CLEANING DEVICE CONTROL METHOD AND APPARATUS, STORAGE MEDIUM, AND CLEANING DEVICE

Description

CROSS-REFERENCE TO RELATED APPLICATION

The present application is a Continuation Application of International Application No. PCT/CN2024/117805, filed on Sep. 9, 2024, which claims benefit of priority to Chinese Patent Application No. 202311085406.X filed on Aug. 25, 2023, the disclosure of both of which is incorporated herein by reference in its entirety as a part of the present application.

TECHNICAL FIELD

The present application relates to the technical field of cleaning devices, and in particular, to a method and apparatus for controlling a cleaning device, a storage medium, and a cleaning device.

BACKGROUND ART

In the related art, to improve the cleaning coverage rate of the cleaning device for corners, the cleaning member of the cleaning device is provided with a telescopic structure, such that the cleaning member can extend beyond the cleaning device body to clean a larger area of the corners. However, due to the complexity of the cleaning environment, it is insufficient to merely consider configuring a telescopic structure for the cleaning member. In a scenario where an obstacle corner is present, if proper action control is not performed on the telescopic cleaning member, the extended cleaning member may scrape against an obstacle such as a wall, which could result in damage to the cleaning member.

SUMMARY OF THE INVENTION

According to a first aspect of the embodiments of the present application, a method for controlling a cleaning device is provided. The cleaning device includes a telescopic cleaning member, and the method includes: acquiring geometric data of an obstacle corner if the cleaning device detects the obstacle corner in a current traveling direction; determining, based on the geometric data, an action strategy suitable for cleaning the obstacle corner, the action strategy including an extension/retraction strategy for the cleaning member and/or a rotation strategy for the cleaning device body; and controlling, based on the action strategy, the cleaning device to perform a cleaning action to clean the area where the obstacle corner is located.

According to a second aspect of the embodiments of the present application, a non-transitory computer-readable storage medium is provided. The computer-readable storage medium stores at least one program code. The at least one program code is loaded and run by a processor to implement operations performed in any one of the methods according to the first aspect described above.

According to a third aspect of the embodiments of the present application, a cleaning device is provided. The cleaning device includes one or more processors and one or more memories. The one or more memories store at least one program code, and the at least one program code is loaded and run by the one or more processors to implement operations performed in any one of the methods according to the first aspect described above.

It should be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not construed as limiting the present application.

BRIEF DESCRIPTION OF THE DRAWINGS

The drawings, which are incorporated into and constitute a part of the specification, illustrate embodiments consistent with the present application and are used in conjunction with the specification to explain the principles of the present application. Apparently, the drawings in the following description are merely some embodiments of the present application, and those of ordinary skill in the art may still derive other drawings from these drawings without creative efforts. In the drawings:

FIG. 1 shows a schematic flowchart of a method for controlling a cleaning device according to one embodiment of the present application;

FIG. 2 shows a schematic structural diagram of a cleaning device according to one embodiment of the present application;

FIG. 3 shows a schematic diagram of a scenario for determining the second set angle according to one embodiment of the present application;

FIG. 4 shows a schematic diagram of a scenario of the cleaning device in a first cleaning stage according to one embodiment of the present application;

FIG. 5 shows a schematic diagram of a scenario of the cleaning device in a first cleaning stage according to one embodiment of the present application;

FIG. 6 shows a schematic diagram of a scenario of the cleaning device in a second cleaning stage according to one embodiment of the present application;

FIG. 7 shows a schematic diagram of a scenario of the cleaning device in a second cleaning stage according to one embodiment of the present application;

FIG. 8 shows a schematic diagram of a scenario of the cleaning device in a third cleaning stage and a fourth cleaning stage according to one embodiment of the present application;

FIG. 9 shows a schematic diagram of a scenario of the cleaning device in a fifth cleaning stage and a sixth cleaning stage according to one embodiment of the present application;

FIG. 10 shows a block diagram of an apparatus for controlling a cleaning device according to one embodiment of the present application; and

FIG. 11 shows a schematic structural diagram of a cleaning device according to one embodiment of the present application.

DETAILED DESCRIPTION

Exemplary embodiments will now be described more comprehensively with reference to the drawings. However, the exemplary embodiments may be implemented in various forms, and should not be understood as being limited to the examples described herein. On the contrary, these embodiments are provided to make the present application more comprehensive and complete, and comprehensively convey the idea of the exemplary embodiments to those skilled in the art.

The described features, structures, or characteristics may be combined in one or more embodiments in any suitable manner. In the following description, many specific details are provided to give a full understanding of the embodiments of the present application. However, those skilled in the art will appreciate that the technical solutions of the present application may be practiced without one or more of the specific details, or other methods, components, apparatuses, steps, and the like may be employed. In other cases, well-known methods, apparatuses, implementations, or operations are not shown or described in detail to avoid obscuring aspects of the present application.

The block diagrams shown in the drawings are merely functional entities, which do not necessarily correspond to physically independent entities. That is, these functional entities may be implemented in the form of software, or in one or more hardware modules or integrated circuits, or across different networks and/or processor apparatuses and/or microcontroller apparatuses.

The flowcharts shown in the drawings are merely illustrative and do not necessarily include all of the contents and operations/steps, nor are they necessarily executed in the order described. For example, some operations/steps may be further decomposed, while other operations/steps may be combined or partially combined. Therefore, the actual execution order may vary depending on the actual situation.

It should be noted that “a plurality of” mentioned herein means two or more. The term “and/or” is merely a way to describe an association relationship between associated objects, indicating that three possible relationships may exist. For example, “A and/or B” can represent: the existence of A alone, the simultaneous existence of A and B, and the existence of B alone. The character “/” generally indicates an “or” relationship between the associated objects before and after the “/”.

It should be noted that the terms “first”, “second”, and the like in the specification, claims, and the above drawings of the present application are defined to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the objects used in such a way are interchangeable in proper circumstances, such that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described.

