Control method and control device of a cleaning device and cleaning device

Abstract

This invention provides a control method, control device, and cleaning equipment for cleaning devices. The cleaning equipment includes a sweeper and a scrubber. The control method includes: assigning one of the scrubber and the sweeper as an information acquisition unit and the other as an information receiving unit; controlling the information acquisition unit to acquire first scene information under the current usage scenario, and controlling the information acquisition unit to send the first scene information to the information receiving unit; controlling the information receiving unit to perform cleaning work on the current usage scenario based on the first scene information. The control method, control device, and cleaning equipment provided by this invention, by clearly dividing the work performed by the scrubber and the sweeper, simplify the control logic of each machine and improve the cleaning efficiency of the cleaning equipment.

Description

Technical Field

[0001] This invention relates to the field of electrical technology, and in particular to control methods, control devices, and cleaning equipment for cleaning equipment. Background Technology

[0002] Commonly used cleaning robots in homes include sweeping robots and floor scrubbers. They can navigate around obstacles according to the indoor terrain and clean stained areas autonomously.

[0003] Currently, most indoor spaces are equipped with only a single cleaning machine, such as a sweeper or a scrubber, which can operate independently. However, in actual use, there are often areas with stains of different types. If only a single cleaning machine is used for cleaning, it is impossible to achieve precise cleaning, resulting in poor cleaning effect. Summary of the Invention

[0004] This invention provides a control method, control device, and cleaning equipment for cleaning equipment, which addresses the deficiencies in the prior art and achieves the following technical effects: by dividing the execution work of the floor scrubber and the sweeper in detail, it is easier to simplify the control logic of the floor scrubber and the sweeper, thereby improving the cleaning efficiency of the cleaning equipment.

[0005] According to a first aspect of the present invention, a control method for a cleaning device, the cleaning device including a sweeper and a scrubber;

[0006] The control method includes:

[0007] One of the floor scrubber and the sweeper is assigned as an information acquisition unit and the other is assigned as an information receiving unit;

[0008] The information acquisition unit is controlled to collect first scene information under the current usage scenario, and the information acquisition unit is controlled to send the first scene information to the information receiving unit;

[0009] The information receiving unit is controlled to perform cleaning work on the current usage scenario based on the first scenario information.

[0010] According to an embodiment of the present invention, the step of assigning one of the floor scrubber and the sweeper as an information acquisition unit and the other as an information receiving unit specifically includes:

[0011] Obtain the usage status information of the floor scrubber and the sweeper;

[0012] Based on the usage status information, one of the floor scrubber and the sweeper is assigned as an information acquisition unit and the other is assigned as an information receiving unit.

[0013] According to an embodiment of the present invention, the step of assigning one of the floor scrubber and the sweeper as an information acquisition unit and the other as an information receiving unit based on the usage status information specifically includes:

[0014] If it is determined that one of the floor scrubber and the sweeper is in working condition and the other is in idle condition, then the floor scrubber and the sweeper in working condition are selected as the information collection unit, and the one in idle condition is selected as the information receiving unit.

[0015] If it is determined that both the floor scrubber and the sweeper are in working condition, then the start working time of the floor scrubber and the sweeper is obtained, and the one with the earlier start working time is selected as the information collection unit, and the one with the later start working time is selected as the information receiving unit.

[0016] According to an embodiment of the present invention, the step of assigning one of the floor scrubber and the sweeper as an information acquisition unit and the other as an information receiving unit specifically includes:

[0017] Obtain the scenario type of the current usage scenario, and based on the scenario type, assign one of the floor scrubber and the sweeper as an information collection unit and the other as an information receiving unit.

[0018] According to an embodiment of the present invention, the step of controlling the information receiving unit to perform cleaning work on the current usage scenario based on the first scenario information specifically includes:

[0019] A first scene map is generated based on the first scene information, and the information receiving unit is controlled to perform cleaning work on the current usage scene based on the first scene map. The first scene information includes at least first obstacle information and first terrain information.

