阅读说明：本技术 清洁装置及其控制方法 (Cleaning device and control method thereof ) 是由 徐小伟 陈远 魏显民 于 2019-03-11 设计创作，主要内容包括：本发明实施例公开了一种清洁装置及其控制方法。所述清洁装置包括：移动主体,用于所述清洁装置的移动；防护壳体,活动安装在所述移动主体外侧上,用于在顶部障碍物的作用下,与所述移动主体的顶部之间的距离由第一距离向第二距离缩小；第一传感装置,至少部分位于所述移动主体和所述防护壳体之间,用于在所述防护壳体向所述移动主体的顶部之间的距离从所述第一距离向所述第二距离缩小时,产生指示由检测到顶部障碍物的第一检测信号；控制模组,与所述第一传感装置连接,位于所述移动主体内,用于根据所述第一检测信号,控制所述移动主体后退。(The embodiment of the invention discloses a cleaning device and a control method thereof. The cleaning device includes: a moving body for movement of the cleaning device; the protective shell is movably arranged on the outer side of the moving main body and is used for reducing the distance between the protective shell and the top of the moving main body from a first distance to a second distance under the action of a top obstacle; first sensing means, located at least partially between the moving body and the guard housing, for generating a first detection signal indicative of a top obstacle being detected when the distance between the guard housing and the top of the moving body decreases from the first distance to the second distance; and the control module is connected with the first sensing device, is positioned in the mobile main body and is used for controlling the mobile main body to retreat according to the first detection signal.)

1. A cleaning device, comprising:

a moving body for movement of the cleaning device;

the protective shell is movably arranged on the outer side of the moving main body and is used for reducing the distance between the protective shell and the top of the moving main body from a first distance to a second distance under the action of a top obstacle;

first sensing means, located at least partially between the moving body and the guard housing, for generating a first detection signal indicative of a top obstacle being detected when the distance between the guard housing and the top of the moving body decreases from the first distance to the second distance;

and the control module is connected with the first sensing device, is positioned in the mobile main body and is used for controlling the mobile main body to retreat according to the first detection signal.

2. The apparatus of claim 1, wherein the first sensing device comprises:

and the mechanical switch is positioned between the moving body and the protective shell, and is used for generating a first detection signal when the distance between the tops of the moving body and the protective shell is smaller than the first distance, and sending the first detection signal to the control module.

3. The device according to claim 1 or 2,

the protective shell is an arc-shaped protective shell, at least comprises a first surface and an arc-shaped peripheral surface, and is positioned at the advancing end of the moving main body;

the first surface is covered on the top of the moving body;

the arc-shaped peripheral surface is connected with the first surface and covers the side surface of the moving body.

4. The cleaning apparatus of claim 3,

the arc-shaped peripheral surface includes:

a first region at a first end of the arcuate perimeter surface;

a second region at a second end of the arcuate perimeter surface, wherein the second end is opposite the first end;

a third region located between the first region and the second region;

the cleaning device further includes:

the second sensing device is at least partially exposed outside the third area of the arc-shaped peripheral surface and is used for detecting a front obstacle;

wherein the third region is smaller than the first region and the second region.

5. The cleaning apparatus of claim 4,

the central line of the arc-shaped peripheral surface is a dividing line of the third area;

the first area and the second area are symmetrically distributed on two sides of the third area; and the third region is smaller than the first region and the second region.

6. The cleaning apparatus of claim 3,

the second sensing device includes:

at least two transmitters located in the first plane for transmitting a second detection signal of the obstacle ahead;

at least one receiver, located in a second plane, for receiving a feedback signal returned by the detection signal acting on the front obstacle; wherein the second plane is parallel to the first plane.

7. The cleaning apparatus of claim 6,

the at least two emitters are symmetrically distributed with the center line of the protective shell perpendicular to the supporting plane of the moving body.

8. The cleaning device of claim 6, further comprising:

at least two charging alignment devices exposed through the arc-shaped peripheral surface of the protective housing are located in a third plane, wherein the third plane is parallel to the first plane and the second plane.

9. The apparatus of claim 6, wherein the at least two charging alignment devices are symmetrically distributed within the third region with the at least one receiver.

