it is difficult to clean the target edge through the inside of the cleaning components. Wherein when there is an interference region between the first cleaning member and the second cleaning member, the interference region is formed at an inner side region of the first cleaning member and the second cleaning member.

In one possible design, the lifting a second cleaning assembly located on the second region includes:

determining the height of a second position of the second cleaning assembly, and lifting the second cleaning assembly from the first position to the second position.

Through the mode, the cleaning assembly can be adjusted according to the preset position, so that the cleaning assembly can be adaptively adjusted according to actual conditions, actual cleaning requirements are met, and the cleaning effect of the cleaning assembly is improved.

Optionally, the determining the height of the second position of the second cleaning assembly includes:

Determining the height of the second position according to the cleaning mode of the second cleaning assembly and/or the cleaning mode supported by the second area;

If the cleaning mode of the second cleaning component is matched with the cleaning mode supported by the second area, the second position is a height position where the second cleaning component can perform contact cleaning on the second area;

And if the cleaning mode of the second cleaning component is not matched with the cleaning mode supported by the second area, the second position is a height position where the second cleaning component is not contacted with the second area.

Through the mode, the cleaning assembly can be cleaned according to the cleaning mode of the to-be-cleaned area, or the lifting height is selected without contacting the to-be-cleaned area when the cleaning mode of the to-be-cleaned area is not met, so that secondary pollution to the to-be-cleaned area is avoided, and the cleaning effect of the cleaning equipment is improved. For example, when the first area is a floor area and the second area is a floor area, the first area and the second area support wet cleaning, the heights of the first area and the second area are different, and when the second cleaning component is at least partially positioned in the second area, the second cleaning component is controlled to be positioned in a second position contacted with the second area so as to perform wet cleaning on the second area.

In one possible design, the controlling the cleaning device to travel along a target edge includes:

And acquiring a track of the target edge, and controlling the cleaning equipment to walk along the track so as to clean the target edge.

In this way, the cleaning device is caused to follow a determined trajectory when cleaning the target edge, and when the cleaning device is caused to travel along the target edge, the first cleaning assembly and the second cleaning assembly are positioned on both sides of the target edge, for example, so that the target edge can be cleaned by the inner side regions of the first cleaning assembly and/or the second cleaning assembly. By acquiring the track along the edge of the target, the cleaning equipment is controlled to walk along the edge of the target, so that the cleaning equipment does not need to wait until the detection result is analyzed and then control the advancing direction of the next step, the control difficulty of the cleaning equipment in advancing is simplified, the quick planning of the advancing track is realized, and the cleaning efficiency is improved.

In one possible design, the method includes:

And when the cleaning equipment moves along the target edge, adjusting the moving direction of the cleaning equipment according to the position relation between the cleaning equipment and the first area and/or the second area so as to clean the target edge.

Through the mode, the advancing direction of the cleaning equipment is further finely adjusted, and the problem that the boundary cleaning effect is reduced due to the fact that the accurate position of an actual boundary cannot be identified in the whole planning process is avoided.

In one possible design, the adjusting the traveling direction of the cleaning device according to the positional relationship between the cleaning device and the first area and/or the second area includes:

If the position relation characterizes that the travelling direction of the cleaning equipment is deviated to the direction in which the first area is located, the cleaning equipment is controlled to rotate towards a first direction, and the first direction is determined based on the position in which the second area is located;

and if the position relation characterizes that the travelling direction of the cleaning equipment is deviated to the direction in which the second area is located, controlling the cleaning equipment to rotate towards a second direction, wherein the second direction is determined based on the position in which the first area is located.

By the mode, the function of adjusting the advancing direction in real time by utilizing the position relation is realized, so that the cleaning equipment always advances near the boundary between two areas, the cleaning assembly in the middle area of the bottom of the cleaning equipment can always clean the boundary position of the areas, and the cleaning effect is improved.

In one possible design, the positional relationship of the cleaning device with the first region and/or the second region comprises:

The cleaning device comprises a first ultrasonic sensor arranged on the machine body, and the position relation between the cleaning device and the first area and/or the second area is determined through the fact that detection signals of the first ultrasonic sensor on the first area and detection signals of the second area are different;

And/or the cleaning device comprises a second ultrasonic sensor arranged on the machine body, wherein the second ultrasonic sensor comprises at least two ultrasonic sensors for respectively detecting a first area and a second area, and the position relation between the cleaning device and the first area and/or the second area is determined through the difference of detection signals of the at least two ultrasonic sensors on the first area and the second area;

And/or the cleaning device comprises an AI image pickup sensor and/or a line laser sensor, and the position relation between the cleaning device and the first area and/or the second area is determined according to the image data of the AI image pickup sensor and/or the point cloud data of the line laser sensor.

By the method, the area boundary can be determined based on different detection devices carried by or associated with the cleaning device, and the cleaning device can walk along the target edge through accurately determining the area boundary; wherein, when the first ultrasonic sensor is adopted, the hardware configuration of the cleaning device can be simplified; when the second ultrasonic sensor is adopted, the cleaning equipment can capture detection signals of different areas in time, the cleaning equipment does not need to carry out complex walking strategies, and the walking strategies of the cleaning equipment when detecting edges can be simplified; when the AI camera sensor and/or the line laser sensor are adopted, the types of different areas can be intuitively and accurately confirmed, and then the position relation between the cleaning equipment and the first area and/or the second area can be accurately confirmed.

In one possible design, the method further comprises:

And after the edge cleaning task of the target edge is completed, controlling the cleaning equipment to drive away from the target edge, and resetting the height of the second cleaning component to the first position, or adjusting the height of the first cleaning component to the second position.

By the method, after the boundary of the area is cleaned, the cleaning equipment automatically executes normal cleaning tasks of the non-boundary area, and automatically restores the cleaning widths of the two cleaning assemblies so as to improve the cleaning coverage area of the cleaning equipment, for example, the height of the second cleaning assembly is reset to the first position, and then the two cleaning assemblies can be both positioned at the first position to execute cleaning, for example, the first area is cleaned; or adjusting the height of the first cleaning component to the second position, so that both cleaning components can be in the second position, for example, the cleaning device cleans the second area when both components are in the second position, so as to clean the first area or the second area, and after the edge cleaning of the target edge is performed, the cleaning device can directly connect other cleaning tasks, for example, directly clean the first area or the second area.

In one possible design, the method includes:

acquiring a target travelling track travelling to the target edge in response to the edge cleaning task of the second area;

And advancing according to the target advancing track, and determining whether the target edge is positioned between the first area and the second area according to the acquired data of the cleaning equipment in the advancing process.

By the method, the accuracy of determining the boundary position of the area is further refined by utilizing the data acquired in real time while the vehicle moves along the track, so that the cleaning effect is improved.

In one possible design, the acquiring, in response to the edge-wise cleaning task of the second area, a target travel track that travels to the target edge includes:

Responding to the edge cleaning task of the second area, and acquiring an edge cleaning track library;

If the travelling track travelling to the edge of the target exists in the edge cleaning track library, taking the travelling track as the target travelling track;

And if the travelling track travelling to the target edge does not exist in the edge cleaning track library, planning the target travelling track according to the acquired data of the cleaning equipment.

By the method, the planned track can be utilized to realize rapid planning of the travelling track of the cleaning equipment, and the track planning can be performed by collecting data under the condition that no planned track exists, so that the source of the track planning is enriched, and the track planning efficiency and accuracy are improved.

In one possible design, the method further comprises:

and after finishing the edge cleaning task of the second area, updating the edge cleaning track library and/or the edge cleaning data of the second area according to the travelling track at the time.

By the method, the generated track and the cleaning data are stored, so that the generated track and the cleaning data can be quickly extracted and used when the cleaning equipment is cleaned next time, the cleaning effect of the follow-up cleaning equipment is improved, the calculated amount of the cleaning equipment in track planning and cleaning data processing is reduced, and the cleaning efficiency of the cleaning equipment is improved.

In one possible design, the method includes:

The first area is the ground, the second area is the carpet, the first cleaning component of the cleaning equipment is controlled to be positioned on the ground, and the second cleaning component is positioned on the carpet, so that the target edge between the ground and the carpet is cleaned;

and/or the first area is the ground, the second area is the track, the first cleaning component for controlling the cleaning equipment is positioned on the ground, and the second cleaning component is positioned on the track, so that the cleaning of the target edge between the ground and the track is realized;

And/or the first area and the second area are both ground surfaces, the first area is a plane, the second area is at least a part of slope surfaces, the first cleaning component of the cleaning equipment is controlled to be positioned on the ground surfaces, and the second cleaning component is positioned on at least a part of slope surfaces, so that the target edge between the ground surfaces and at least a part of slope surfaces is cleaned.