[0020] According to an embodiment of the present invention, the step of controlling the information receiving unit to perform cleaning work on the current usage scene based on the first scene map specifically includes:

[0021] The cleaning path, cleaning start point, and cleaning end point are generated based on the first scene map, and the information receiving unit is controlled to perform a patrol cleaning between the cleaning start point and the cleaning end point according to the cleaning path.

[0022] According to an embodiment of the present invention, the step of generating a first scene map based on the first scene information and controlling the information receiving unit to perform cleaning work on the current usage scene based on the first scene map specifically includes:

[0023] Based on the live obstacle information contained in the first obstacle information, mark the live activity area on the first scene map;

[0024] During the cleaning process, the information receiving unit is controlled to avoid the area where the living organism is active.

[0025] According to an embodiment of the present invention, the step of controlling the information receiving unit to perform cleaning work on the current usage scene based on the first scene map specifically includes:

[0026] During the cleaning process, the information receiving unit is controlled to collect second scene information under the current usage scenario, wherein the second scene information includes at least second obstacle information and second terrain information.

[0027] The first scene map is calibrated and updated based on the second scene information to generate a second scene map, and the second scene map is used to replace the first scene map.

[0028] According to an embodiment of the present invention, the step of controlling the information acquisition unit to acquire first scene information under the current usage scenario specifically includes:

[0029] During the cleaning process, the information collection unit controls the camera module to take photos of the current usage scene, and controls the AI ​​recognition module to recognize the scene photos in order to obtain the first scene information.

[0030] According to one embodiment of the present invention, the cleaning equipment further includes a base station for accommodating the sweeper and the scrubber; the step of controlling the information acquisition unit to send the first scene information to the information receiving unit specifically includes;

[0031] The information acquisition unit is controlled to send the first scene information directly to the information receiving unit via a Wi-Fi module; or, the information acquisition unit is controlled to send the first scene information to the information receiving unit via a base station through a Wi-Fi module.

[0032] According to a second aspect of the present invention, a control device for a cleaning device includes a sweeper and a scrubber.

[0033] The control device includes:

[0034] The first selection module is used to assign one of the floor scrubber and the sweeper as an information acquisition unit and the other as an information receiving unit;

[0035] The first control module is used to control the information acquisition unit to acquire first scene information under the current usage scenario, and to control the information acquisition unit to send the first scene information to the information receiving unit;

[0036] The second control module is used to control the information receiving unit to perform cleaning work on the current usage scenario based on the first scenario information.

[0037] A cleaning apparatus according to a third aspect of the present invention includes:

[0038] A sweeper, a scrubber, and a base station for housing the sweeper and the scrubber;

[0039] A controller is used to execute the control method of the cleaning equipment as described in the various embodiments of the first aspect of the present invention, or the control device of the cleaning equipment as described in the embodiments of the second aspect of the present invention.

[0040] According to the control method, control device, and cleaning equipment of the present invention, scene information is collected by one of the floor scrubber and the sweeper (i.e., information acquisition unit). This allows the other of the floor scrubber and the sweeper (i.e., information receiving unit) to plan the cleaning work in advance and adjust their own cleaning parameters during the cleaning process based on the scene information. In this way, by dividing the work performed by the floor scrubber and the sweeper in detail, the control logic of each floor scrubber and the sweeper can be simplified, the cleaning efficiency of the cleaning equipment can be improved, and since the floor scrubber and the sweeper perform their work independently, the mutual influence of faults between the floor scrubber and the sweeper can be avoided, ensuring the stable operation of the cleaning equipment.