10. The cleaning apparatus of claim 6,

the at least two transmitters are used for sequentially transmitting the second detection signals according to a rotation sequence;

the control module is specifically configured to determine a front obstacle parameter according to a feedback signal submitted by the at least one transmitter and the transmitter of the second detection signal corresponding to the feedback signal, and control the forward movement of the cleaning device according to the front obstacle parameter.

11. The apparatus of claim 10,

the forward obstacle parameter includes at least one of:

an indication parameter indicating whether there is an obstacle in front of the vehicle by a predetermined distance;

a distance of a forward obstacle relative to the cleaning device;

an angle of a forward obstacle relative to the cleaning device;

and/or the presence of a gas in the gas,

the control module is specifically used for adjusting the advancing direction and/or the advancing speed of the cleaning device according to the front obstacle parameter.

12. A control method of a cleaning apparatus, comprising:

when the protective shell of the cleaning device is under the action of a top obstacle and the distance between the protective shell of the cleaning device and the top of the moving body of the cleaning device is reduced from a first distance to a second distance, a first sensing device at least partially positioned on the top of the protective shell and the moving body generates a first detection signal indicating that the top obstacle is detected;

and controlling the cleaning device to move backwards according to the first detection signal.

13. The method of claim 12, further comprising:

transmitting a second detection signal for detecting the front obstacle by using a second sensing device exposed on the arc-shaped peripheral surface of the protective shell of the cleaning device;

receiving a feedback signal returned based on the second detection signal by using the second sensing device;

determining a forward obstacle parameter based on the second detection signal and the feedback signal;

controlling the advancement of the cleaning device based on the forward obstacle parameter.

14. The method of claim 13, wherein transmitting a second detection signal for detecting the forward obstacle using a second sensing device exposed at an arcuate periphery of a protective housing of the cleaning device comprises:

sequentially transmitting the second detection signals according to a rotation sequence by utilizing at least two transmitters arranged on the arc-shaped peripheral surface of the cleaning device through a line;

the determining a forward obstacle parameter based on the second detection signal and the feedback signal comprises:

and determining a front obstacle parameter according to a feedback signal submitted by the at least one transmitter and the transmitter of which the feedback signal corresponds to the second detection signal.

Technical Field

The invention relates to the technical field of electric appliances, in particular to a cleaning device and a control method thereof.

Background

With the development of electrical technology, floor cleaning devices for cleaning and the like have appeared. Taking the sweeping robot as an example, the sweeping robot can have a front obstacle avoidance function, so that a front obstacle can be successfully avoided. However, in the using process, the cleaning device such as the sweeping robot and the like is clamped in gaps such as the tops of furniture and the like under certain conditions, and the cleaning device cannot move forwards or backwards.

Disclosure of Invention

In view of the above, embodiments of the present invention are directed to a cleaning apparatus and a control method thereof.

The technical scheme of the invention is realized as follows:

a cleaning device, comprising:

a moving body for movement of the cleaning device;

the protective shell is movably arranged on the outer side of the moving main body and is used for reducing the distance between the protective shell and the top of the moving main body from a first distance to a second distance under the action of a top obstacle;

first sensing means, located at least partially between the moving body and the guard housing, for generating a first detection signal indicative of a top obstacle being detected when the distance between the guard housing and the top of the moving body decreases from the first distance to the second distance;

and the control module is connected with the first sensing device, is positioned in the mobile main body and is used for controlling the mobile main body to retreat according to the first detection signal.

Based on the above scheme, the first sensing device includes:

and the mechanical switch is positioned between the moving body and the protective shell, and is used for generating a first detection signal when the distance between the tops of the moving body and the protective shell is smaller than the first distance, and sending the first detection signal to the control module.

Based on the scheme, the protective shell is an arc-shaped protective shell, at least has a first surface and an arc-shaped peripheral surface, and is positioned at the advancing end of the moving main body;

the first surface is covered on the top of the moving body;

the arc-shaped peripheral surface is connected with the first surface and covers the side surface of the moving body.

Based on the above, the arc-shaped circumferential surface includes:

a first region at a first end of the arcuate perimeter surface;

a second region at a second end of the arcuate perimeter surface, wherein the second end is opposite the first end;

a third region located between the first region and the second region;

the cleaning device further includes:

the second sensing device is at least partially exposed outside the third area of the arc-shaped peripheral surface and is used for detecting a front obstacle;

wherein the third region is smaller than the first region and the second region.