Through the mode, the ground and the carpet, the ground and the track, and the ground and the slope are respectively cleaned, and the boundary of the ground and the edge of the ground are cleaned, so that the inner side area of the cleaning assembly is enabled to clean the target edge, the cleaning equipment can clean the edge between the working area and different working areas in the complex working scene, the cleaning effect of the cleaning equipment on the working area is improved, the cleaning function of the cleaning equipment is expanded, and the cleaning dead angle of the cleaning equipment is avoided.

In one possible design, the method includes:

controlling the cleaning device to travel along the edges of the carpet and the floor if the cleaning device is located at the edges of the carpet and the floor, and lifting a second cleaning assembly located on the carpet relative to the floor;

or if the cleaning device is positioned at the edge of the track and the floor, controlling the cleaning device to travel along the edge of the track and the floor, and lifting a second cleaning component positioned on the track relative to the floor;

Or if the cleaning device is located at least partially along the slope and the edge of the floor, controlling the cleaning device to travel along at least partially along the slope and the edge of the floor, and lifting a second cleaning component located at least partially along the slope. Cleaning cloth on the rag tray

By the mode, the single-side lifting function of the cleaning assembly is utilized to respectively clean the boundaries of the ground and the edges of the ground when the ground is in contact with the carpet, the ground is in contact with the rail and the ground is in contact with the slope, and the single-side lifting function is simple and easy to realize, so that the outer side edge of the cleaning assembly of the cleaning device is changed into the inner side edge of the cleaning assembly, and the problem of poor edge cleaning effect caused by structural limitation of the cleaning device can be avoided; in addition, cleaning equipment among the prior art generally possesses the lifting function, just can realize unilateral lifting function with the upgrading of part hardware through simple, reduces equipment's improvement cost, and then promotes holistic clean effect and the clean intelligent degree of cleaning equipment, need not to increase cleaning equipment's structural design, just can improve cleaning equipment's along clean effect.

In a second aspect, the present application provides a cleaning apparatus comprising a main body, a control device, at least one set of cleaning components, a first driving component for controlling lifting of the cleaning components, and a second driving component for controlling travelling of the cleaning apparatus, wherein the first driving component is in transmission connection with the cleaning components so as to enable the cleaning components to be movably connected with the main body, and one set of cleaning components comprises: the first cleaning component and the second cleaning component are positioned on two sides of the machine body along the advancing direction;

The control device is used for:

Controlling the second driving assembly to drive the cleaning device to travel along a target edge, wherein at least part of the target edge is a boundary between a first area and a second area;

When the first cleaning component is positioned in the first area and the second cleaning component is at least partially positioned in the second area, the first driving component is controlled to drive the first cleaning component to be in a first position, the second cleaning component is controlled to be in a second position so as to at least partially clean the target edge, and the height of the first position is smaller than that of Gao Dudi second cleaning components of the second position.

Through the device, the first cleaning component and the second cleaning component are positioned at different positions, and the inner side area of one of the first cleaning component and the second cleaning component is used for cleaning the target edge, so that the problem that the outer side of the cleaning component is difficult to clean by binding due to the limitation of the machine body of the cleaning equipment is solved; and the technical problem that the lifting time of the cleaning assembly in the prior art is too early to clean the target edge is avoided, for example, when the cleaning device enters the second area from the first area, the position of the cleaning assembly is adjusted in time when the cleaning device detects a signal of the second area, and when the cleaning assembly does not clean the target edge at the moment. Further, the device can use the existing structure composition of the cleaning equipment to realize that two cleaning components are positioned at different positions in different areas, so that different areas are subjected to different cleaning functions, and the different ground clearance heights of the cleaning components are utilized to realize effective cleaning of boundary zones of the different areas, so that the application scene of the cleaning equipment is enriched by the existing equipment structure composition.

In one possible design, the first and second regions have different surface materials; and/or, the first area and the second area are different in ground clearance height.

Through the arrangement, simultaneous cleaning of two areas or independent cleaning of any one of the two areas can be realized, diversification of cleaning modes is enriched, and use experience of a user is improved.

Illustratively, the first area is a floor surface, the second area is a carpet, the first cleaning assembly controlling the first driving assembly to drive the cleaning device is located on the floor surface, and the second cleaning assembly is located on the carpet, so as to clean a target edge between the floor surface and the carpet;

And/or the first area is the ground, the second area is the track, the first driving component is controlled to drive the first cleaning component of the cleaning equipment to be positioned on the ground, and the second cleaning component is positioned on the track, so that the target edge between the ground and the track is cleaned;

and/or the first area and the second area are both ground surfaces, the first area is a plane, the second area is at least a part of slope surfaces, the first driving component is controlled to drive the first cleaning component of the cleaning device to be positioned on the ground surface, and the second cleaning component is positioned on at least a part of slope surfaces, so that the cleaning of the target edge between the ground surface and at least a part of slope surfaces is realized.

Through the device, the first cleaning assembly and the second cleaning assembly are located in different areas, and therefore the regional cleaning of the ground and the non-ground areas is achieved, the degree of diversity of cleaning functions is improved, and the cleaning effect of the interface is improved.

In one possible design, the first position is a cleaning position, the first cleaning assembly being in contact with a cleaning surface; the second position is a lifting position, the second cleaning assembly is separated from the cleaning surface, the first area is an area where the cleaning assembly is required to be in contact cleaning, and the second area is an area where the cleaning assembly is not required to be in contact cleaning.

Through the device, the cleaning assembly can be cleaned according to the cleaning mode of the cleaning area, or the lifting height is selected without contacting the cleaning area when the cleaning mode of the cleaning area is not satisfied, so that secondary pollution of the cleaning area is avoided, and the cleaning effect of the cleaning equipment is improved.

In one possible design, the control device is specifically configured to:

determining the height of a second position of the second cleaning assembly, and driving the second cleaning assembly to lift from the first position to the second position by the first driving assembly.

Through the device, the height of the cleaning assembly can be adjusted by utilizing a low-cost, simple and effective driving control mode, and then various cleaning functions matched with the height after the height adjustment are realized.

In one possible design, the cleaning device further comprises detection means for detecting a positional relationship of the cleaning device with the first area and/or the second area; the control device is specifically used for:

When the cleaning equipment advances along the target edge, the second driving component is controlled to adjust the advancing direction of the cleaning equipment according to the position relation between the cleaning equipment and the first area and/or the second area detected by the detection device so as to clean the target edge.

Through the device, the real-time deviation correction of the track of the cleaning equipment in the actual advancing process is realized, and the cleaning effect of the edge-following process of the cleaning equipment is improved.

In a third aspect, the present application provides a cleaning system comprising a cleaning apparatus as claimed in any of the second aspects.

Through the system, the cleaning equipment can be in linkage control with other equipment, integration and intellectualization among multiple equipment are enhanced, and more intelligent full-house intelligence is constructed based on the cleaning system, so that the use experience of a user is improved.

According to the control method of the cleaning equipment, the cleaning equipment and the cleaning system, the cleaning equipment is controlled to travel along the target edge, and at least part of the target edge is the boundary between the first area and the second area; when the first cleaning component is located in the first area and the second cleaning component is at least partially located in the second area, the first cleaning component is controlled to be located in a first position, the second cleaning component is controlled to be located in a second position, so that the target edge is at least partially cleaned, and the height of the first position is smaller than that of the second position.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions of the prior art, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic view showing a bottom view of a cleaning apparatus according to an embodiment of the present application;

FIG. 2 is a schematic view of a possible cleaning apparatus according to an embodiment of the present application;

FIG. 3 is a schematic flow chart of a control method of a cleaning device according to an embodiment of the present application;

FIG. 4 is a schematic diagram illustrating a control state of a cleaning assembly according to an embodiment of the present application;

FIG. 5 is a schematic view of a cleaning apparatus utilizing a single ultrasonic sensor along an edge travel path according to an embodiment of the present application;

FIG. 6 is a schematic diagram of a cleaning apparatus utilizing dual ultrasonic sensors along an edge travel path according to an embodiment of the present application;

FIG. 7 is a schematic illustration of a cleaning apparatus utilizing visual sensors along a path of travel provided by an embodiment of the present application;

Fig. 8 is a schematic flow chart of an edge control method of a cleaning device according to an embodiment of the present application.

Detailed Description

Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary examples do not represent all implementations consistent with the application. Rather, they are merely examples of apparatus and methods consistent with some aspects of the application, and not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.

The cleaning device automatically collects dirt on a surface to be cleaned mainly by a cleaning member such as a roller brush, a rag, or the like, and when there is a cover such as a carpet, a floor mat, or the like on the surface to be cleaned, or there is a protrusion having a height difference allowing the cleaning device to travel thereon, a boundary is generated between the surface to be cleaned and the cover or between the surface to be cleaned and the protrusion.