For clearer descriptions of the objectives, technical solutions, and advantages of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Apparently, the described embodiments are merely some, but not all, of the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

Embodiments of the present application provide a method and apparatus for controlling a cleaning device, a storage medium, and a cleaning device. Based on the technical solutions provided in the present application, scraping between the cleaning device and the obstacle corner can be avoided. Other features and advantages of the present application will become apparent from the following detailed description, or may be learned in part through the practice of the present application

It should be noted that the cleaning device mentioned in the present application may be an intelligent device with a cleaning function, including but not limited to a sweeper, a mopping machine, and the like. The technical solutions of the present application may be applied to processes such as whole-room cleaning, partial cleaning, edge cleaning, and mopping in a room.

It should be further noted that the cleaning device mentioned in the present application includes a telescopic cleaning member, and the cleaning member may be a mop, a side brush, or the like. This is not limited in the present application.

It should be further noted that the extension/retraction trajectory of the telescopic cleaning member in the cleaning device may be a linear trajectory, an arc-shaped trajectory, or other types of extension/retraction trajectories. It can be understood that the telescopic cleaning member of the cleaning device may extend by a certain amplitude or retract by a certain amplitude along the extension/retraction trajectory. Different types of extension/retraction trajectories of the cleaning device correspond to different scalars used for representing the extension amplitude or the retraction amplitude. Illustratively, if the extension/retraction trajectory of the telescopic cleaning member of the cleaning device follows a linear trajectory, the extension length may be used to represent the extension amplitude of the cleaning member, and the retraction length may be used to represent the retraction amplitude of the cleaning member; and if the telescopic cleaning member of the cleaning device follows an arc-shaped trajectory, the extension angle may be used to represent the extension amplitude of the cleaning member, and the retraction angle may be used to represent the retraction amplitude of the cleaning member. In some embodiments, no limitation is made in the present application regarding how the cleaning member of the cleaning device performs the telescopic function.

To enable those skilled in the art to better understand the technical solutions of the present application, the structure of the cleaning device according to the present application will be described in detail below with reference to FIG. 2.

Referring to FIG. 2, a schematic structural diagram of a cleaning device according to one embodiment of the present application is shown.

In FIG. 2, (1) corresponds to the following scenario: The gray-shaded regions represent two groups of cleaning members configured for the cleaning device, and the two groups of cleaning members may be mops. The two groups of cleaning members may be configured such that one group has a telescopic function, while the other group does not have a telescopic function, or both groups of cleaning members may have a telescopic function. It can be understood that, if the two groups of cleaning members have the telescopic function, the cleaning device can extend the corresponding group of cleaning members based on the specific orientation of the wall edge to achieve precise cleaning along the wall edge, or may simultaneously extend the two groups of cleaning members to clean more areas. In some embodiments, the present application does not make particular limitations on the number of groups and arrangement positions of the cleaning members, and the like.

In FIG. 2, (2) corresponds to the following scenario: The cleaning member of the cleaning device extends along a linear trajectory. It can be understood that, during the extension action of the cleaning member of the cleaning device, specific parameters such as extension time, extension speed, and extension amplitude are all adjustable. Therefore, in some scenarios, scraping against obstacles can be avoided by adjusting the parameters, such as the extension time, the extension speed, and the extension amplitude of the cleaning member.

In FIG. 2, (3) corresponds to the following scenario: The cleaning member of the cleaning device retracts along a linear trajectory. It can be understood that, during the retraction operation of the cleaning member of the cleaning device, specific parameters such as retraction time, retraction amplitude, and retraction speed are all adjustable. Therefore, in some scenarios, scraping against obstacles can be avoided by adjusting the parameters, such as the retraction time, the retraction amplitude, and the retraction speed of the cleaning member of the cleaning device.

In FIG. 2, (4) corresponds to the following scenario: The cleaning device is provided with a rotating arm, such that the cleaning member can perform an extension action or a retraction action by swinging the rotating arm. The cleaning member of the cleaning device can extend along an arc-shaped trajectory under the swinging of the rotating arm. It can be understood that the swing angle of the rotating arm of the cleaning device is directly related to the extension amplitude of the cleaning member.

In FIG. 2, (5) corresponds to the following scenario: The cleaning member of the cleaning device retracts along an arc-shaped trajectory under the swinging of the rotating arm. It can be understood that the swing angle of the rotating arm of the cleaning device is directly related to the retraction amplitude of the cleaning member.

In the scenario shown in FIG. 2, the extension/retraction amplitude of the telescopic cleaning member of the cleaning device shown in (2) and (3) of FIG. 2 may be represented by length scalars; and the extension/retraction amplitude of the telescopic cleaning member of the cleaning device shown in (4) and (5) of FIG. 2 may be represented by angular scalars. Therefore, it can be understood that the extension amplitude and the retraction amplitude in the present application can be represented by corresponding scalars.

Some embodiments of the present application will be described in detail hereinafter with reference to the drawings. The following embodiments and features in the embodiments may be combined with each other without conflict.

Referring to FIG. 1, a schematic flowchart of a method for controlling a cleaning device according to one embodiment of the present application is shown. In some embodiments, steps S110 to S130 are included.

In S110, geometric data of an obstacle corner is acquired if the cleaning device detects the obstacle corner in a current traveling direction.

It should be noted that the obstacle corner may be defined by the intersection of two walls, or may be defined by the intersection of other types of obstacles.

In some embodiments, the obstacle corner is defined by a first corner edge and a second corner edge, and the first corner edge is parallel to the current traveling direction. It can be understood that the first corner edge is located in the current traveling direction of the cleaning device, which may be understood with reference to the scenario shown in (1) of FIG. 4.

In some embodiments, the geometric data of the obstacle corner includes, but is not limited to, the included angle of the obstacle corner, the length of the first corner edge, the length of the second corner edge, and the like.

In some embodiments, the cleaning device can detect, based on the configured detection sensor, an obstacle in the traveling direction in real time, so as to detect whether an obstacle corner exists in the current traveling direction in real time. The cleaning device can also determine, by using a pre-established global cleaning map, whether an obstacle corner exists in the current traveling direction.