Based on the scheme, the central line of the arc-shaped peripheral surface is a dividing line of the third area;

the first area and the second area are symmetrically distributed on two sides of the third area; and the third region is smaller than the first region and the second region.

Based on the above scheme, the second sensing device includes:

at least two transmitters located in the first plane for transmitting a second detection signal of the obstacle ahead;

at least one receiver, located in a second plane, for receiving a feedback signal returned by the detection signal acting on the front obstacle; wherein the second plane is parallel to the first plane.

Based on the scheme, the at least two emitters are symmetrically distributed on the central line of the protective shell, which is perpendicular to the supporting plane of the moving body.

Based on the above scheme, the cleaning device further comprises:

at least two charging alignment devices exposed through the arc-shaped peripheral surface of the protective housing are located in a third plane, wherein the third plane is parallel to the first plane and the second plane.

Based on the scheme, the at least two charging alignment devices are symmetrically distributed in the third area through the at least one receiver.

Based on the scheme, the at least two transmitters are used for sequentially transmitting the second detection signals according to a rotation order;

the control module is specifically configured to determine a front obstacle parameter according to a feedback signal submitted by the at least one transmitter and the transmitter of the second detection signal corresponding to the feedback signal, and control the forward movement of the cleaning device according to the front obstacle parameter.

Based on the above scheme, the front obstacle parameter includes at least one of:

an indication parameter indicating whether there is an obstacle in front of the vehicle by a predetermined distance;

a distance of a forward obstacle relative to the cleaning device;

an angle of a forward obstacle relative to the cleaning device;

and/or the presence of a gas in the gas,

the control module is specifically used for adjusting the advancing direction and/or the advancing speed of the cleaning device according to the front obstacle parameter.

A control method of a cleaning apparatus, comprising:

when the protective shell of the cleaning device is under the action of a top obstacle and the distance between the protective shell of the cleaning device and the top of the moving body of the cleaning device is reduced from a first distance to a second distance, a first sensing device at least partially positioned on the top of the protective shell and the moving body generates a first detection signal indicating that the top obstacle is detected;

and controlling the cleaning device to move backwards according to the first detection signal.

Based on the above scheme, the method further comprises:

transmitting a second detection signal for detecting the front obstacle by using a second sensing device exposed on the arc-shaped peripheral surface of the protective shell of the cleaning device;

receiving a feedback signal returned based on the second detection signal by using the second sensing device;

determining a forward obstacle parameter based on the second detection signal and the feedback signal;

controlling the advancement of the cleaning device based on the forward obstacle parameter.

Based on the above scheme, the emitting, by the second sensing device exposed on the arc-shaped peripheral surface of the protective housing of the cleaning device, the second detection signal for detecting the front obstacle includes:

sequentially transmitting the second detection signals according to a rotation sequence by utilizing at least two transmitters arranged on the arc-shaped peripheral surface of the cleaning device through a line;

the determining a forward obstacle parameter based on the second detection signal and the feedback signal comprises:

and determining a front obstacle parameter according to a feedback signal submitted by the at least one transmitter and the transmitter of which the feedback signal corresponds to the second detection signal.

According to the technical scheme provided by the embodiment of the invention, the protective shell is arranged and movably mounted on the outer side of the moving main body of the cleaning device, when the protective shell acts on a barrier on the top of the cleaning device, the distance between the protective shell and the moving main body is reduced from a first distance to a second distance, and at least part of the first sensing device positioned between the protective shell and the moving main body can detect the barrier, so that a first detection signal for detecting the barrier on the top is generated, and the control module can control the moving main body to retreat, so that the cleaning device is prevented from being clamped at the bottom of furniture and other positions, and the intelligence of the cleaning device and the user experience are improved.

Drawings

Fig. 1 is a schematic structural diagram of a cleaning device according to an embodiment of the present invention;

FIG. 2 is a schematic structural diagram of another cleaning device provided in an embodiment of the present invention;

FIG. 3 is a schematic diagram of the position relationship of three emitters according to an embodiment of the present invention;

fig. 4 is a flowchart illustrating a control method of a cleaning apparatus according to an embodiment of the present invention;

fig. 5 is a flowchart illustrating another control method for a cleaning apparatus according to an embodiment of the present invention.