One cleaning mode of existing cleaning devices is to bypass the covering or protrusion cleaning, which can cause the boundary to be bypassed as well, resulting in the boundary not being cleaned, for example, when the robot enters a carpet area, the wipe assembly lifts so as not to clean the carpet area; another cleaning method is to clean the cover or the protrusion together with the surface to be cleaned, but this may cause the cover such as a carpet to be soaked with water during cleaning to increase the pollution degree of the cover, and the cleaning effect of the first area and the second area may be poor due to different cleaning strategies of the first area and the second area.

Based on the technical problems, the application concept of the application is as follows: when the cleaning modes of the two side areas are different, the two side areas are cleaned in different modes by lifting the single side cleaning assembly, and the junction between the two side areas is cleaned, so that the technical problems in the prior art are solved.

Wherein, the cleaning modes at least comprise: the cleaning modes supported by the two side regions are different, for example, one side supports dry cleaning and wet cleaning, and the other side supports only dry cleaning; or both sides support wet cleaning, but the cleaning assembly needs to be in a different cleaning position to perform both sides of the cleaning job.

Fig. 1 is a schematic view illustrating a bottom view of a cleaning apparatus according to an embodiment of the present application. As shown in fig. 1, the cleaning apparatus includes a main body 101, a cleaning assembly 102, a control device, and a storage assembly.

It should be appreciated that the cleaning device according to embodiments of the present application may be any cleaning device having a cleaning function, including but not limited to: a sweeping robot, a floor washing robot, a robot integrating sweeping and dragging, a cleaning robot, a mowing robot, a snowplow robot and the like. The cleaning device can clean in a front-sweeping and back-dragging mode or a sweeping and dragging separation mode. The front sweeping and rear mopping modes can sweep the floor and mopping the floor at the same time, so that the cleaning efficiency can be improved. The sweeping and mopping separation mode can sweep the floor firstly, and mopping is performed after the sweeping is completed, so that the cleaning effect can be improved. The cleaning device is exemplified by the sweeping robot to perform specific description of functions and effects, and the components related to the scheme of the application are only given as examples in fig. 1, and the cleaning device is not limited to other components or parts, and can be increased according to the functions provided by the cleaning device.

The machine body can be round, square or other shapes, such as a special shape formed by combining partial round and partial square, and the cleaning component can comprise an edge brush, a rolling brush (also called a ground brush), a rag disc (also called a mop disc) and the like. Fig. 2 is a schematic structural diagram of a possible cleaning device according to an embodiment of the present application. As shown in fig. 2, a cleaning device with a circular body comprises a body 201, a side brush 202 arranged on one side and a rag pan 203 arranged on two sides.

The control device and the storage component are arranged inside the cleaning equipment. Alternatively, the storage assembly may be integrated with the control device or may be two separate components from the control device.

A storage component for storing data; for example various software control programs, some modes and/or parameters of the cleaning device, etc. In particular, the program may include program code including computer-operating instructions.

The control means may comprise, for example, one or more circuits or chips with control functions.

Control means for controlling the operation of the cleaning device and in response to user operations by means of various software control programs stored on the memory.

The execution main body of the embodiment of the application can be a control device in the cleaning equipment or a service end corresponding to the cleaning equipment. The server is located at the cloud end and connected with the cleaning equipment through a network, and issues a control instruction for the cleaning equipment or forwards the control instruction sent by a user through the terminal equipment to the cleaning equipment and the like.

The following takes an execution body as an example of a control device in the cleaning device, and specific embodiments describe the technical solution of the present application and how the technical solution of the present application solves the above technical problems in detail. The following embodiments may be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments. Embodiments of the present application will be described below with reference to the accompanying drawings.

Fig. 3 is a schematic flow chart of a control method of a cleaning device according to an embodiment of the present application. As shown in fig. 3, the method includes:

S301, controlling the cleaning device to travel along a target edge, wherein at least part of the target edge is a boundary between a first area and a second area.

Wherein the cleaning apparatus comprises at least one set of cleaning components, wherein one set of cleaning components comprises: the first cleaning component and the second cleaning component are positioned on two sides of the machine body of the cleaning equipment along the travelling direction.

The cleaning device comprises a first cleaning component and a second cleaning component, wherein the first cleaning component and the second cleaning component are arranged on the rear side of the machine body of the cleaning device side by side, and preferably, the first cleaning component and the second cleaning component are arranged on two sides of a central axis of the cleaning device along the advancing direction so as to clean areas on two sides of the central axis respectively. The cleaning device comprises driving wheels, wherein the driving wheels are arranged on two sides of the cleaning device to drive the cleaning device to move, the cleaning device comprises a left driving wheel and a right driving wheel, when the left driving wheel is located in a first area, the right driving wheel is located in a second area, the first cleaning component is located in the first area, and the second cleaning component is at least partially located in the second area, so that the positions of the first cleaning component and the second cleaning component can be adjusted through the running mode of the driving wheels of the cleaning device, and the function that the cleaning device runs along the target edge formed by the boundary of the first area and the second area is achieved. The first area and the second area may be divided according to various division criteria, for example, the surface materials of the first area and the second area are different; and/or the first area and the second area are different in height from the ground.

Wherein, illustratively, when the first area and the second area are both in a regular pattern, the target edge between the first area and the second area illustratively comprises a straight line, the first cleaning assembly is above the first area, and the second cleaning assembly is above the second area, thereby walking along the target edge for cleaning; when the second region is irregularly patterned, such as when the second region is irregularly shaped carpet, the target edge between the first and second regions illustratively includes a curve, and the second cleaning assembly portion is positioned above the second region, such that the target edge is at least partially cleaned by the first cleaning assembly.

Optionally, in the environment to be cleaned, the first area and the second area may be divided according to the condition of the closed area after the sensor is mapped, so as to form a boundary between the first area and the second area, where the boundary is an edge between the first area and the second area; the height difference can be detected in real time through the sensor, and the edge between the first area and the second area is formed after the detection points for continuously detecting the height difference are connected; another way is to define the boundary of the virtual area by human to form the edge between the first area and the second area; the material on the travelling path can be detected in real time through the sensor, and the boundaries of different cleaning attribute materials are identified, wherein the boundaries are the target edges between the first area and the second area.

For example, the cover and the non-cover are identified as the first area and the second area, respectively, due to a height difference of the cover, or the surface structures on both sides are identified as the first area and the second area, due to a height difference of a low step of the surface structure itself to be cleaned, and also the obstacle and the surface structure to be cleaned may be identified as the first area and the second area, respectively, due to a height difference of an obstacle, such as an entrance stone, a door leaf base, a track, etc., which can be overturned in the environment to be cleaned.

In the above-mentioned case, because of the height difference between the two side areas, when the airframe walks along the edge, the airframe is a circular shell protruding from the cleaning component due to the shell structure of the airframe, i.e. because the coverage area of the cleaning component is smaller than the maximum width of the cleaning component, the outside of the cleaning component is difficult to clean by binding, resulting in poor cleaning effect at the edge; or when the machine body walks along the edge, the height difference of the two side areas can enable the machine body to incline, so that the cleaning assembly can not clean the edge, and even the two side cleaning assemblies can not completely contact the two side areas due to the inclination, thereby reducing the cleaning area and the cleaning effect of the two side areas. Or when cleaning equipment gets into the second region by first region, for example when getting into the carpet region by ground region, cleaning equipment will in time lift up clean subassembly when detecting work area or ground material and change to make clean subassembly when not cleaning the target border, clean subassembly just lifts to the lifting position, thereby can't clean the target border, the scheme of this embodiment can clean to the target border, thereby solve the too early technical problem that is difficult to clean the target border of lifting opportunity of prior art clean subassembly.

For another example, for a surface of the same height but one side wettable to water and the other side non-wettable to water, the difference in material of the cleaning surface can be identified as a first area and a second area.

In the above-mentioned cases, the cleaning apparatus is generally required to set different cleaning strategies for both sides, such as dry cleaning in one area and wet cleaning in the other area, but when switching from one area to another, it is difficult to clean the boundary between the areas on both sides, and the cleaning drain area at these boundaries tends to be directly carried over, resulting in poor overall cleaning of the area to be cleaned.

Also, for example, when a user defines a target area within the area to be cleaned through the terminal and marks the target area as unclean, the target area and the area to be cleaned are determined as a first area and a second area, and a boundary between the target area and the area to be cleaned forms an edge between the first area and the second area.

In the above-described case, the cleaning apparatus may directly turn the traveling direction to be away from the unclean area while approaching the boundary in order to avoid the unclean area, resulting in that the boundary area where the turn is made cannot be cleaned, reducing the overall cleaning effect of the cleaning apparatus on the area to be cleaned.

S302, when the first cleaning component is located in the first area and the second cleaning component is at least partially located in the second area, controlling the first cleaning component to be in a first position, and controlling the second cleaning component to be in a second position so as to at least partially clean the target edge, wherein the height of the first position is smaller than that of the second position.