With further reference to FIG. 1, in S120, an action strategy suitable for cleaning the obstacle corner is determined based on the geometric data. The action strategy includes an extension/retraction strategy for the cleaning member and/or a rotation strategy for the cleaning device body.

In some embodiments, the action strategy further includes a traveling strategy for the cleaning device body.

It can be understood that the extension/retraction strategy for the cleaning member can guide the cleaning device on how to control the extension/retraction of the cleaning member when passing through the obstacle corner, so as to avoid scraping against the obstacle corner; the rotation strategy for the cleaning device body can guide the cleaning device on how to control the rotation of the cleaning device body when passing through the obstacle corner, so as to adjust the traveling direction of the cleaning device body to adapt to the encountered obstacle corner; and the traveling strategy for the cleaning device body can guide the cleaning device on how to travel straight when passing through the obstacle corner, such that the cleaning device is triggered at an appropriate position to execute the rotation strategy for the cleaning device body and/or the extension/retraction strategy for the cleaning member, thereby achieving a higher cleaning coverage rate of the obstacle corner.

It should be noted that, based on the geometric data of the obstacle corner, one or more strategies matching the obstacle corner can be determined from strategies such as the extension/retraction strategy for the cleaning member, the rotation strategy for the cleaning device body, and the traveling strategy for the cleaning device body to serve as the action strategy.

In some embodiments, the specific implementation of step S120 may be performed according to the following steps S121 to S122.

In S121, an included angle of the obstacle corner is determined based on the geometric data.

In S122, an action strategy matching the included angle is determined, so as to be suitable for cleaning the obstacle corner.

In some embodiments, the specific implementation of step S122 may be as follows: if the included angle is greater than a first set angle and less than a second set angle, or the included angle is equal to a second set angle, the extension/retraction strategy for the cleaning member, the rotation strategy for the cleaning device body, and the traveling strategy for the cleaning device body are determined as the action strategy.

The first set angle may be 0°, and the second set angle may be determined based on the relative position between the cleaning member and the cleaning device body. For example, the second set angle may be set to 125°.

To enable those skilled in the art to better understand the second set angle in the embodiments, the second set angle will be described in detail below with reference to FIG. 3.

Referring to FIG. 3, FIG. 3 shows a schematic diagram of a scenario for determining the second set angle according to one embodiment of the present application.

It should be noted that (1) and (2) in FIG. 3 correspond to one way of determining the second set angle, and (3) and (4) in FIG. 3 correspond to another way of determining the second set angle.

In FIG. 3, (1) corresponds to the following scenario: The cleaning device is located on one side of the side edge A, the current traveling direction is parallel to the side edge A, the cleaning member is in a retracted state, and a common tangent exists between the cleaning member and the cleaning device body.

In FIG. 3, (2) corresponds to the following scenario: The cleaning device rotates, from the state shown in (1) of FIG. 3, in place by an angle M in a counterclockwise direction, such that the common tangent between the cleaning device body and the cleaning member is parallel to the side edge A. The absolute value of the difference between the determined angle M and 180° is the second set angle in this embodiment. If the angle M is 55°, the corresponding second set angle is 125°.

In FIG. 3, (3) corresponds to the following scenario: The cleaning device is located on one side of the side edge A, the current traveling direction is parallel to the side edge A, the cleaning member is in a retracted state, and no common tangent exists between the cleaning member and the cleaning device body.

In FIG. 3, (4) corresponds to the following scenario: The cleaning device rotates, from the state shown in (3) of FIG. 3, in place by an angle M in a counterclockwise direction, such that the first tangent of the cleaning member, the second tangent of the cleaning device body, and the side edge A are parallel to each other. The absolute value of the difference between the determined angle M and 180° is the second set angle in this embodiment. If the angle M is 55°, the corresponding second set angle is 125°.

Based on the scenario of FIG. 3, it can be understood that different configuration positions of the cleaning member in the cleaning device result in different methods for determining the second set angle accordingly. Therefore, the second set angle can be determined depending on the actual situation, which is not limited in the present application.

In some embodiments, the specific implementation of step S122 may be as follows: if the included angle is greater than the second set angle and less than 180°, the extension/retraction strategy for the cleaning member, the rotation strategy for the cleaning device body, and the traveling strategy for the cleaning device body are determined as the action strategy.

In some embodiments, the specific implementation of step S122 may be as follows: if the included angle is greater than 180°, the rotation strategy for the cleaning device body and the traveling strategy for the cleaning device body are determined as the action strategy.

It can be understood that, through step S120, an action strategy matching the obstacle corner can be planned, so as to clean more areas of the obstacle corner while avoiding scraping of the cleaning device body and the cleaning member against the obstacle corner.

With further reference to FIG. 1, in S130, the cleaning device is controlled, based on the action strategy, to perform a cleaning action to clean the area where the obstacle corner is located.

Based on the above description, it can be understood that in the technical solutions of the present application, based on the included angle of the obstacle corners, the obstacle corners are divided into three types. The first type of corner refers to an obstacle corner in which the included angle is greater than the first set angle and less than the second set angle, or the included angle is equal to the second set angle; the second type of corner refers to an obstacle corner in which the included angle is greater than the second set angle and less than 180°; and the third type of corner refers to an obstacle corner in which the included angle is greater than 180°.

Therefore, step S130 may be performed in different embodiments based on different types of corners, and includes at least the following three embodiments.

The first embodiment of step S130 is as follows.

It is used to control the cleaning device to perform a corresponding cleaning action for the first type of corner (that is, the included angle of the obstacle corner is greater than the first set angle and less than the second set angle, or the included angle is equal to the second set angle). In some embodiments, the following steps S131A to S132A are included.

In S131A, in the first cleaning stage, the cleaning member is controlled to retract by a first amplitude, and the cleaning device body is controlled to rotate by a first angle.

In some embodiments, before performing the first cleaning stage, the cleaning device may further perform the following action: controlling the cleaning device to move in the current traveling direction to a preset position. The preset position is a position where the distance between the geometric center of the cleaning device and the second corner edge is a set distance.