Detailed Description

The technical solution of the present invention is further described in detail with reference to the drawings and the specific embodiments of the specification.

As shown in fig. 1, the present embodiment provides a cleaning device including:

a moving body 101 for movement of the cleaning device;

the protective shell 102 is movably arranged on the outer side of the moving body 101 and is used for reducing the distance between the protective shell and the top of the moving body 101 from a first distance to a second distance under the action of a top obstacle;

a first sensing device 103, located at least partially between the moving body 101 and the protective housing 102, for generating a first detection signal indicating that a top obstacle is detected when the distance between the protective housing 102 and the top of the moving body 101 decreases from the first distance to the second distance;

and the control module is connected with the first sensing device 103, is positioned in the moving body 101, and is used for controlling the moving body 101 to retreat according to the first detection signal.

The cleaning device may be a floor cleaning device that is movable on a floor or table top or the like. The cleaning device includes, but is not limited to, various floor cleaning robots, or floor sterilizing robots, etc.

The moving body 101 includes:

moving the chassis;

a movable housing installed on a movable chassis, constituting an outer surface of the movable body 101, and forming a built-in space of the movable body 101 with the movable chassis;

the cleaning module is arranged below the movable chassis and used for cleaning the ground or the supporting surface through mutual friction and the like;

the disinfection module comprises a disinfectant sprayer, wherein the sprayer faces away from the movable chassis and is used for spraying disinfectant to the ground or a supporting surface other than the ground.

In summary, in the present embodiment, the cleaning device may be any movable structure.

In some embodiments, the cleaning device can move in two opposite directions by taking the cleaning device as a reference object, wherein one is the forward direction of the cleaning device and the other is the backward direction of the cleaning device, and the included angle between the moving direction and the backward direction is 180 degrees. If the cleaning device is to be moved in another direction, the moving chassis needs to be oriented such that the front end or the rear end opposite to the front end is aligned with the direction. In this embodiment the guard body is located at the front end of the cleaning device.

In some embodiments, the shape of the moving body 101 may be any shape such as a rectangular body or a cylindrical body, in this embodiment, the shape of the moving body 101 is preferably a cylindrical body, and the circumferential surface of the moving body 101 is arc-shaped, so that a violent collision between the moving body 101 and an obstacle during moving can be reduced, and the movement of the cleaning device is facilitated.

The protective housing 102 is mounted outside the moving body 101, and in this embodiment, is movably mounted outside the moving body 101.

In this embodiment, the protective housing 102 is fitted over the front end of the moving body 101 in the forward direction.

In this embodiment, the protective housing 102 may be a collision plate with strong collision resistance, and is not easily damaged after colliding with an obstacle, so as to protect the moving body 101.

The protective housing 102 is movably mounted on the moving body 101, and has a certain moving space in a direction perpendicular to the supporting surface of the moving body 101, and at this time, the state of the protective housing 102 is divided according to the distance between the protective housing 102 and the top of the moving body 101, so that the protective housing 102 has a first state and a second state, and in the first state, a gap between the protective housing 102 and the moving body 101 is distributed, for example, the gap may be 1-3 cm. That is, the distance between the inner surface of the top plate of the protective casing 102 and the outer surface of the top of the moving body 101 is 1cm or more when the protective casing 102 is in the first state.

When the protective housing 102 is in the second state, the protective housing 102 moves to the top of the moving body 101, and in the second state of the limit, the top plate of the protective housing 102 is attached to the top of the moving body 101.

In some embodiments, the top of the moving body 101 is provided with a resilient means, which has a first deformation amount when the protective housing 102 is in the first state, and can support the protective housing 102; when the protective housing 102 is in the second state, the resilient means is compressed to a second deformation amount, so that the protective housing 102 can approach the top of the moving body 101.

Therefore, when the top of the moving body 101 has an obstacle, the top of the protective housing 102 interacts with the obstacle earlier than the moving body 101. And a first sensing device 103 is also exposed at the top of the protective housing 102, and the first sensing device 103 can be used for detecting a top obstacle and generating a first detection signal indicating the presence of the top obstacle.