For example, when it is determined that the cleaning apparatus is crossing a first area and a second area where it is desired to distinguish between treatment cleaning tasks, the cleaning apparatus is controlled to move by a second drive assembly, for example, such that the left drive wheel is located in the first area and the right drive wheel is located in the second area, such that the first cleaning assembly is located in the first area and the second cleaning assembly is located at least partially in the second area.

Optionally, the travelling track of the cleaning device is further finely controlled by a detection device, such as a sensor, so that the cleaning device can drive as close to the first area and the target edge as possible, and further, the first cleaning component and the second cleaning component located on two sides of the central axis of the cleaning device can be beneficial to respectively and correspondingly processing the first area and the second area.

In some embodiments, after the first area and the second area are determined, when the corresponding ground clearance heights of the first area and the second area are different, the target edge can be determined according to the interface area of the first area and the second area, and the second cleaning assembly can be adjusted to be lifted upwards to a second position (such as a lifting position) which is not contacted with the surface to be cleaned, or lowered downwards to a first position (such as a cleaning position) which is contacted with the surface to be cleaned by the first driving assembly. Taking the first area as a ground to be cleaned as an example, the second area can be a surface to be cleaned, such as a track, a step, a slope and the like, which is not equal to the ground, and when the cleaning device is used for cleaning the ground normally, the first cleaning component and the second cleaning component are both positioned at the first position so as to ensure that enough friction force is generated after the cleaning components are contacted with the ground, thereby ensuring the cleaning effect of the cleaning components; when the second area is present, cleaning of the boundary between the first area and the second area is often neglected, and more pollution may be accumulated on the target edges of the first area and the second area due to accumulation of elapsed time; the cleaning function of the first cleaning component above the first area is maintained, the first driving component is controlled to adjust the second cleaning component above the second area to a second position which corresponds to the height of the second area, so that the first cleaning component above the first area can be closely attached to the target edge for cleaning, the cleaning condition of the target edge is improved, and further, the second area such as a track, a step, a slope and the like is usually higher than the ground height serving as the first area, so that the ground clearance of the adjusted second position is higher than the ground clearance of the first position, or the second area such as a carpet and the like belongs to an area where the second cleaning component does not need to contact and clean, and the second cleaning component is lifted to the second position, so that the second cleaning component is favorably separated from the surface of the second area, and the second area is prevented from being polluted.

Alternatively, the first driving assembly capable of adjusting the lifting position of the cleaning assembly may be provided on any one of the cleaning assemblies, or may be provided on only one side of the cleaning assembly.

If the first driving component is disposed on the cleaning component on only one side, it is envisioned by those skilled in the art that when the height of the second area is lower than that of the first area, the second driving component can drive the cleaning device to turn so that the first cleaning component is located above the second area, and the second cleaning component is located above the first area, such that the first driving component drives the second cleaning component to lift upwards to the second position, and the first cleaning component maintains the first position contacting the second area.

In other embodiments, after the target edges of the first area and the second area are determined, the cleaning properties of the first area and the second area, and the cleaning manner of the cleaning device are determined respectively, where the cleaning properties are intrinsic properties of the first area and the second area, for example, the cleaning properties of waterproof materials such as floor, floor mat, tile, stone, metal frame, etc. are suitable for wet cleaning and dry cleaning, while the cleaning properties of non-waterproof materials such as carpet, flannelette, electrical appliance, etc. are suitable for dry cleaning, so it is necessary to determine whether the cleaning properties of the first area and the second area are matched with the cleaning manner of the current cleaning device, if they are matched, then a normal cleaning process may be performed, if they are not matched, then a control operation needs to be performed on the cleaning device to avoid a decline in cleaning effect due to the mismatch of the cleaning manners, for example, when the cleaning manner is wet cleaning, and the material of the corresponding area is carpet, which is suitable for dry cleaning only, if the cleaning device still performs a task of cleaning carpet, then the carpet is wet, and dirt such as dust is more easily adsorbed on the carpet, and the cleaning effect is reduced.

When the edge moves, if the cleaning properties of the two sides are different, the cleaning components on the corresponding sides of the cleaning equipment can be controlled to meet the cleaning modes of the corresponding areas, and meanwhile, when the cleaning equipment moves along the edge, the cleaning at the edge can be considered.

In still other embodiments, when there is a second area that does not need to be cleaned in the area to be cleaned, the first area may be cleaned according to a normal cleaning task, and since the cleaning device directly turns the travelling direction to be away from the second area that does not need to be cleaned when approaching to the boundary, after the cleaning of the first area is completed, the edge cleaning operation of the first area and the second area is performed, at this time, the first driving component is controlled to lift the second cleaning component, and the second driving component is controlled to drive the cleaning device to travel along the boundary track of the second area, and the first cleaning component is disposed above the first area, and the second driving component is disposed above the second area, so that the first cleaning component contacts the first area, and the second cleaning component does not contact the second area, so that the cleaning region that is leaked at the boundary between the first area and the second area is cleaned when the second area is not cleaned.

For the result of whether the second cleaning assembly cleans the second area, it is determined whether the second cleaning assembly is adjusted to an appropriate height. A feasible method for lifting the second cleaning assembly on the second area is that a driving motor for controlling the second cleaning assembly to ascend or descend is arranged on the second cleaning assembly, and the second cleaning assembly is controlled to ascend or descend by controlling the rotation working time of the driving motor, so that the function of contact cleaning or non-contact between the second cleaning assembly and the second area is realized.

According to the method provided by the embodiment, the second cleaning assembly is lifted in the edge travelling process of the first area and the second area by controlling the cleaning equipment, so that the partition cleaning treatment of the first area and the second area is realized, and compared with the mode that the two cleaning assemblies are simultaneously positioned at the first position or simultaneously positioned at the second position for cleaning in the prior art, the cleaning mode is easier to clean dirt at the edge, and the dirt cleaning effect at the edge is improved as the cleaning is conducted according to the independent track planning aiming at the edge, and secondary pollution is not caused to a cleaning-free part, so that the overall cleaning effect is better.

In the prior art, no special treatment strategy is provided for the edge, the edge is easy to ignore, or even if a robot walks along the edge, the edge cleaning effect of the cleaning component is difficult to ensure because the body shell and the edge route cannot be completely adhered, for example, in order to avoid collision between the body shell and the edge, a certain distance exists between the body and the edge when the cleaning equipment is adhered to clean, and therefore the cleaning component may not be closely adhered to the edge; therefore, one side of the robot is arranged in the first area, and the other side of the robot is arranged in the second area, because the two cleaning cloth are distributed on the two sides of the central axis, when the robot walks along the edge, the edge of the cleaning cloth can be tightly attached to the edge without being influenced by the body shell, and the target edge is cleaned through the middle areas of the first cleaning assembly and the second cleaning assembly, so that the corner can be cleaned better, and the cleaning effect on the edge is better.

In a possible embodiment, the first position is a cleaning position, the first cleaning assembly being in contact with the cleaning surface; the second position is a lifting position, the second cleaning component is separated from the cleaning surface, the first area is an area which needs to be cleaned by the cleaning component in a contact mode, and the second area is an area which does not need to be cleaned by the cleaning component in a contact mode.

The first area is an area where the cleaning assembly is required to perform contact cleaning, such as a floor, and the second area is an area where the cleaning assembly is not required to perform contact cleaning, such as a blanket, and the first position is a cleaning position where the first cleaning assembly is in contact with the cleaning surface, such as a lowest position where the second driving assembly drives the cleaning assembly to descend, and the second position is a lifting position where the second cleaning assembly is separated from the cleaning surface, such as a highest position where the second driving assembly drives the cleaning assembly to ascend.

Alternatively, the height corresponding to the second position of the cleaning assembly may have a plurality of different positions, for example, any position between the lowest position and the highest position of the cleaning assembly, where the different positions may be a plurality of equidistant positions or non-equidistant positions, and when the second position other than the highest position is lifted, the driving characteristic of the second driving assembly may be utilized, for example, when the rotating motor is utilized as the second driving assembly, the lifting interval is controlled by controlling the rotation number or the rotation duration, so as to realize that the cleaning device presents different heights when lifted.

On the basis of the embodiment, the cleaning assembly specifically comprises a rag assembly, the rag assembly comprises a rag disc and cleaning cloth arranged on the rag disc, the first cleaning assembly and the second cleaning assembly are arranged on two sides of the machine body side by side, and an interference area exists between the first cleaning assembly and the second cleaning assembly.

The first cleaning component and/or the second cleaning component comprise a cleaning cloth disc and a cleaning cloth arranged below the cleaning cloth disc, and the first driving component controls the cleaning cloth below the cleaning cloth disc to rub with the first area and/or the second area by controlling the rotation of the cleaning cloth disc, so that the cleaning function of the first cleaning component and/or the second cleaning component is realized. The first cleaning component and the second cleaning component are arranged on two sides of the machine body side by side, and an interference area exists between the first cleaning component and the second cleaning component.