It can be understood that, if the cleaning device detects the obstacle corner and there is still a certain distance between the cleaning device and the preset position, the cleaning device can be controlled to move to the preset position and then perform the cleaning action corresponding to the first cleaning stage, thereby improving the cleaning coverage rate of the obstacle corner.

It should be noted that the cleaning member retracts by the first amplitude, and the first amplitude should satisfy that the cleaning member has no extension amplitude after the cleaning member retracts by the first amplitude (that is, the cleaning member is in a retracted state).

In some embodiments, the first angle may be the absolute value of the difference between the second set angle and 180°. Illustratively, if the second set angle is 125°, the first angle is 55°.

In some embodiments, the specific implementations of step S131A include at least the following two types.

The first embodiment of step S131A is as follows.

The cleaning member is controlled to retract by the first amplitude; and the cleaning device body is controlled to rotate by the first angle after the cleaning member has retracted by the first amplitude, such that the cleaning member and the cleaning device body are simultaneously in a state of being tangent to the first corner edge.

To enable those skilled in the art to better understand the embodiments, an illustrative explanation is provided below with reference to FIG. 4.

Referring to FIG. 4, a schematic diagram of a scenario of the cleaning device in the first cleaning stage according to one embodiment of the present application is shown.

In FIG. 4, (1) corresponds to the following scenario: The cleaning device detects an obstacle corner in the current traveling direction. The obstacle corner is defined by a first corner edge and a second corner edge. The included angle of the obstacle corner is 90°, the current traveling direction of the cleaning device is parallel to the first corner edge of the obstacle corner, and one cleaning member of the cleaning device is in a state of extending by a first amplitude. At the position of the cleaning device, the distance between the geometric center of the cleaning device and the second corner edge satisfies the set distance.

In FIG. 4, (2) corresponds to the following scenario: The cleaning device in the state shown in (1) of FIG. 4 is controlled, such that the cleaning member of the cleaning device retracts by the first amplitude. By comparing (1) in FIG. 4 with (2) in FIG. 4, it can be seen that the difference between the two lies in the state of the cleaning member of the cleaning device. In (1) of FIG. 4, the cleaning member is in a state of extending by the first amplitude, and in (2) of FIG. 4, the cleaning member is in a state of retracting by the first amplitude based on (1) in FIG. 4.

In FIG. 4, (3) corresponds to the following scenario: The cleaning device in the state shown in (2) of FIG. 4 continues to be controlled, such that the cleaning device rotates in place by a first angle (namely, an angle A) in a counterclockwise direction. As can be seen from the scenario shown in (3) of FIG. 4, the common tangent between the cleaning member and the cleaning device body is parallel to the first corner edge; that is, the cleaning member and the cleaning device body are in the state of being tangent to the first corner edge. The angle A marked in (3) of FIG. 4 is the first angle.

In the first embodiment of S131A, after the cleaning member of the cleaning device is first retracted by the first amplitude at the preset position, the cleaning device is controlled to rotate by the first angle, such that the cleaning member is prevented from scraping against the first corner edge during the rotation of the cleaning device by the first angle. Therefore, the first corner edge and the cleaning member can be protected to a certain extent.

The second embodiment of step S131A is as follows.

The cleaning member is controlled to retract by the first amplitude, and simultaneously, the cleaning device body is controlled to rotate by the first angle. The retraction speed of the cleaning member and the rotational angular velocity of the cleaning device body satisfy that the cleaning member and the cleaning device body are simultaneously in the state of being tangent to the first corner edge.

To enable those skilled in the art to better understand the embodiments, an illustrative explanation is provided below with reference to FIG. 5.

Referring to FIG. 5, a schematic diagram of a scenario of the cleaning device in the first cleaning stage according to one embodiment of the present application is shown.

In FIG. 5, (1) corresponds to the following scenario: The cleaning device detects an obstacle corner in the current traveling direction. The obstacle corner is defined by a first corner edge and a second corner edge. The included angle of the obstacle corner is 90°, the current traveling direction of the cleaning device is parallel to the first corner edge of the obstacle corner, and one cleaning member of the cleaning device is in a state of extending by a first amplitude. At the position of the cleaning device, the distance between the geometric center of the cleaning device and the second corner edge satisfies the set distance.

In FIG. 5, (2) corresponds to the following scenario: The cleaning device in the state shown in (1) of FIG. 5 is controlled, such that the cleaning device simultaneously rotates and retracts the cleaning member, the cleaning member is in the state of being tangent to the first corner edge, the cleaning device body is in the state of being tangent to the first corner edge, and the cleaning device rotates by an angle a in a counterclockwise direction. The angle a is less than the first angle. It can be understood that the retraction amplitude corresponding to the cleaning member of the cleaning device in (2) of FIG. 5 is less than the first amplitude.

In FIG. 5, (3) corresponds to the following scenario: The cleaning device in the state shown in (2) of FIG. 5 continues to be controlled, such that the cleaning device continues to rotate in place in a counterclockwise direction and rotates by the first angle (namely, the angle A) relative to (1) in FIG. 5. As can be seen from the scenario shown in (3) of FIG. 5, the common tangent between the cleaning member and the cleaning device body is parallel to the first corner edge; that is, the cleaning member and the cleaning device body are in the state of being tangent to the first corner edge. The angle A marked in (3) of FIG. 5 is the first angle.

It can be understood that, in the scenario corresponding to FIG. 5, by simultaneously controlling the rotational angular velocity of the cleaning device body and the retraction speed of the cleaning member, the cleaning device body and the cleaning member can be always kept in a critical tangent state with the first corner edge during the rotation of the cleaning device body and the cleaning member by the first angle, thereby ensuring that the cleaning member is safely retracted by the first amplitude without experiencing compression or scraping against the first corner edge.

In summary, the difference between the first embodiment and the second embodiment of step S131A lies in that, in the first embodiment, the cleaning member of the cleaning device is first retracted, and then the cleaning device body is rotated by the first angle. The second embodiment is to rotate the cleaning device body while retracting the cleaning member. The two embodiments differ in the time of retracting the cleaning member and the time of rotation by the first angle. It can be understood that the second embodiment of step S131A can improve the cleaning efficiency and thus is a better embodiment.