[0041] In addition, the functionality of each cleaning machine has been improved, solving the problem of weakening the functionality of each part due to integrating all functions into one machine. Attached Figure Description

[0042] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0043] Figure 1 This is one of the flowcharts illustrating the control method for the cleaning equipment provided by the present invention;

[0044] Figure 2 This is the second flowchart illustrating the control method for the cleaning equipment provided by the present invention;

[0045] Figure 3This is the third flowchart illustrating the control method for the cleaning equipment provided by the present invention;

[0046] Figure 4 This is the fourth flowchart illustrating the control method for the cleaning equipment provided by the present invention;

[0047] Figure 5 This is a schematic diagram of the structure of the control device for the cleaning equipment provided by the present invention;

[0048] Figure 6 This is a schematic diagram of the structure of the electronic device provided by the present invention. Detailed Implementation

[0049] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0050] The control method, control device, and cleaning equipment of the present invention are described below with reference to the accompanying drawings. Before detailing the embodiments of the present invention, the overall application scenario is described first. The control method, control device, electronic device, and computer-readable storage medium of the cleaning equipment of the present invention can be applied locally to the cleaning equipment, to cloud platforms in the Internet field, or to other types of cloud platforms in the Internet field, or to third-party devices. These third-party devices may include various types such as mobile phones, tablets, laptops, in-vehicle computers, and other smart terminals.

[0051] The following description uses only the control method applicable to cleaning equipment as an example. It should be understood that the control method of this embodiment can also be applied to cloud platforms and third-party devices.

[0052] like Figure 1 As shown, according to a first aspect embodiment of the present invention, the cleaning equipment includes a sweeper, a scrubber, and a base station for accommodating the sweeper and the scrubber.

[0053] Control methods include:

[0054] Step 100: Assign one of the floor scrubber and the sweeper as an information acquisition unit and the other as an information receiving unit;

[0055] Step 200: Control the information acquisition unit to collect the first scene information under the current usage scenario, and control the information acquisition unit to send the first scene information to the information receiving unit;

[0056] Step 300: The control information receiving unit performs cleaning work on the current usage scenario based on the first scenario information.

[0057] The control method for the cleaning equipment proposed in this invention is based on the cleaning equipment itself. The cleaning equipment consists of a sweeper, a scrubber, and a base station for housing the sweeper and scrubber. The sweeper is used to sweep up garbage on the ground, the scrubber is used to clean residual stains and dirt on the ground, and the base station is used to store the sweeper and scrubber when they are not in use. The base station can also charge and clean the sweeper and scrubber.

[0058] According to an embodiment of the present invention, the control method for cleaning equipment is as follows: During each operation of the cleaning equipment, one of the floor scrubber and the sweeper is first selected as the information acquisition unit, and the other of the floor scrubber and the sweeper is selected as the information receiving unit. The purpose of the information acquisition unit is to collect scene information of the current environment, and the purpose of the information receiving unit is to receive the scene information and perform the work according to the scene information. Specifically, after determining the information acquisition unit and the information receiving unit, the information acquisition unit is responsible for collecting information about the current environment and generating first scene information during its cleaning operation. The information acquisition unit then sends the collected first scene information to the information receiving unit. After receiving the first scene information, the information receiving unit can perform cleaning work on the current environment according to the guidance of the first scene information.

[0059] Taking a sweeping robot as the information collection unit and a floor scrubber as the information receiving unit as an example, the sweeping robot, when in operation, moves around the current scene and performs sweeping cleaning work. Therefore, the sweeping robot can collect information about the surrounding scene during its movement. The information collected by the sweeping robot can include terrain information along the way, obstacle information to avoid, etc. After the sweeping robot has completed collecting scene information for the entire scene (or part of the scene), it generates the first scene information of the current scene. Then, the sweeping robot sends the first scene information to the floor scrubber. In this way, the floor scrubber can adjust cleaning parameters, plan cleaning routes, and perform other work adjustments based on the first scene information, thereby facilitating the floor scrubber to achieve an intelligent cleaning process. Furthermore, since the floor scrubber does not need to collect and construct information, it simplifies the control logic of the floor scrubber and improves the working efficiency of the cleaning equipment.