Illustratively, the first cleaning assembly and the second cleaning assembly are disposed side by side on opposite sides of the body, and the two cleaning cloths are respectively connected below the two cleaning assemblies.

Optionally, the cleaning cloth has an area greater than or equal to the area of the wipe tray. Through this mode, make the cleaning cloth can play buffering guard action to rag dish border, simultaneously because two cleaning cloth adjacent parts extrudees each other and forms the interference region, this interference region can be when not influencing rag dish and cleaning cloth normal rotation, increase clean area, avoid producing the clean clearance between two rag dishes. The maximum width of the interference region between the two cleaning elements may be about 1mm, about 2mm, about 3mm, about 4mm, about 5mm, or about 6mm, although no particular numerical limitation is intended herein.

In some embodiments, since the two cleaning cloths form an interference area when being cleaned side by side, when the first driving component drives the second cleaning component to lift, the rag tray of the first cleaning component can be attached to the edge of the junction, so that the cleaning cloth can clean the edge of the junction in a friction manner, and cleaning effect is improved, for example, when the central axis of the machine body of the cleaning device is at the target edge, when the first cleaning component and the second cleaning component are both at the first position, the first cleaning component and the second cleaning component at least have interference areas at the target edge, and when the second cleaning component moves to the second position, the first cleaning component can be attached to the target edge for cleaning, and further cleaning effect at the target edge is improved.

The method of controlling the height of the second position of the second cleaning assembly to be adjusted is described in detail below.

The second cleaning assembly is raised from the first position to the second position by determining a height of the second position of the second cleaning assembly.

The second position may be a height position where the second area can be cleaned or a height position where the second area is not cleaned, for example. Detecting the height difference between the second area and the first area through a detection device, determining the height of the second position of the second cleaning assembly, and controlling the first driving assembly to drive the second cleaning assembly to adjust from the first position to the second position; or detecting the material of the second area through the detection device, and then matching with the cleaning mode of the second cleaning assembly to determine whether the second cleaning assembly can clean the second area or not, further determining the height of the second position of the second cleaning assembly, and controlling the first driving assembly to drive the second cleaning assembly to adjust from the current first position to the second position; or the first driving component is controlled to drive the second cleaning component to adjust from the first position to the second position by acquiring the setting of the user on the second area so as to determine the height of the second position of the second cleaning component; or by

On the basis of the above embodiment, taking the first area as the main normal cleaning area as an example, when the second cleaning assembly is lifted to the height of the second position, the height of the second cleaning position of the second cleaning assembly needs to be determined first.

Illustratively, the second cleaning assembly is a cleaning assembly that is positioned directly above the second area, raised to a height corresponding to the second position, clean or unclean, and then traveling along the edge to complete the edge cleaning task.

When determining the height of the second cleaning position of the second cleaning assembly, the cleaning mode of the second cleaning assembly and/or the cleaning mode supported by the second area need to be acquired first.

For example, the cleaning means of the cleaning assembly may be dry cleaning and/or wet cleaning.

One possible implementation is to acquire data acquired by the detection means of the cleaning device, the range of acquired data comprising the second area.

For example, since the first area is a pre-assumed normal cleaning area, such as the floor, that is, the first area can satisfy both dry cleaning and wet cleaning, it is not necessary to adjust the cleaning component corresponding to the first area, and the second area is an assumed unknown cleaning attribute area, and the second position of the second cleaning component needs to be correspondingly adjusted according to the cleaning attribute of the area, so that the data of the second area needs to be acquired by the detection device of the cleaning apparatus, so as to acquire the cleaning attribute of the second area according to the acquired data of the second area.

Wherein the acquired data includes, but is not limited to, image data, point cloud data, ultrasound data.

The method comprises the steps that image data are collected through a visual sensor, such as a camera, on the cleaning device, and cleaning attributes corresponding to each region in an image can be determined according to comparison of the collected image data and a preset image database, wherein the preset image database can be a corresponding relation between the image data collected through cloud big data and the cleaning attributes, or can be a corresponding relation library obtained after the cleaning attributes of the image data collected in advance by the cleaning device or other household interconnection devices are marked by a user.

In another possible implementation manner, scanning and identifying surrounding environments by using line laser emitted by a cleaning device to obtain point cloud data of the surrounding environments, and when the surface roughness formed after the point cloud data are arranged is greater than a preset roughness threshold, determining that the cleaning attribute of a second area corresponding to the point cloud data is non-wettable, for example, the roughness of the point cloud data of a blanket is greater than the preset roughness threshold, and the cleaning is non-wettable.

Still another possible implementation manner is that the material ultrasonic signals of the second area are obtained through ultrasonic data, the material ultrasonic signals of different materials are different, and the cleaning attribute corresponding to the ultrasonic signals of different materials is preset, so that the cleaning manner corresponding to the second area is determined after the material ultrasonic signals are obtained.

Then, the height of the second location is determined based on the cleaning pattern of the second cleaning assembly and/or the cleaning pattern supported by the second region.

Optionally, if the cleaning manner of the second cleaning component matches the cleaning manner supported by the second area, the second position is a height position where the second cleaning component can perform contact cleaning on the second area;

If the cleaning mode of the second cleaning component of the target cleaning component is not matched with the cleaning mode supported by the second area, the second position is a height position where the second cleaning component is not contacted with the second area.

For example, if the second cleaning unit is dry cleaning, the height at which the second cleaning unit can clean the second area may be referred to as the height at the second position, for example, when the cleaning unit of the cleaning apparatus is a floor brush or a side brush, since wet cleaning is not involved.

If the cleaning properties of the second region do not limit dry cleaning and/or wet cleaning, the height that enables the second cleaning assembly to clean the second region may be taken as the height of the second location, such as when cleaning a floor tile with raised step patterns.

If the cleaning mode of the second cleaning component is matched with the cleaning mode supported by the cleaning attribute of the second area, the height capable of enabling the second cleaning component to clean the surface of the second area is taken as the height of the second position, for example, when the cleaning component is a rag disc, the cleaning mode is wet cleaning, the second area is a plastic floor mat, and the cleaning attribute of the plastic floor mat meets the wet cleaning, so the cleaning mode of the second cleaning component is matched with the cleaning mode supported by the cleaning attribute of the second area, and the second area can be cleaned in a contact mode.

Optionally, the height of the second position is correspondingly adjusted according to the height difference between the second area and the first area, that is, when the height of the second position is the ground clearance height, the height of the second position is positively related to the height difference at the edge.

If the cleaning mode of the second cleaning component is not matched with the cleaning mode supported by the cleaning attribute of the second area, the height capable of enabling the second cleaning component to be in non-contact with the surface of the second area is taken as the height of the second position, for example, when the cleaning component is a rag disc, the cleaning mode is wet cleaning, the second area is a carpet, the cleaning attribute of the carpet does not meet the wet cleaning, and therefore the cleaning mode of the second cleaning component is not matched with the cleaning mode supported by the cleaning attribute of the second area, and the second area cannot be in contact cleaning at the moment.

In another preferred embodiment, the height of the second position may be set to a preset value, which is the highest height at which the second cleaning assembly is lifted upward.

According to the method provided by the embodiment, the cleaning mode of the cleaning component and the cleaning attribute of the cleaning area are obtained to judge whether the cleaning mode of the cleaning component is the cleaning mode supported by the cleaning attribute of the cleaning area, so that whether the cleaning component can clean the cleaning area is determined according to the judging result, when the cleaning component can clean the cleaning area, the height of the cleaning component is adjusted according to the height of the cleaning area obtained in advance, the unequal pressure on the cleaning component when the edge with the height difference is cleaned is reduced, the service life of the cleaning component or the cleaning equipment is prolonged, and meanwhile, when the cleaning component cannot clean the cleaning area is determined, the contact between the cleaning component and the cleaning area is avoided by lifting the height of the cleaning component, so that secondary pollution to the cleaning area is avoided.

The control method of the cleaning assembly of the present application will be described in detail with reference to several specific embodiments.