Upon the completion of the above step S131A, the following step S132A can be further performed.

In S132A, in the second cleaning stage, the cleaning member is controlled to extend by a second amplitude, and the cleaning device body is controlled to rotate by a second angle.

In some embodiments, the second amplitude may be the same as or different from the first amplitude, which is not limited here in the present application.

It should be noted that, in step S132A, the first angle, the second angle, and the included angle of the obstacle satisfy the following Formula (1):

X = 180 ⁢ ° - x 1 - x 2 Formula ⁢ ( 1 )

• • where X represents the included angle; x₁ represents the first angle; and x₂ represents the second angle.

Illustratively, in the scenario shown in FIG. 5, the included angle of the corresponding obstacle corner is 90°, and the corresponding first angle is the angle A. It can thus be determined that the second angle is: 180°−90°−angle A=90°−angle A.

It should be further noted that, in step S132A, the state achieved after the cleaning device body is controlled to rotate by the second angle should satisfy that the orientation of the cleaning device is parallel to the second corner edge of the obstacle corner.

In step S132A, the specific implementations include at least the following three types.

The first embodiment of step S132A is as follows.

The cleaning device body is controlled to rotate by a second angle; and after the cleaning device body rotates by the second angle, the cleaning member of the cleaning device is controlled to extend by a second amplitude.

It can be understood that, in this embodiment, after the cleaning device is controlled to rotate by the second angle, the cleaning member is controlled to extend, such that scraping between the cleaning member and the obstacle corner is prevented. However, the cleaning coverage rate of the obstacle corner is relatively low.

The second embodiment of step S132A is as follows.

The extension time of the cleaning member in the second cleaning stage and the rotational angular velocity of the cleaning device body in the second cleaning stage satisfy the following Formula (2).

x 2 = w × t Formula ⁢ ( 2 )

• • where x₂ represents the second angle; w represents the rotational angular velocity of the cleaning device body in the second cleaning stage; and t represents the extension time of the cleaning member in the second cleaning stage.

In some embodiments, the rotational angular velocity of the cleaning device in the second stage can be preset, so as to calculate the extension time of the cleaning member in the second cleaning stage based on the preset rotational angular velocity and Formula (2).

In some embodiments, the extension time of the cleaning member in the second cleaning stage can be preset, so as to calculate the rotational angular velocity of the cleaning device in the second cleaning stage based on the preset extension time and Formula (2).

In some embodiments, if the rotational angular velocity of the cleaning device in the second cleaning stage calculated based on Formula (2) is greater than a rotational angular velocity threshold, the rotational angular velocity threshold can be directly used as the rotational angular velocity of the cleaning device in the second cleaning stage, and then the extension time of the cleaning member in the second cleaning stage is calculated based on the rotational angular velocity threshold and Formula (2). It can be understood that, if the determined rotational angular velocity of the cleaning device in the second cleaning stage is greater than the rotational angular velocity threshold, the rotational velocity of the cleaning device will be too fast, resulting in insufficient cleaning of the obstacle corner. Therefore, setting the rotational angular velocity threshold enables the cleaning device to thoroughly clean the obstacle corner, thereby improving the cleaning quality.

To enable those skilled in the art to better understand the second embodiment of step S132A, the second embodiment is described below by using an example with reference to FIG. 6.

Referring to FIG. 6, a schematic diagram of a scenario of the cleaning device in the second cleaning stage according to one embodiment of the present application is shown.

In FIG. 6, (1) corresponds to the following scenario: The cleaning device is in the state when the above step S131A is completed; that is, the cleaning member of the cleaning device is retracted by the first amplitude, the cleaning device body is rotated by the first angle, and the cleaning device body and the cleaning member are simultaneously in the state of being tangent to the first corner edge.

In FIG. 6, (2) corresponds to the following scenario: The cleaning device body has just completed rotation by the second angle, and in this case, the cleaning member of the cleaning device is in a state of extending by the second amplitude, and the cleaning member of the cleaning device and the cleaning device body are simultaneously in a state of being tangent to the second corner edge. The angle B shown in (2) of FIG. 6 is the second angle. In addition, in the process of controlling the cleaning device to change from the state shown in (1) of FIG. 6 to the state shown in (2) of FIG. 6, the rotational angular velocity of the cleaning device and the extension time of the cleaning member need to be controlled to satisfy the above Formula (2). It can be understood that, in the process of changing the state of the cleaning device from the state shown in (1) of FIG. 6 to the state shown in (2) of FIG. 6, the cleaning device body rotates while the cleaning member extends. When the cleaning device body rotates by the second angle, the cleaning member has just extended by the second amplitude, such that the cleaning member avoids scraping against the obstacle corner, and meanwhile, the orientation of the cleaning device can also be smoothly adjusted to align with the second corner edge, thereby achieving a higher coverage rate for the cleaning of the obstacle corner.

The third embodiment of step S132A is as follows.

The extension speed of the cleaning member in the second cleaning stage and the rotational angular velocity of the cleaning device body in the second cleaning stage satisfy that, before the cleaning member extends by the second amplitude, the cleaning member and the cleaning device body are simultaneously in the state of being tangent to the first corner edge; and when the cleaning device body rotates by the second angle, the cleaning member and the cleaning device body are simultaneously in the state of being tangent to the second corner edge.

In this embodiment, in the process of rotating the cleaning device body by the second angle, the situation may be that the cleaning member first extends by an amplitude greater than the second amplitude, and then the cleaning member retracts, such that when the cleaning device body just completes the rotation by the second angle, the extension amplitude of the cleaning member is the second amplitude. Therefore, the cleaning member can extend into the obstacle corner to achieve a higher coverage rate for the cleaning of the obstacle corner.

It can be understood that, in the third embodiment of step S132A, during the body rotation of the cleaning device in the second stage, the rotational angular velocity of the body and the extension speed of the cleaning member can be adjusted in real time, such that before the cleaning member is extended by the second amplitude, the cleaning member and the cleaning device body are simultaneously in the state of being tangent to the first corner edge; and when the cleaning device body is rotated by the second angle, the cleaning member and the cleaning device body are simultaneously in the state of being tangent to the second corner edge.