[0060] In summary, the control method for cleaning equipment according to embodiments of the present invention collects scene information through one of the floor scrubber and sweeper (i.e., the information acquisition unit), thereby facilitating the other of the floor scrubber and sweeper (i.e., the information receiving unit) to plan the cleaning work in advance and adjust its own cleaning parameters during the cleaning process based on the scene information. In this way, by dividing the work performed by the floor scrubber and sweeper in detail, it is easy to simplify the control logic of each floor scrubber and sweeper, improve the cleaning efficiency of the cleaning equipment, and since the floor scrubber and sweeper perform their work independently, it is possible to avoid mutual interference between the floor scrubber and sweeper malfunctions, thus ensuring the stable operation of the cleaning equipment.

[0061] In addition, the functionality of each cleaning machine has been enhanced, resolving the issue of weakened functionality caused by integrating all functions into a single machine.

[0062] According to some embodiments of the present invention, in step 100, the controller needs to divide the functions of the floor scrubber and the sweeper so that they can be used as an information acquisition unit and an information receiving unit, respectively. The basis for the controller to divide the functions of the floor scrubber and the sweeper can be determined in a variety of ways.

[0063] In some embodiments, the controller can perform functional division between the floor scrubber and the sweeper when they are idle to determine an information acquisition unit and an information receiving unit. In this case, the functional division is performed before the floor scrubber and the sweeper disconnect from the base station and perform cleaning work. Specifically, the controller can determine the functional division result based on user instructions, for example, the user designates the sweeper as the information acquisition unit and the floor scrubber as the information receiving unit; or, the controller can determine the functional division result based on the system's default settings, for example, the system defaults to setting the sweeper as the information acquisition unit and the floor scrubber as the information receiving unit; or, for example, the controller determines the functional division based on the current scenario, current usage requirements, and other current conditions. This invention does not impose any special limitations on these aspects.

[0064] In other embodiments, the controller may also perform functional division between the floor scrubber and the sweeper to determine an information acquisition unit and an information receiving unit when at least one of them is in operation. In this case, the functional division is performed after the floor scrubber and / or sweeper disconnects from the base station and performs cleaning work. Specifically, the controller may determine the functional division result based on user instructions, for example, the user designates the sweeper as the information acquisition unit and the floor scrubber as the information receiving unit; or, the controller may determine the functional division result based on the operating status of the floor scrubber and the sweeper. For example, when the floor scrubber is not working and the sweeper is working, the sweeper is designated as the information acquisition unit and the floor scrubber as the information receiving unit, and when the sweeper is not working and the floor scrubber is working, the floor scrubber is designated as the information acquisition unit and the sweeper as the information receiving unit. The present invention does not impose any special limitations on this.

[0065] like Figure 2 As shown, in a specific embodiment of the present invention, step 100, which assigns one of the floor scrubber and the sweeper as an information acquisition unit and the other as an information receiving unit, specifically includes:

[0066] Obtain usage status information for floor scrubbers and sweepers;

[0067] Based on the usage status information, select one of the floor scrubber and the sweeper as the information collection unit and the other as the information receiving unit.

[0068] In this embodiment, the control determines the functional division result based on the usage status information of the cleaning equipment, and uses the machine in working state as an information collection unit to facilitate rapid data collection, thereby enabling the cleaning equipment to quickly collect information and make work adjustments based on the collected information.

[0069] Further, the step of selecting one of the floor scrubber and the sweeper as the information collection unit and the other as the information receiving unit based on the usage status information includes:

[0070] If one of the floor scrubber and the sweeper is in working condition and the other is in idle condition, then the floor scrubber in working condition is selected as the information collection unit, and the sweeper in idle condition is selected as the information receiving unit.

[0071] In this way, by collecting information through a machine that is already in operation, there is no need to operate another machine to move it. Furthermore, since the machine in operation is collecting scene information while performing cleaning work, it achieves two goals at once and improves the working efficiency of the cleaning equipment.

[0072] For example, if the floor scrubber is in operation and the sweeper is idle, the floor scrubber is set as the information collection unit and the sweeper is set as the information receiving unit; if the sweeper is in operation and the floor scrubber is idle, the sweeper is set as the information collection unit and the floor scrubber is set as the information receiving unit.