The control module may include various types of devices having information processing functions, such as a microprocessor, an embedded controller, a digital signal processor, or a programmable array. The control module is located in a built-in space formed by a moving shell and a moving chassis of the moving body 101, and is electrically connected with the first sensing device 103 in front. So, first sensing device 103 will after first detected signal transmits the control module group, the control module group knows that the place ahead has the top barrier, and cleaning device should not continue to advance, then at this moment, the control module group can control and move main part 101 and retreat to move towards the direction that has not had the top barrier of preceding process.

Because the protective shell 102 can move up and down in the vertical direction of the supporting surface of the cleaning device, the cleaning device can still move when the first sensing device 103 detects the top obstacle, and the phenomenon that the cleaning device is directly blocked by the top obstacle can be avoided. Therefore, the cleaning device provided by the embodiment not only has the function of top obstacle detection, but also can smoothly return after the top obstacle encounters, so that the phenomenon of jamming is avoided, and the intelligence and the use satisfaction of a user of the cleaning device are improved.

In this embodiment, the first sensing device 103 is at least partially located between the top of the moving body 101 and the inner side of the top plate of the protective housing 102, i.e. the first sensor is at least partially located between the mating surfaces of the moving body 101 and the top of the protective housing 102.

In other embodiments, as shown in fig. 1, a part of the first sensing device 103 may penetrate the top plate of the protective housing 102 and be disposed on the top of the protective housing 102, and the first sensing device 103 may interact with a top obstacle to move the protective housing 102 downward, so as to generate the first detection signal.

Further, the first sensing device 103 includes:

a mechanical switch, located between the moving body 101 and the protective housing 102, for generating the first detection signal upon interaction with a top obstacle and sending the first detection signal to the control module.

In this embodiment, the first sensing device 103 comprises one or more mechanical switches located between the protective housing 102 and the top of the moving body 101, and these mechanical switches comprise: a first end and a second end; if the first end is disposed inside the top plate of the protective housing 102, the second end is disposed on the top of the moving body 101; if the first end is disposed on the top of the moving body 101, the second end is disposed on the inner side of the top of the protective housing 102. The first end and the second end may be made of a conductive material having a conductive function, for example, the first end and the second end may be both metal contacts, and if the two metal contacts are in contact, a conductive path may be formed, thereby generating a first detection signal indicating that there is a top obstacle.

Normally, the second end is separated from the first end, and when the protective shell 102 acts on the top obstacle, the protective shell 102 drives one of the first end and the second end to move towards the other end, so as to generate a first detection signal indicating that the top obstacle is detected.

For example, the mechanical switches include N mechanical switches that are equiangularly distributed on the top plate of the protective housing 102. The value of N can be 2, 3 or 4, etc.

The first sensing means 103 in this embodiment comprises one or more mechanical switches.

In other embodiments, the first sensing device 103 may also be:

the pressure sensor is provided with a pressure receiving surface positioned at the top of the protection main body, a pressure applying component for applying pressure to the pressure receiving surface is arranged in the top of the protection shell 102, if a top obstacle acts on the pressure receiving surface, the pressure applying component moves downwards along with the protection shell 102, so that the pressure detected by the pressure sensor is increased, and a pressure signal indicating that the top obstacle is detected is formed.

In summary, the structure of the first sensing device 103 is various, and the specific implementation is not limited to any of the above.

In some embodiments, the protective housing 102 is an arc-shaped protective housing 102 having at least a first surface and an arc-shaped peripheral surface, and is located at the advancing end of the moving body 101;

the first surface is covered on the top of the moving body 101;

the arc-shaped circumferential surface is connected to the first surface and covers a side surface of the moving body 101.

The arc-shaped circumferential surface is adapted to the arc of the side surface of the moving body 101.

The angle of the circular arc peripheral surface on the circle can be 120 degrees to 180 degrees, such as 135 degrees.

The first surface is a top exposed surface of the protective housing 102.

In this embodiment, the first surface and the circular arc circumferential surface may form an angle of 85 to 95 degrees therebetween, for example, 90 degrees or the like.