To enable those skilled in the art to better understand the embodiments, an illustrative explanation is provided below with reference to FIG. 7.

Referring to FIG. 7, a schematic diagram of a scenario of the cleaning device in the second cleaning stage according to one embodiment of the present application is shown.

In FIG. 7, (1) corresponds to the following scenario: The cleaning device is in the state when the above step S131A is completed; that is, the cleaning member of the cleaning device is retracted by the first amplitude, the cleaning device body is rotated by the first angle, and the cleaning device body and the cleaning member are simultaneously in the state of being tangent to the first corner edge.

In FIG. 7, (2) corresponds to the following scenario: The cleaning device in the state shown in (1) of FIG. 7 is controlled, such that the cleaning device simultaneously rotates and extends the cleaning member, the cleaning member is in the state of being tangent to the first corner edge, the cleaning device body is the state of being tangent to the first corner edge, and the cleaning device rotates in place by an angle b in a counterclockwise direction. The angle b is less than the second angle, and the extension amplitude corresponding to the cleaning member is greater than the second amplitude.

In FIG. 7, (3) corresponds to the following scenario: The cleaning device in the state shown in (2) of FIG. 7 continues to be controlled, such that the cleaning device continues to rotate in place in a counterclockwise direction and rotates by the second angle (namely, angle B) relative to (1) in FIG. 7. As can be seen from the scenario shown in (3) of FIG. 7, the cleaning member and the cleaning device body are simultaneously in the state of being tangent to the second corner edge.

It can be understood that, in the scenario corresponding to FIG. 7, by simultaneously controlling the rotational angular velocity of the cleaning device body and the extension time of the cleaning member, the cleaning member can be always kept in the state of being tangent to the first corner edge or the second corner edge during the process of rotating the cleaning device body and the cleaning member by the second angle, thereby ensuring that the cleaning member can extend into the obstacle corner for cleaning and thus achieving a higher coverage rate for the cleaning.

The second embodiment of step S130 is as follows.

It is used to control the cleaning device to perform a corresponding cleaning action for the second type of corner (that is, the included angle of the obstacle corner is greater than the second set angle and less than 180°). In some embodiments, the following steps S131B to S132B are included.

In some embodiments, the included angle of the obstacle corner corresponding to the second type of corner is [125°, 180°].

In S131B, in the third cleaning stage, the cleaning member is controlled to retract by a third amplitude, and the cleaning device body is controlled to rotate by a third angle, such that the orientation of the cleaning device is parallel to the second corner edge.

In some embodiments, the third angle satisfies the following Formula (3):

x 3 = 180 ⁢ ° - X Formula ⁢ ( 3 )

• • where X represents the included angle; and x₃ represents the third angle.

In some embodiments, before performing the third cleaning stage, the cleaning device may further perform the following action: controlling the cleaning device to move in the current traveling direction to a preset position. The preset position is a position where the distance between the geometric center of the cleaning device and the second corner edge is a set distance.

The specific implementations of step S131B include at least the following two types.

The first embodiment of step S131B is as follows.

The cleaning member is controlled to retract by a third amplitude; and after the cleaning member has retracted by the third amplitude, the cleaning device body is controlled to rotate by a third angle, such that the orientation of the cleaning device is parallel to the second corner edge.

The second embodiment of step S131B is as follows.

The cleaning member is controlled to retract by a third amplitude, and simultaneously, the cleaning device body is controlled to rotate by the third angle. The retraction speed of the cleaning member and the rotational angular velocity of the cleaning device body satisfy that the cleaning member and the cleaning device body are simultaneously in the state of being tangent to the first corner edge.

In S132B, in a fourth cleaning stage, the cleaning member is controlled to extend by a fourth amplitude, and the cleaning device body is controlled to travel in the direction of the second corner edge.

In step S132B, in the process in which the cleaning device travels in the direction of the second corner edge, the extension speed of the cleaning member should satisfy that the cleaning member is in the state of being tangent to the first corner edge or the second corner edge.

To enable those skilled in the art to understand the second embodiment of step S130 in the present application, an illustrative explanation is provided below with reference to FIG. 8.

Referring to FIG. 8, a schematic diagram of a scenario of the cleaning device in the third cleaning stage and the fourth cleaning stage according to one embodiment of the present application is shown.

In FIG. 8, (1) corresponds to the following scenario: The cleaning device detects an obstacle corner in the current traveling direction. The obstacle corner is defined by a first corner edge and a second corner edge. The included angle of the obstacle corner is 150°, the current traveling direction of the cleaning device is parallel to the first corner edge of the obstacle corner, and one cleaning member of the cleaning device is in a state of extending by a third amplitude. At the position of the cleaning device, the distance between the geometric center of the cleaning device and the second corner edge satisfies the set distance.

In FIG. 8, (2) corresponds to the following scenario: The cleaning device in the state shown in (1) of FIG. 8 is controlled, such that the cleaning member of the cleaning device is retracted by the third amplitude, the cleaning device body is rotated by the third angle, and the orientation of the cleaning device is parallel to the second corner edge.

In FIG. 8, (3) corresponds to the following scenario: The cleaning device in the state shown in (2) of FIG. 8 continues to be controlled, such that the cleaning device moves forward in the direction of the second corner edge, the extension amplitude of the cleaning member satisfies that the cleaning device is in the state of being tangent to the first corner edge, and the extension amplitude of the cleaning member in (3) of FIG. 8 is less than the fourth extension amplitude.

In FIG. 8, (4) corresponds to the following scenario: The cleaning device in the state shown in (3) of FIG. 8 continues to be controlled, such that the cleaning device continues to move forward in the direction of the second corner edge, the cleaning member extends by the fourth amplitude, and the cleaning device body and the cleaning member are simultaneously in the state of being tangent to the second corner edge.

It can be understood that, upon the completion of the above step S132B, the cleaning device can continue to be controlled to travel along the second corner edge, so as to leave the obstacle corner.