[0073] Furthermore, the step of selecting one of the floor scrubber and the sweeper as the information collection unit and the other as the information receiving unit based on the usage status information also includes:

[0074] If both the floor scrubber and the sweeper are confirmed to be in operation, their start times are obtained, and the unit with the earlier start time is selected as the information collection unit, while the unit with the later start time is selected as the information receiving unit.

[0075] In this way, since the machines that start working in advance travel a longer distance and pass through a larger scene area, using the machines that start working in advance to collect information can greatly improve the efficiency of information collection and quickly generate the first scene information.

[0076] For example, if both the floor scrubber and the sweeper are in operation, and the sweeper starts operating earlier than the floor scrubber (i.e., the sweeper starts operating before the scrubber), then the sweeper is set as the information acquisition unit and the floor scrubber is set as the information receiving unit; if the floor scrubber starts operating earlier than the sweeper (i.e., the sweeper starts operating before the sweeper), then the floor scrubber is set as the information acquisition unit and the sweeper is set as the information receiving unit.

[0077] Furthermore, if both the floor scrubber and the sweeper are idle in step 100, the controller can divide their functions according to the user's instructions. For example, if both the floor scrubber and the sweeper are idle, the floor scrubber will be used as the information collection unit when the user issues an instruction to control the floor scrubber to work first; and the sweeper will be used as the information collection unit when the user issues an instruction to control the sweeper to work first.

[0078] In another specific embodiment of the present invention, step 100, which assigns one of the floor scrubber and the sweeper as an information acquisition unit and the other as an information receiving unit, specifically includes:

[0079] Obtain the scenario type of the current usage scenario, and select one of the floor scrubber and the sweeper as the information collection unit and the other as the information receiving unit based on the scenario type.

[0080] In this way, floor scrubbers and sweepers are functionally divided according to different usage scenarios, so that cleaning equipment can adapt to the current usage scenario and facilitate the rapid information collection function in that specific scenario.

[0081] For example, the controller obtains the scenario type of the current usage scenario. If the current usage scenario is a bathroom, kitchen, or other scenario with a lot of stains and dirt on the floor, then the usage type of this scenario is classified as a scenario to be cleaned. In the above-mentioned scenario to be cleaned, since there is less garbage to be swept and more stains to be cleaned, the controller will use the sweeping machine that performs the sweeping function as an information collection unit. In this way, the sweeping machine that performs the cleaning function can adjust its cleaning work according to the collected first scenario information, so as to clean the large area of ​​stains in the scenario to be cleaned faster and better. At this time, the sweeping machine does not need to collect scenario information but can devote all computing power to the planning and adjustment of the cleaning work, thereby improving the cleaning efficiency and ensuring that all stains in the scenario to be cleaned are cleaned.

[0082] Of course, the above embodiments are only some of the many embodiments of the present invention and do not constitute a specific limitation on the functional division method of the present invention. The controller can also determine the information collection unit and the information receiving unit based on the functional division of the floor scrubber and the sweeper according to user instructions, system default settings, etc. The present invention does not make any special limitations here.

[0083] like Figure 3 As shown, according to some embodiments of the present invention, the step of the control information receiving unit performing cleaning work on the current usage scenario based on the first scenario information specifically includes:

[0084] A first scene map is generated based on the first scene information, and the control information receiving unit performs cleaning work on the current usage scene based on the first scene map. The first scene information includes at least first obstacle information and first terrain information.

[0085] In this embodiment, the information acquisition unit scans the terrain and obstacles along the way and collects their data information during the movement, thereby generating first obstacle information and first terrain information. The first obstacle information includes, but is not limited to, information such as obstacle type, area of ​​ground occupied by the obstacle, and volume of the obstacle. The terrain information includes, but is not limited to, information such as ground flatness, walkable area, and areas of ground depression or protrusion.