In some embodiments, the arcuate peripheral surface comprises:

a first region at a first end of the arcuate perimeter surface;

a second region at a second end of the arcuate perimeter surface, wherein the second end is opposite the first end;

a third region located between the first region and the second region;

the cleaning device further includes:

the second sensing device is at least partially exposed outside the third area of the arc-shaped peripheral surface and is used for detecting a front obstacle;

wherein the third region is smaller than the first region and the second region.

In this embodiment, the arc-shaped circumferential surface is divided into three regions, the third region is located in the middle of the arc-shaped circumferential surface, the center point of the arc-shaped circumferential surface is located in the third region, and the first region and the second region are respectively located at two sides of the third region.

The first region and the second region may be symmetrically distributed on both sides of the third region.

In this embodiment, the second sensing devices are distributed in a concentrated manner in the third region, rather than being distributed in respective regions of the circular arc circumferential surface. As such, the first and second regions may be used for mounting other devices.

In some embodiments, the third region may be a region recessed toward the center of the moving body 101 with respect to the first region and/or the second region. Therefore, the top of the second sensing device exposed through the third area is not higher than the first area and/or the second area, and if the second sensing device collides with a front obstacle, the loss of the second sensing device caused by the direct action on the second sensing device is reduced.

In other embodiments, the portion of the second sensing device exposed at the outer surface of the third region is provided with an additional protective cover to protect the second sensing device.

Further, the central line of the arc-shaped peripheral surface is a dividing line of the third area; the first area and the second area are symmetrically distributed on two sides of the third area; and the third region is smaller than the first region and the second region.

As shown in fig. 2, the second sensing device includes:

at least two transmitters 1041 located in the first plane for transmitting a second detection signal of the front obstacle;

at least one receiver 1042 in the second plane for receiving the feedback signal of the detection signal acting on the front obstacle; wherein the second plane is parallel to the first plane.

For example, the number of the receivers 1042 is not more than the number of the transmitters 1041.

The second detection signal here may be various wireless signals, for example, an infrared signal, an ultrasonic signal, a laser signal, or an ultraviolet signal.

In this embodiment, the second detection signal may be an infrared signal with lower hardware cost and good detection effect.

The first and second planes may each be a plane parallel to a support surface of the cleaning device. If the cleaning device is placed in a horizontal plane, the first plane and the second plane are both parallel to the horizontal plane, but the first plane and the second plane are horizontal planes of different heights in a vertical plane.

Further, the at least two transmitters 1041 are symmetrically distributed with a center line of the protective housing 102 perpendicular to the supporting plane of the moving body 101.

The number of the emitters 1041 in this embodiment may be 2 to 6, and preferably may be 3 or 4.

For example, taking three transmitters as an example, the relative distribution relationship of the three transmitters 1041 can be referred to as shown in fig. 3, and specifically can be as follows:

the emitters 1, 2, 3 may be equiangularly distributed over the third area.

The emitting angles of the emitter 1, the emitter 2 and the emitter 3 are all oriented to different directions, for example, the emitting angles of the three emitters are all 2B; the centerlines of the 3 transmitter angles are connected to form two angles a, wherein the centerline of transmitter 2 exactly bisects the angle formed by the centerlines of transmitter 1 and transmitter 2.

In some embodiments, as shown in fig. 2, the cleaning device further comprises:

at least two charging alignment devices 105 exposed through the arc-shaped peripheral surface of the protective housing 102 are located in a third plane, wherein the third plane is parallel to the first plane and the second plane.

The charge alignment device 105 is a device for directional alignment when the cleaning device is moved to the automatic charging stand. The charge alignment device 105 may include: and the wireless signal receiver can adjust the moving direction of the cleaning device by receiving the wireless signal transmitted by the transmitter of the alignment device, so as to realize alignment.

In this embodiment, the at least two charge alignment devices 105 are disposed in a third plane that is parallel to the first plane and the second plane, and is different from the first plane and the second plane.

Further, the at least two charging alignment devices 105 are symmetrically distributed within the third area with the at least one receiver.

For example, if the second sensing device includes one receiver and the charging alignment device 105 includes two receivers, the two charging alignment devices 105 may be symmetrically disposed on two sides of the receivers. Further, the receiver may be disposed on a center line of the arc-shaped circumferential surface, so that the two charging alignment devices 105 are symmetrically distributed on the arc-shaped circumferential surface with the receiver as a center of symmetry.