The third embodiment of step S130 is as follows.

It is used to control the cleaning device to perform a corresponding cleaning action for the third type of corner (that is, the included angle of the obstacle corner is greater than) 180°. In some embodiments, the following steps S131C to S132C are included.

In S131C, in a fifth cleaning stage, the cleaning device body is controlled to travel a preset distance based on the current traveling direction.

In some embodiments, the preset distance in the fifth cleaning stage satisfies that the tail portion of the cleaning device body is tangent to an extension line of the second corner edge.

In S132C, in a sixth cleaning stage, the cleaning device body is controlled to rotate by a fourth angle, such that the cleaning device travels in the direction of the second corner edge.

In some embodiments, the fourth angle and the included angle satisfy the following Formula (4):

x = 180 ⁢ ° - X Formula ⁢ ( 4 )

• • where x represents the fourth angle; and X represents the included angle.

To enable those skilled in the art to better understand the third embodiment of step S130, an illustrative explanation is provided below with reference to FIG. 9.

Referring to FIG. 9, a schematic diagram of a scenario of the cleaning device in the fifth cleaning stage and the sixth cleaning stage according to one embodiment of the present application is shown.

In FIG. 9, (1) corresponds to the following scenario: The cleaning device detects an obstacle corner in the current traveling direction. The obstacle corner is defined by a first corner edge and a second corner edge. The included angle of the obstacle corner is 270°, the current traveling direction of the cleaning device is parallel to the first corner edge of the obstacle corner, and one cleaning member of the cleaning device is in an extended state.

In FIG. 9, (2) corresponds to the following scenario: The cleaning device in the state shown in (1) of FIG. 9 is controlled, such that the cleaning device continues to move forward in the current traveling direction and is located at the position where the tail portion of the cleaning device is tangent to the extension line of the second corner edge.

In FIG. 9, (3) corresponds to the following scenario: The cleaning device in the state shown in (2) of FIG. 9 continues to be controlled, such that the cleaning device rotates in place by 90° in a clockwise direction. An angle D shown in (3) of FIG. 9 is the fourth angle (that is, 90°). As can be seen from the state shown in (3) of FIG. 9, after the cleaning device rotates by the fourth angle, the cleaning device is enabled to be oriented along the second corner edge, and the cleaning device body and the cleaning member are simultaneously in the state of being tangent to the extension line of the second corner edge.

In the third embodiment of step S130, it can be seen that when the obstacle corner of the third type described above is detected, in the process of controlling the cleaning device to clean the obstacle corner, there is no need to adjust the state of the cleaning member. The cleaning of the obstacle corner with a high coverage rate and without scraping can be achieved merely by adjusting the forward direction and the forward trajectory of the cleaning device body.

In the technical solutions provided by some embodiments of the present disclosure, if the cleaning device including a telescopic cleaning member detects an obstacle corner in the current traveling direction, geometric data of the obstacle corner is acquired; then, based on the geometric data, an action strategy suitable for cleaning the obstacle corner is determined, the action strategy including an extension/retraction strategy for the cleaning member and/or a rotation strategy for the cleaning device body; and finally the cleaning device is controlled, based on the action strategy, to perform a cleaning action to clean the area where the obstacle corner is located. It can be seen that, based on the technical solutions of the present disclosure, if the cleaning device detects the obstacle corner during traveling, the action strategy matching the obstacle corner is automatically determined for the cleaning device, such that the self-telescopic cleaning member can perform a corresponding matching action based on the specific geometric structure of the obstacle corner when the cleaning device passes through the area where the obstacle corner is located. This not only avoids scraping between the cleaning member of the cleaning device, the cleaning device body, or the like and the obstacle corner, but also achieves a higher coverage rate for the cleaning of the area where the obstacle corner is located, and improves the user experience.

Based on the same inventive concept, one embodiment of the present application provides an apparatus for controlling a cleaning device, which can be configured to perform the method for controlling the cleaning device in the above embodiments of the present application. For details not disclosed in the embodiments of the present application, reference may be made to the above embodiments of the method for controlling the cleaning device according to the present application.

Referring to FIG. 10, a block diagram of an apparatus for controlling a cleaning device according to one embodiment of the present application is shown.

As shown in FIG. 10, for the apparatus for controlling the cleaning device 1000 according to one embodiment of the present application, the cleaning device includes a telescopic cleaning member. The apparatus for controlling the cleaning device 1000 includes: an acquiring unit 1001, a determination unit 1002, and a control unit 1003.

The acquiring unit 1001 is configured to: if the cleaning device detects an obstacle corner in the current traveling direction, geometric data of the obstacle corner is acquired; the determination unit 1002 is configured to: determine, based on the geometric data, an action strategy suitable for cleaning the obstacle corner, the action strategy including an extension/retraction strategy for the cleaning member and/or a rotation strategy for the cleaning device body; and the control unit 1003 is configured to: control, based on the action strategy, the cleaning device to perform a cleaning action to clean the area where the obstacle corner is located.

In some embodiments of the present application, the determination unit 1002 is further configured to: determine an included angle of the obstacle corner based on the geometric data; and determine an action strategy matching the included angle, so as to be suitable for cleaning the obstacle corner.

In some embodiments of the present application, if the included angle is greater than a first set angle and less than a second set angle, or the included angle is equal to a second set angle, the control unit 1003 is further configured to: in a first cleaning stage, control the cleaning member to retract by a first amplitude and control the cleaning device body to rotate by a first angle; and in a second cleaning stage, control the cleaning member to extend by a second amplitude and control the cleaning device body to rotate by a second angle.

In some embodiments of the present application, the first angle, the second angle, and the included angle satisfy:

X = 180 ⁢ ° - x 1 - x 2

• • where X represents the included angle; x₁ represents the first angle; and x₂ represents the second angle.

In some embodiments of the present application, the obstacle corner is defined by a first corner edge and a second corner edge, the first corner edge is parallel to the current traveling direction, and the control unit 903 is further configured to: control the cleaning member to retract by the first amplitude; the cleaning device body is controlled to rotate by the first angle after the cleaning member has retracted by the first amplitude, such that the cleaning member and the cleaning device body are simultaneously in the state of being tangent to the first corner edge.