Fig. 4 is a schematic diagram illustrating an edge control state of a cleaning assembly according to an embodiment of the present application. The wet cleaning modules of the cleaning apparatus, such as the first 401 and second 402 wipe trays, when traveling to the edge of the first 403 and second 404 regions, there are several possible scenarios:

as shown in fig. 4 (a), there is no height difference between the first area 403 and the second area 404, and the cleaning modes corresponding to the cleaning properties of the two areas are all satisfied with the cleaning mode of the dishcloth tray, so that the cleaning device maintains the pressing cleaning mode of the dishcloth trays at the same height at both sides;

As shown in fig. 4 (b), a height difference exists between the first area 403 and the second area 404, and the second area 404 is a pad capable of wetting water, and since the cleaning modes corresponding to the cleaning properties of the two areas meet the cleaning modes of the cleaning cloth tray, the cleaning device lifts the second cleaning cloth tray 402 up to a position just contacting with the second area 404, so that the first cleaning cloth tray 401 cleans the first area 403 and the second cleaning cloth tray 402 cleans the second area 404;

as shown in fig. 4 (c), a height difference exists between the first area 403 and the second area 404, but the second area 404 is a carpet, the cleaning manner corresponding to the cleaning property of the carpet does not satisfy the cleaning manner of the dishcloth tray, and the cleaning device lifts the second dishcloth tray 402 up to the highest lifting position, so that the second dishcloth tray 402 is separated from the second area 404, and at the same time when the first dishcloth tray 401 cleans the first area 403, at least part of the target edges of the first area and the second area is cleaned, and the second dishcloth tray 402 cannot pollute the second area 404.

The manner of edgewise travel is further described with respect to the edgewise cleaning task of the cleaning apparatus.

And acquiring a track of the target edge, and controlling the cleaning equipment to walk along the track so as to clean the target edge. The method can utilize the boundary formed between the first area and the second area to form the travel reference track of the cleaning equipment, thereby being convenient for controlling the travel direction of the cleaning equipment so as to meet the requirement of edge cleaning.

Illustratively, the first region and the second region are acquired by a detection device so as to take the boundary as a track of the target edge; or acquiring boundary tracks of the first area and the second area through other terminal equipment connected with the service end of the cleaning equipment, so that the cleaning equipment acquires the boundary tracks from the service end and takes the boundary tracks as tracks of target edges; or by acquiring a stored track in the storage device as a track of the target edge, the stored track may be a track planned by the user or a track extracted in advance according to the images of the first area and the second area.

After the track is acquired, the cleaning device is driven to walk according to the acquired track by controlling the second driving assembly. Optionally, the second driving component is controlled to drive the central axis of the cleaning device to walk along the track according to the acquired track, or the second driving component is controlled to drive the side edge of the cleaning device to walk along the track according to the acquired track, or the second driving component is controlled to drive any preset machine body position of the cleaning device to walk along the track according to the acquired track.

In a possible embodiment, when the cleaning device travels along the target edge, the traveling direction of the cleaning device is adjusted according to the positional relationship between the cleaning device and the first area and/or the second area so as to clean the target edge. The method can further finely adjust the travelling direction of the cleaning equipment, and avoid the problem that the boundary cleaning effect is reduced due to the fact that the accurate position of the actual boundary cannot be identified in the whole planning process.

The collected data of the cleaning device is illustratively mainly collected by means of a detection device, such as a sensor, which comprises at least one of an ultrasonic sensor and a visual sensor, and the difference of the collected data between the first area and the second area by the sensor is used for distinguishing whether the cleaning device is on the first area, the second area or the cross-over first area and the second area.

If the positional relationship characterizes that the traveling direction of the cleaning device is deviated to the direction where the first area is located, the cleaning device is controlled to rotate towards a first direction, and the first direction is determined based on the position where the second area is located. The mode can realize the function of adjusting the advancing direction in real time by utilizing the position relation, so that the cleaning device always advances near the boundary between two areas, the cleaning component in the middle part of the bottom of the cleaning device can be ensured to always clean the boundary position of the areas, and the cleaning effect is improved.

By way of example, the detection means determines that the current travelling direction of the cleaning device is biased towards the direction in which the first area is located, and if no interference is applied, the cleaning device will continue to travel towards the first area until the cleaning device is separated from the second area, so that the second driving assembly needs to be controlled to drive the cleaning device to rotate and travel towards the second area.

And if the position relation indicates that the travelling direction of the cleaning equipment is deviated to the direction where the second area is located, controlling the cleaning equipment to rotate towards a second direction, wherein the second direction is determined based on the position where the first area is located.

By way of example, the detection means determines that the current travelling direction of the cleaning device is biased towards the direction in which the second area is located, and if no interference is applied, the cleaning device will continue to travel towards the second area until the cleaning device is separated from the first area, so that the second driving assembly needs to be controlled to drive the cleaning device to rotate and travel towards the direction of the first area.

The first area is a floor, the second area is a carpet, the first cleaning component of the cleaning device is controlled to be positioned on the floor, the second cleaning component is controlled to be positioned on the carpet, the second driving component is controlled to drive the cleaning device to move along the edges of the carpet and the floor, and the first driving component is controlled to drive the second cleaning component positioned on the carpet in a lifting manner, so that the target edge between the floor and the carpet is cleaned;

And/or the first area is the ground, the second area is a track, the second driving assembly is controlled to drive the first driving assembly of the cleaning device to be positioned on the ground, the second driving assembly is positioned on the track, the second driving assembly is controlled to drive the cleaning device to travel along the edges of the track and the ground, and the first driving assembly is controlled to drive the second driving assembly which is lifted and positioned on the track, so that the cleaning of the target edge between the ground and the track is realized;

and/or the first area and the second area are both floors, the first area is a plane, the second area is at least a part of slope, the first driving assembly is controlled to drive the cleaning device to be positioned on the floors, the second driving assembly is controlled to be positioned on at least a part of slope, the second driving assembly is controlled to drive the cleaning device to travel along at least a part of slope and the edge of the floors, and the first driving assembly is controlled to drive the second driving assembly which is lifted on at least a part of slope, so that the cleaning of the target edge between the floors and at least a part of slope is realized.

In this way, the first cleaning component above the first area contacts the first area to clean, and the second cleaning component above the second area lifts, so that the first cleaning component can be made to clean close to the target edge.

Among them, the detection means include, but are not limited to, laser triangulation sensors, TOF sensors, infrared sensors, line laser sensors, edge sensors, vision sensors, etc. Alternatively, one or a plurality of detection devices may be provided.

For example, when the detection device is a single ultrasonic sensor, one is arranged at a position between the first cleaning component and the second cleaning component of the cleaning device, and the target edge between the first area and the second area is determined through the presence and the absence of a signal of the single ultrasonic sensor; for example, when the floor is covered with a carpet, the carpet material absorbs ultrasonic waves more easily, so that the signal on the carpet detected by the single ultrasonic sensor is smaller than the signal on the floor, and then the single ultrasonic sensor can sequentially detect two different signals by controlling the rotation direction of the cleaning device, so that the edge-following process is realized, for example, when the carpet signal is detected, the cleaning device is deflected towards the floor, and when the floor signal is detected, the cleaning device is deflected towards the carpet.

Or when the detection device is a double ultrasonic sensor, the two ultrasonic sensors are arranged side by side at the position between the first cleaning component and the second cleaning component of the cleaning equipment, so that the two ultrasonic sensors respectively detect the materials of the two areas, and the target edge between the first area and the second area is determined by whether the signals of the double ultrasonic sensors change, for example, the signal feedback of different materials is respectively detected, so as to determine the target edge between the first area and the second area; for example, when the floor is covered with carpets, the rotational direction of the cleaning device is controlled in such a way that the two ultrasonic sensors always maintain the respective detected signals, so as to achieve the edging process.

Or the detection device is an AI camera, and the target edge between the first area and the second area is determined according to image identification of the AI camera; or the detection device is a data comparator, the cleaning equipment acquires the image of the historical map and the positioning information of the cleaning equipment, and the target edge between the first area and the second area is determined according to the image of the historical map and the positioning information of the cleaning equipment; or the cleaning device acquires the cleaning track of the regional edge set by the user and the positioning information of the cleaning device, and the target edge between the first region and the second region is determined according to the set cleaning track of the regional edge and the positioning information of the cleaning device.

In some embodiments, the positional relationship of the cleaning device with the first region and/or the second region comprises:

The method can help to determine the region boundary based on different detection devices carried by or associated with the cleaning device, so that universality of the method is improved, the method is suitable for the cleaning devices with different hardware configurations, meanwhile, the accuracy of region boundary detection can be further improved by utilizing multiple detection devices, and the possibility that the cleaning device cannot acquire accurate position relationship when a single detection device detects the error is reduced.

The specific use cases of several modes of the present embodiment are exemplified below:

FIG. 5 is a schematic view of a cleaning apparatus utilizing a single ultrasonic sensor along an edge travel path according to an embodiment of the present application; FIG. 6 is a schematic diagram of a cleaning apparatus utilizing dual ultrasonic sensors along an edge travel path according to an embodiment of the present application; fig. 7 is a schematic diagram of a cleaning apparatus using visual sensors along an edge travel route according to an embodiment of the present application.

As shown in fig. 5, one possible implementation manner is that an ultrasonic sensor is disposed below the body or the front end surface of the cleaning device, the ultrasonic sensor is disposed on a central line connecting the first cleaning component and the second cleaning component, and is disposed at a front side of the cleaning device in a traveling direction away from the first cleaning component and the second cleaning component, and a detection direction of the ultrasonic sensor is below the body or below the front side of the body in the traveling direction of the cleaning device.