In other embodiments, the at least two transmitters are configured to sequentially transmit the second detection signals in a rotating order;

the control module is specifically configured to determine a front obstacle parameter according to a feedback signal submitted by the at least one transmitter and the transmitter of the second detection signal corresponding to the feedback signal, and control the forward movement of the cleaning device according to the front obstacle parameter.

For example, two adjacent transmitters take a turn period in which the transmitters transmit the second detection signal in a predetermined millisecond or as a turn time unit.

The at least two emitters are M, wherein the mth emitter is used for emitting the second detection signal to the mth designated direction in M × n + M rotation periods. M is an integer of not less than 2 and not more than M; and n is 0 or a positive integer.

Assuming that the number of the transmitters is 3, the transmitters alternately transmit the second detection signals as follows:

a first emitter for emitting the second detection signal in a first designated direction in a 3n +1 th rotation period, wherein n is a natural number, specifically 0 or a positive integer;

a second transmitter for transmitting the second detection signal in a second designated direction in a 3n +2 th rotation period;

and the third transmitter is used for transmitting the second detection signal towards a third specified direction in the 3n +3 th rotation period.

Any two of the first specified direction, the second specified direction, and the third specified direction are different.

In the embodiment, only one receiver can be arranged, and the receiver is equivalently shared by at least two transmitters, so that the number of the receivers is reduced, and the hardware cost is saved.

In some embodiments, the forward obstacle parameter comprises at least one of:

an indication parameter indicating whether there is an obstacle in front of the vehicle by a predetermined distance;

a distance of a forward obstacle relative to the cleaning device;

an angle of a forward obstacle relative to the cleaning device;

and/or the presence of a gas in the gas,

the control module is specifically used for adjusting the advancing direction and/or the advancing speed of the cleaning device according to the front obstacle parameter,

the control module is specifically used for adjusting the advancing direction and/or the advancing speed of the cleaning device according to the front obstacle parameter.

In this embodiment, the transmitting power of the transmitter may be fixed, and the distance that the transmitted wireless signal encounters the obstacle in front and returns to the receiver is relatively fixed. Therefore, in this embodiment, the control module may determine whether the obstacle is in a predetermined distance ahead according to whether the receiver receives the feedback signal, so as to obtain the indication parameter.

If a feedback signal returned based on the second detection signal exists after the second detection signal is transmitted, the distance from the front obstacle to the cleaning device can be estimated according to the transmission time of the second detection signal, the receiving time of the feedback signal, and the propagation speed of the second detection signal and the feedback signal in the air.

In this embodiment, any one of the at least two emitters is oriented differently and can therefore be used to detect obstacles at different angles relative to the cleaning device.

In this embodiment, the control module may determine an angle of the front obstacle with respect to the cleaning device based on an emission angle of the second detection signal, a reception angle of the feedback signal, and the like.

As shown in fig. 4, the present embodiment provides a control method of a cleaning apparatus, including:

step S110: when the protective shell of the cleaning device is under the action of a top obstacle and the distance between the protective shell of the cleaning device and the top of the moving body of the cleaning device is reduced from a first distance to a second distance, a first sensing device at least partially positioned on the top of the protective shell and the moving body generates a first detection signal indicating that the top obstacle is detected;

step S120: and controlling the cleaning device to move backwards according to the first detection signal.

The control method of the cleaning device provided in the present embodiment can be applied to the aforementioned cleaning device.

In this embodiment, the first sensing device displayed on the top of the protective housing by the cleaning device detects the top obstacle, thereby obtaining the first detection signal.

In step S120, the cleaning device is controlled to move backward according to the first detection signal, so as to reduce the phenomenon that the cleaned device is stuck in a certain place due to the fact that the cleaning device moves forward continuously.

In some embodiments, the method further comprises:

in the process of retreating the cleaning device, if only the first detection signal of the top obstacle is interrupted, controlling the cleaning device to adjust the advancing direction, wherein the adjusted advancing direction is different from the advancing direction between the retreating direction and the advancing direction; and controlling the cleaning device to move according to the adjusted advancing direction.

For example, the advancing direction of the cleaning device is adjusted according to a first preset angle. The preset angle may be 30 degrees, 45 degrees, 90 degrees, or the like.