In some embodiments of the present application, the control unit 1003 is further configured to: control the cleaning member to retract by the first amplitude and simultaneously control the cleaning device body to rotate by the first angle. The retraction speed of the cleaning member and the rotational angular velocity of the cleaning device body satisfy that the cleaning member and the cleaning device body are simultaneously in the state of being tangent to the first corner edge.

In some embodiments of the present application, an extension time of the cleaning member in the second cleaning stage and a rotational angular velocity of the cleaning device body in the second cleaning stage satisfy:

x 2 = w × t

• • where x₂ represents the second angle; w represents the rotational angular velocity of the cleaning device body in the second cleaning stage; and t represents the extension time of the cleaning member in the second cleaning stage.

In some embodiments of the present application, the extension speed of the cleaning member in the second cleaning stage and the rotational angular velocity of the cleaning device body in the second cleaning stage satisfy that, before the cleaning member extends by the second amplitude, the cleaning member and the cleaning device body are simultaneously in the state of being tangent to the first corner edge; and when the cleaning device body rotates by the second angle, the cleaning member and the cleaning device body are simultaneously in the state of being tangent to the second corner edge.

In some embodiments of the present application, the action strategy further includes a traveling strategy for the cleaning device body. If the included angle is greater than the second set angle and less than 180°, the control unit 1003 is further configured to: in a third cleaning stage, control the cleaning member to retract by a third amplitude, and control the cleaning device body to rotate by a third angle, such that the orientation of the cleaning device is parallel to the second corner edge; and in a fourth cleaning stage, control the cleaning member to extend by a fourth amplitude, and control the cleaning device body to travel in the direction of the second corner edge.

In some embodiments of the present application, the action strategy further includes a traveling strategy for the cleaning device body. If the included angle is greater than 180°, the control unit 1003 is further configured to: in a fifth cleaning stage, control the cleaning device body to travel a preset distance based on the current traveling direction; and in a sixth cleaning stage, control the cleaning device body to rotate by a fourth angle, such that the cleaning device travels in the direction of the second corner edge.

In some embodiments of the present application, the tail portion of the cleaning device body is tangent to an extension line of the second corner edge.

In some embodiments of the present application, the fourth angle and the included angle satisfy:

x = 180 ⁢ ° - X

• • where x represents the fourth angle; and X represents the included angle.

Based on the same inventive concept, one embodiment of the present application further provides a non-transitory computer-readable storage medium. The computer-readable storage medium stores at least one computer program instruction, and the at least one computer program instruction is loaded and run by a processor to implement the operations performed in the above method.

Based on the same inventive concept, one embodiment of the present application further provides a cleaning device.

Referring to FIG. 11, a schematic structural diagram of a cleaning device according to one embodiment of the present application is shown. The cleaning device includes one or more memories 1104, one or more processors 1102, and at least one computer program (computer program instruction) stored in the memory 1104 and capable of being run on the processor 1102. When running the computer program, the processor 1102 implements the method described above.

In FIG. 11, a bus architecture (represented by a bus 1100) is shown. The bus 1100 may include any number of interconnected buses and bridges, and the bus 1100 links various circuits including one or more processors represented by the processor 1102 and a memory represented by the memory 1104. The bus 1100 may also link together various other circuits, such as peripheral devices, voltage regulators, and power management circuits. These are well known in the art and thus will not be further described herein. A bus interface 1105 provides interfaces between the bus 1100 and a receiver 1101, and a sender 1103. The receiver 1101 and the sender 1103 may be the same element, namely, a transceiver, which provides a unit for communicating with various other apparatuses over a transmission medium. The processor 1102 is responsible for managing the bus 1100 and general processing, while the memory 1104 may be configured to store data used by the processor 1102 during operation.

The functions described herein may be implemented in hardware, software executed by the processor, firmware, or any combination thereof. If implemented in software executed by the processor, the functions may be stored as one or more instructions or codes on a computer-readable medium, or may be transmitted via a computer-readable medium. Other embodiments and implementations fall within the scope and spirit of the present application and the appended claims. For example, due to the nature of software, the functions described above may be implemented using software executed by the processor, hardware, firmware, hardwired connection, or any combination thereof. In addition, various functional units may be integrated into one processing unit, or various units may physically exist separately, or two or more units may be integrated into one unit.

In the several embodiments provided in the present application, it should be understood that the disclosed technical content may be implemented in other manners. The apparatus embodiments described above are merely illustrative. For example, the division of the units may be a division based on logical function and may be implemented in other ways in an actual situation. For example, a plurality of units or components may be combined or integrated into another system, or some features may be ignored or not executed. In addition, the displayed or discussed coupling or direct coupling or communication connection between each other may be achieved through some interfaces, and indirect coupling or communication connection between the units or modules may also be in electrical or other forms.

The units described as separate parts may or may not be physically separate, and components used as a control apparatus may or may not be physical units; that is, they may be located in one place, or may be distributed across a plurality of units. Some or all of the units may be selected according to actual needs to achieve the objectives of the solutions of the embodiments.

The integrated units may be stored in one computer-readable storage medium if they are implemented in the form of software functional units and sold or used as independent products. Based on such an understanding, the technical solutions of the present application essentially, or the part contributing to the related art, or all or some of the technical solutions may be embodied in the form of a software product. The computer software product is stored in one storage medium and includes several instructions to enable a computer device (which may be a personal computer, a server, a network device, or the like) to perform all or some of the steps of the methods according to the embodiments of the present application. The foregoing storage media include various media capable of storing computer program instructions, such as a USB flash drive, a read-only memory (ROM, read-only memory), a random access memory (RAM, random access memory), a removable hard disk, a magnetic disk, or an optical disc.

The above are only embodiments of the present application, and are not intended to limit the present application. For those skilled in the art, the present application can be modified and varied. Any modification, equivalent substitution, improvement, and the like made within the spirit and principle of the present application shall all fall within the scope of the claims of the present application.