The ultrasonic sensor is used for detecting surface echo, further obtaining a material ultrasonic signal according to the returned surface echo, and then determining a material detection result of the ultrasonic sensor according to the material ultrasonic signal and a preset material ultrasonic signal corresponding table. When the cleaning device is positioned at the edge between the first area and the second area, the material difference of the first area and the second area can be distinguished through detection of the ultrasonic sensor, and whether the cleaning device runs along the target edge of the first area and the target edge of the second area or not can be determined through the material difference.

For example, before the cleaning device enters the vicinity of the target edges of the first area and the second area, the ultrasonic sensor may detect the ultrasonic signal of the material at the first area, and then still maintain the continuous linear travel of the cleaning device, if the ultrasonic signal of the material detected at the next sampling point is different from the previous point, it indicates that the cleaning device has entered the second area, and then the cleaning device rotates in the direction of the first area and maintains the forward travel action, so that the ultrasonic sensor detects the ultrasonic signal of the material of the first area again, and when the ultrasonic signal of the material of the first area is detected, the ultrasonic sensor immediately reversely rotates to detect the ultrasonic signal of the material of the second area again, so that the cleaning device twists and advances at the target edges of the first area and the second area repeatedly.

Alternatively, when the inversion angle is sufficiently small and the detection sampling frequency of the ultrasonic sensor is sufficiently high, the cleaning apparatus may advance approximately in a straight line at the first region and the target edge, thereby achieving accuracy of the edge traveling.

In the implementation mode, the configuration quantity of the detection equipment can be reduced by the arrangement mode of the single ultrasonic sensor, so that the product cost and the hardware installation space are reduced.

As shown in fig. 6, another possible implementation manner is that two ultrasonic sensors are arranged below the machine body or on the front end face of the cleaning device, and the two ultrasonic sensors are arranged on two sides of a central line of a connecting line of the first cleaning component and the second cleaning component and far away from the first cleaning component and the second cleaning component and are arranged on the front side of the cleaning device in the travelling direction, and the detection direction of the ultrasonic sensors is below the machine body or below the front side of the machine body in the travelling direction of the cleaning device.

The two ultrasonic sensors have the same function, for example, the ultrasonic sensors are used for detecting surface echoes, material ultrasonic signals are obtained according to the returned surface echoes, and then the material detection results of the ultrasonic sensors are determined according to the material ultrasonic signals and a preset material ultrasonic signal correspondence table. When the cleaning device is positioned at the edge between the first area and the second area, the first area and the second area are respectively detected by the two ultrasonic sensors, and whether the cleaning device always runs along the first area and the target edge is further determined by the detection result.

For example, before the cleaning device enters the first area and the vicinity of the target edge, the data detected by the two ultrasonic sensors are all material ultrasonic signals of the first area, when the two ultrasonic sensors detect the material ultrasonic signals of the second area, the cleaning device is indicated to enter the second area, and similar to the single ultrasonic sensor scheme, the cleaning device is controlled to rotate towards the first area and maintain a forward running state, when the ultrasonic sensor near the second area detects the material ultrasonic signals of the first area, the ultrasonic sensor near the first area detects the material ultrasonic signals of the second area, the ultrasonic sensor near the first area rotates towards the first area, and the ultrasonic sensor near the first area does not detect the material ultrasonic signals of the second area, and the ultrasonic wave near the second area does not detect the material ultrasonic signals of the first area, so that the first area and the second area are respectively detected by the ultrasonic sensors on two sides, and the edge of the cleaning device is realized under the condition that the detected material ultrasonic signals are maintained unchanged.

In the implementation mode, the setting mode of the double ultrasonic sensors can reduce the twisting of the cleaning equipment, so that the edge travelling track is more approximate to the actual edge shape, and the accuracy of edge travelling is further improved.

Based on the two possible implementations, there is also a possible implementation that before the ultrasonic sensor detects the material ultrasonic signal, the edge track is planned in advance, and the planned edge track is sent to the cleaning device for execution, and because the planned edge track may be different from the actual edge track, the track is further timely adjusted by the ultrasonic sensor while the cleaning device is travelling along the edge track, so as to improve the accuracy of edge.

The pre-planned edge track can be a track defined by a user at a terminal, can be an edge track extracted through historical edge data, and can be an edge track obtained by a server after acquiring data from other terminal devices based on home interconnection.

In the implementation manner, the task amount of the cleaning device for searching the edges can be reduced through the pre-planned edge track, and the cleaning component is prevented from contacting the second area due to the fact that the travelling speed of the cleaning device is too high when the ultrasonic sensor is slower in response.

As shown in fig. 7, there is also a possible implementation in which a visual sensor, such as an AI camera, is provided on the front side of the cleaning device in the traveling direction, and the detection area includes at least an area below the front side in the traveling direction. And acquiring the first area and target edge information in real time through the AI camera, so as to control the central axis of the cleaning equipment to be maintained on the edge.

In the implementation mode, relatively accurate boundary data can be acquired through the AI camera, the edge advancing accuracy of the cleaning equipment is realized, other vision sensor functions can be integrated through the AI camera, and auxiliary data support can be provided for other functions of the cleaning equipment while the boundary of a detection area is realized.

Optionally, after completing the edge cleaning task of the second area, the method further includes controlling the second driving component to drive the cleaning device away from the target edge, and controlling the first driving component to drive the second cleaning component to reset the height of the second cleaning component. According to the mode, after the edge of the cleaning device is cleaned, other ground cleaning tasks can be continuously executed, the cleaning width of the cleaning device on the travelling track is recovered by using the operation of the reset height, and different cleaning component positions are set for different areas, so that the cleaning function of the cleaning device is more intelligent.

For example, after receiving the edge cleaning task and entering the edge range, marking a start point of the cleaning device entering the edge, when the cleaning device passes through the start point next time, indicating that the edge cleaning is completed once, the edge cleaning task simultaneously includes edge cleaning frequency information, the preset cleaning frequency information is one time, and if the cleaning frequency information is N (N is greater than or equal to 1) times, the edge cleaning task of the second area is confirmed to be completed when the n+1th pass through the start point.

When the edge cleaning task is completed, the cleaning device spans between the first area and the second area, and when the cleaning device drives away from the edge of the second area, in order to ensure that the cleaning components above the first area cannot contact the second area, the second driving component is controlled to drive the cleaning device to rotate towards the second area, so that the two cleaning components fall onto the first area completely, then the first driving component is controlled to drive the second cleaning component to descend and reset the lifted second cleaning component, so that the cleaning components at two sides recover to the equal-height state, and meanwhile, the first driving component is controlled to drive the cleaning device to travel forwards and exit the range of the second area.

Optionally, the method may further update the edgewise cleaning track library and/or the edgewise cleaning data for the second zone based on the current travel track. The method can continuously enrich the edge cleaning track library and/or edge cleaning data, is convenient for providing data support for the cleaning mode of the follow-up cleaning equipment, is beneficial to improving the accuracy of the cleaning mode and the cleaning track selection of the cleaning equipment in the follow-up cleaning process, and improves the intelligent degree of the cleaning equipment.

For example, in order to improve the next edge travelling efficiency and accuracy, after each edge travelling, the edge travelling track is updated to the edge cleaning track library and/or the edge cleaning data of the second area, and meanwhile, the control mode corresponding to the cleaning component, such as lifting height data, is updated to the edge cleaning data of the second area, so that the second area can be directly called when cleaning is performed again, the sensor adjustment times are reduced, and the edge cleaning efficiency is improved.

According to the method provided by the embodiment, the travelling track of the cleaning equipment is accurately controlled through the detection result of the sensor, so that the cleaning equipment is ensured to always travel along the edge, the track omission is avoided, and the edge cleanliness is improved.

FIG. 8 is a schematic flow chart of an edge control method of a cleaning apparatus according to an embodiment of the present application; as shown in fig. 8, on the basis of the above embodiment, the method includes:

s801, responding to the edge cleaning task of the second area, and acquiring an edge cleaning track library.

The method can realize the accuracy of determining the boundary position of the area in a further refined way by utilizing the data acquired in real time while advancing according to the track, thereby improving the cleaning effect.

The edge cleaning task may be a task request sent by a user to the cleaning device through the terminal device, or a task request sent by the server to the cleaning device based on periodic task triggering, or various possible triggering modes such as an edge cleaning task triggered by the sensor identifying the edge in the process of executing the cleaning task, the cleaning device firstly retrieves an edge cleaning track library from a memory to obtain edge information after receiving the edge cleaning task, and the edge cleaning track library stores edge information used by various edge cleaning tasks such as edge tracks, edge two side area cleaning properties, edge height difference and the like.