If the top barrier is detected within a preset time in the process of adjusting the advancing direction to advance, the vehicle can retreat again to adjust the advancing direction by a second preset angle. Here, the second predetermined angle may be the same as or different from the first predetermined angle.

In this embodiment, since the protection housing can move up and down in the vertical direction of the supporting surface of the cleaning device, after the cleaning device initially encounters a top obstacle, the protection housing moves down by itself, so that the cleaning device can smoothly retreat, and the phenomenon of being stuck by the top obstacle is reduced.

In some embodiments, as shown in fig. 5, the method further comprises:

step S210: transmitting a second detection signal for detecting the front obstacle by using a second sensing device exposed on the arc-shaped peripheral surface of the protective shell of the cleaning device;

step S220: receiving a feedback signal returned based on the second detection signal by using the second sensing device;

step S230: determining a forward obstacle parameter based on the second detection signal and the feedback signal;

step S240: controlling the advancement of the cleaning device based on the forward obstacle parameter.

In this embodiment, the arc-shaped peripheral surface of the protective casing is further provided with a second sensing device, and the second sensing device can be used for detecting a front obstacle.

In this embodiment, the specific structure of the second sensing device can be seen from the previous embodiments, and is not repeated here. In summary, the transmitter of the second sensing device may transmit a second detection signal, and the receiver may receive a feedback signal returned based on the second detection signal and inform the control module of the cleaning device based on the feedback signal, so that the control module determines the forward obstacle parameter based on the second detection signal and the feedback signal.

The front obstacle parameter herein may include at least one of the distance, angle and/or indication parameters provided by the foregoing embodiments.

In this embodiment, the step S220 may include:

sequentially transmitting the second detection signals according to a rotation sequence by utilizing at least two transmitters arranged on the arc-shaped peripheral surface of the cleaning device through a line;

the step S230 may include:

and determining a front obstacle parameter according to a feedback signal submitted by the at least one transmitter and the transmitter of which the feedback signal corresponds to the second detection signal.

If the number of the emitters is M, the at least two emitters on the arc-shaped circumferential surface of the cleaning device using the line sequentially emit the second detection signal according to a rotation order, which may include:

and transmitting the second detection signal to the mth appointed direction by using the mth transmitter in the m × n + m rotation periods. M is an integer of not less than 2 and not more than M; and n is 0 or a positive integer.

Several specific examples are provided below in connection with any of the embodiments described above: a

The present example is that at least one receiver and a transmitter not less than the receiver are arranged on different planes, and the transmitter and the receiver are symmetrically distributed based on the symmetrical line of the striking plate. And meanwhile, the backfill fine alignment device and the transmitting and receiving devices are also positioned on different planes.

Meanwhile, in order to better detect the obstacle above the machine and avoid the machine from being clamped into the bottom of furniture, a vertical displacement gap is added for the collision plate, meanwhile, a detection device is added on the matching surface of the collision plate and the whole machine, when the obstacle above the machine presses the collision plate, the detection device is triggered, and the machine starts to retreat.

The obstacle detection capability is improved, the space of the machine is saved, the backfilling fine alignment is realized, and the emission and the receiving of the obstacle detection are in different planes; the emitter and the receiver are symmetrically distributed on two sides of the symmetric line of the collision plate; and the obstacle detection in the vertical direction is realized.

In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The above-described device embodiments are merely illustrative, for example, the division of the unit is only a logical functional division, and there may be other division ways in actual implementation, such as: multiple units or components may be combined, or may be integrated into another system, or some features may be omitted, or not implemented. In addition, the coupling, direct coupling or communication connection between the components shown or discussed may be through some interfaces, and the indirect coupling or communication connection between the devices or units may be electrical, mechanical or other forms.

The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed on a plurality of network units; some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, all the functional units in the embodiments of the present invention may be integrated into one processing module, or each unit may be separately used as one unit, or two or more units may be integrated into one unit; the integrated unit can be realized in a form of hardware, or in a form of hardware plus a software functional unit.

Those of ordinary skill in the art will understand that: all or part of the steps for implementing the method embodiments may be implemented by hardware related to program instructions, and the program may be stored in a computer readable storage medium, and when executed, the program performs the steps including the method embodiments; and the aforementioned storage medium includes: a mobile storage device, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.

The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.