US 12,443,189 B2
Control method and control device of cleaning equipment
Xianggu Man, Guangdong (CN); Lin Zhang, Guangdong (CN); Jialiu Yi, Guangdong (CN); Wenzhi Xie, Guangdong (CN); Jianquan Huang, Guangdong (CN); Fan Yang, Guangdong (CN); and Xiating Chen, Guangdong (CN)
Assigned to YITUO ELECTRIC CO., LTD., Foshan (CN)
Filed by YITUO ELECTRIC CO., LTD., Guangdong (CN)
Filed on Mar. 22, 2022, as Appl. No. 17/701,652.
Application 17/701,652 is a continuation of application No. PCT/CN2021/083435, filed on Mar. 26, 2021.
Claims priority of application No. 202110069981.5 (CN), filed on Jan. 19, 2021.
Prior Publication US 2022/0229440 A1, Jul. 21, 2022
Int. Cl. G05D 1/00 (2024.01); E04H 4/16 (2006.01)
CPC G05D 1/0214 (2013.01) [E04H 4/1654 (2013.01); G05D 1/0242 (2013.01); G05D 1/027 (2013.01)] 3 Claims
OG exemplary drawing
 
1. A control method of cleaning equipment, characterized in that, the cleaning equipment is provided with an infrared sensor and an angular velocity sensor; the control method comprises:
acquiring a first ADC (analog to digital converter) value collected by means of the infrared sensor in real-time when the cleaning equipment is running straight, and controlling the cleaning equipment to stop running straight when the first ADC value is greater than a first preset value;
controlling the cleaning equipment to turn in a preset direction and acquiring a second ADC value collected by means of the infrared sensor in real-time, and then controlling the cleaning equipment to stop turning once the second ADC value is less than a second preset value;
calculating a first turn angle and a first running distance based on angle data uploaded by means of the angular velocity sensor; wherein the angular velocity sensor is configured to collect an angle between a running direction of the cleaning equipment and an obstacle ahead;
controlling the cleaning equipment to run straight forward for the first running distance and then stop running straight, then controlling the cleaning equipment to turn the first turn angle in the preset direction, and then controlling the cleaning equipment to run straight.