S802, determining a target travelling track according to the collected data of the edge cleaning track library or the cleaning equipment.

Illustratively, the target travel track is a travel track that the cleaning device needs to perform.

If the travelling track travelling to the edge of the target exists in the edge cleaning track library, travelling according to the travelling track of the target. The method can quickly determine the target travelling track, so that the efficiency of the cleaning equipment for executing the edgewise travelling is improved, and meanwhile, the occupation amount of memory resources required by the cleaning equipment for planning the track is reduced.

If the edge cleaning track library does not have the track of the target edge, the target track of the target is planned in real time according to the collected data of the cleaning equipment. The method can be used for creating a target traveling track by collecting data under the condition that no planned track exists.

The method can realize the rapid planning of the travelling track of the cleaning equipment by using the planned track, and can also carry out the track planning by collecting data under the condition of no planned track, enrich the sources of the track planning and improve the track planning efficiency and accuracy.

S803, advancing according to the target advancing track, and determining whether the edge is positioned between the first area and the second area according to the acquired data of the cleaning equipment in the advancing process.

For example, the cleaning device can be located near the boundary between the first area and the second area based on the planned target traveling track, so that the cleaning assembly can clean the edge between the first area and the second area, and the cleaning effect at the edge is improved.

Optionally, because there may be an error in the acquired target travel track, during the travel, acquired data of the cleaning device may also be acquired to correct the error in the target travel track, so that the cleaning assembly is closer to the edge between the first area and the second area when the cleaning assembly is lifted on one side.

Optionally, after completing the edge cleaning task for the second area, the edge cleaning track library and/or edge cleaning data for the second area is updated according to the travel track at this time. The method can update the track newly planned or adjusted each time and/or the edge cleaning data of the second area so as to store the latest state of the area to be cleaned, and can be used as a reference basis in the next cleaning, so that the time and the computing resources consumed in track exploration and cleaning strategy judgment are reduced, and the cleaning efficiency and the cleaning effect of the cleaning equipment are improved.

By the method, the track in the historical cleaning task can be acquired by using the edge cleaning track library, so that the calculated amount of the edge track obtained by analysis of the cleaning equipment is reduced, the cleaning equipment can carry out fine adjustment on the track by using the data acquired by the detection device on the basis of the historical track, and the actual edge track is attached more, and the cleaning effect in the edge cleaning process is improved.

It should be understood that the above method embodiments are described with respect to how the method of the embodiment of the present application is implemented by taking the execution body as the control device in the cleaning apparatus. When the service end of the cleaning equipment is used as an execution main body to realize the method, after the service end obtains the target power-assisting parameter of the target power-assisting mode, a control instruction carrying the target power-assisting parameter is sent to the cleaning equipment so as to control the power-assisting wheel of the cleaning equipment to operate according to the target power-assisting parameter. In the process of implementing the above method embodiment, the interaction with the user or the acquisition of the acquired information may be implemented by means of a cleaning device or a terminal device associated with the user, which will not be described in detail.

The application also provides a cleaning system comprising a cleaning device for implementing the foregoing method embodiments. Optionally, the cleaning system may also include other devices, such as a base station and/or a liquid supply assembly for the cleaning device, for example.

It should be noted that, the user information (including but not limited to user equipment information, user personal information, etc.) and the data (including but not limited to data for analysis, stored data, presented data, etc.) related to the present application are information and data authorized by the user or fully authorized by each party, and the collection, use and processing of the related data need to comply with related laws and regulations and standards, and provide corresponding operation entries for the user to select authorization or rejection.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the invention.

Claims

1. A method of controlling a cleaning apparatus, the cleaning apparatus comprising at least one set of cleaning assemblies, at least one set of the cleaning assemblies comprising: a first cleaning assembly and a second cleaning assembly located on opposite sides of a body of the cleaning apparatus along a direction of travel, the method comprising:

2. The method of claim 1, wherein the first and second regions have different surface materials; and/or, the first area and the second area are different in ground clearance height.

3. The method of claim 1, wherein the first position is a cleaning position, the first cleaning assembly being in contact with a cleaning surface; the second position is a lifting position, the second cleaning assembly is separated from the cleaning surface, the first area is an area where the cleaning assembly is required to be in contact cleaning, and the second area is an area where the cleaning assembly is not required to be in contact cleaning.

4. A method according to claim 3, wherein the cleaning assembly comprises a wipe assembly comprising a wipe tray and a cleaning cloth mounted on the wipe tray, the first and second cleaning assemblies being disposed side by side on opposite sides of the body, there being an interference zone between the first and second cleaning assemblies.

5. The method of claim 1, wherein controlling the second cleaning assembly in the second position comprises:

6. The method of claim 5, wherein the determining the height of the second location of the second cleaning assembly comprises:

7. The method of any of claims 1-6, wherein the controlling the cleaning device to travel along a target edge comprises:

8. The method according to any one of claims 1-6, characterized in that the method comprises:

9. The method of claim 8, wherein adjusting the direction of travel of the cleaning device based on the positional relationship of the cleaning device with the first region and/or the second region comprises:

10. The method according to claim 9, wherein the positional relationship of the cleaning device with the first area and/or the second area comprises:

11. The method according to any one of claims 1-6, further comprising:

12. The method according to any one of claims 1-6, characterized in that the method comprises:

responding to the edge cleaning task of the target edge, and acquiring a target travelling track travelling to the target edge;

13. The method of claim 12, wherein the acquiring the target travel track to the target edge in response to the edge cleaning task of the target edge comprises:

Responding to the edge cleaning task of the target edge, and acquiring an edge cleaning track library;

14. The method of claim 13, wherein the method further comprises:

and after finishing the edge cleaning task of the target edge, updating edge cleaning data of the edge cleaning track library and/or the second area according to the travelling track at the time.

15. The method according to claim 2, characterized in that the method comprises:

16. The method according to claim 15, characterized in that the method comprises:

Controlling the cleaning apparatus to travel along a target edge of a carpet and a floor if the cleaning apparatus is at least partially located at the edge of the carpet and floor, a second cleaning assembly located on the carpet being raised relative to the floor to be in the second position;

Or if the cleaning apparatus is at least partially at the edges of the track and floor, controlling the cleaning apparatus to travel along the target edges of the track and floor, the second cleaning assembly on the track being raised relative to the floor to be in the second position;

Or if the cleaning apparatus is at least partially located at least partially at the rim of the ramp and floor, controlling the cleaning apparatus to travel along at least partially at the target rim of the ramp and floor and lifting a second cleaning assembly located at least partially at the ramp to be in the second position.

17. The utility model provides a cleaning equipment, its characterized in that includes fuselage, controlling means, at least one set of cleaning subassembly, is used for controlling the first drive assembly that cleaning subassembly goes up and down and is used for controlling the second drive assembly that cleaning equipment martched, first drive assembly with cleaning subassembly transmission is connected, so that cleaning subassembly with fuselage swing joint, at least one set of cleaning subassembly includes: the first cleaning component and the second cleaning component are positioned on two sides of the machine body along the advancing direction;

The control device is used for:

18. The cleaning apparatus of claim 17, wherein the first and second regions are of different surface materials; and/or, the first area and the second area are different in ground clearance height.

19. The cleaning apparatus of claim 18, wherein the control means is specifically configured to:

The first area is the ground, the second area is the carpet, the first driving component is controlled to drive the first cleaning component of the cleaning equipment to be positioned on the ground, and the second cleaning component is positioned on the carpet, so that the cleaning of at least part of target edges between the ground and the carpet is realized;

And/or the first area is the ground, the second area is the track, the first driving component is controlled to drive the first cleaning component of the cleaning device to be positioned on the ground, and the second cleaning component is positioned on the track, so that the cleaning of at least part of the target edge between the ground and the track is realized;

And/or the first area and the second area are both ground surfaces, the first area is a plane, the second area is at least a part of slope surfaces, the first driving component is controlled to drive the first cleaning component of the cleaning device to be positioned on the ground surface, and the second cleaning component is positioned on at least a part of slope surfaces, so that the cleaning of at least a part of target edges between the ground surface and at least a part of slope surfaces is realized.

20. The cleaning apparatus of claim 17, wherein the first position is a cleaning position, the first cleaning assembly being in contact with a cleaning surface; the second position is a lifting position, the second cleaning assembly is separated from the cleaning surface, the first area is an area where the cleaning assembly is required to be in contact cleaning, and the second area is an area where the cleaning assembly is not required to be in contact cleaning.

21. The cleaning apparatus of claim 17, wherein the control means is specifically configured to:

22. The cleaning apparatus of claim 17, further comprising detection means for detecting a positional relationship of the cleaning apparatus with the first region and/or the second region; the control device is specifically used for:

23. A cleaning system comprising a cleaning apparatus as claimed in any one of claims 17 to 22.