[0086] After acquiring the first scene information, the controller constructs a first scene map of the current usage scenario based on the first obstacle information and the first terrain information. The first scene map is then sent to the information receiving unit, allowing the information receiving unit to adjust and plan the cleaning work in advance based on the first scene map. The aforementioned first scene map includes at least a two-dimensional or three-dimensional map of the ground terrain and the distribution and occupied areas of obstacles on the ground.

[0087] like Figure 3As shown, according to some embodiments of the present invention, the step of the control information receiving unit performing cleaning work on the current usage scene based on the first scene map specifically includes:

[0088] The cleaning path, cleaning start point, and cleaning end point are generated based on the first scene map, and the information receiving unit is controlled to perform patrol cleaning between the cleaning start point and the cleaning end point according to the cleaning path.

[0089] In this embodiment, the controller can generate a cleaning path through the first scene map and determine the starting point and ending point of the cleaning path, thereby facilitating the floor scrubber or sweeper to perform cleaning work according to the cleaning path and improving the working efficiency of the cleaning equipment.

[0090] Furthermore, in the step of generating the cleaning path, cleaning start point, and cleaning end point based on the first scene map, the controller can set different cleaning paths for selection according to different user needs and specific usage situations.

[0091] For example, taking a floor scrubber as an information receiving unit, if a user needs the floor scrubber to clean the entire floor of the house, the controller generates a cleaning path based on the first scene map, and the cleaning path covers all the floors in the house. At this time, the floor scrubber can clean the entire floor of the house by following the cleaning path.

[0092] For example, if a user needs a floor scrubber to clean a heavily soiled area in the house, the controller generates a cleaning path based on the first scene map. This cleaning path is planned according to the heavily soiled area to be cleaned, allowing the floor scrubber to clean the area efficiently along a shorter path.

[0093] According to some embodiments of the present invention, the step of generating a first scene map based on first scene information and controlling the information receiving unit to perform cleaning work on the current usage scene based on the first scene map specifically includes:

[0094] Based on the live obstacle information contained in the first obstacle information, mark the live activity area on the first scene map;

[0095] During the cleaning process, the information receiving unit is controlled to avoid the area where the living organism is active.

[0096] In this embodiment, the first obstacle information collected by the information acquisition unit includes information on living obstacles with vital signs and information on non-living obstacles without vital signs. For non-living obstacle information, the controller can directly mark it on the first scene map according to the ground area occupied by the non-living obstacle to facilitate the information receiving unit to avoid the non-living obstacle.

[0097] However, for living obstacles, since these obstacles may be people or pets, they do not remain stationary in one place and have their own range and area of ​​activity. Therefore, in order to avoid interference from living obstacles to the operation of the information receiving unit, the controller marks the living activity area of ​​the obstacle on the map and controls the information receiving unit to avoid the living activity area during the operation. This prevents the robot vacuum or floor scrubber from being blocked by living obstacles, ensures the smooth progress of cleaning work, improves the user experience, and avoids the problem of the machine colliding with the user.

[0098] Furthermore, in the step of the information receiving unit performing cleaning work according to the first scene map, when the information receiving unit moves to the vicinity of the living activity area, the information receiving unit can further scan the living activity area and detect whether there are any signs of life in the area. If the information receiving unit does not detect any signs of life in the living activity area, the information receiving unit will not avoid the living activity area and will clean the living activity area; if the information receiving unit detects signs of life in the living activity area, the information receiving unit will avoid the living activity area and continue to clean other areas.

[0099] Furthermore, when the information receiving unit moves to the vicinity of the living activity area and detects vital signs within that area, it can further acquire information about the living person within the area. Based on this information, it can determine the type, age, size, and other characteristics of the living obstacle. If the obstacle is determined to be an elderly person or a young child, the information receiving unit will perform a self-locking action, meaning it will remain stationary and pause cleaning operations. This prevents the elderly or children from accidentally stepping on the moving machine and falling, and also prevents children from putting their hands or feet into the machine, ensuring the safety of the cleaning equipment and making it more user-friendly.

[0100] like Figure 4 As shown, according to some embodiments of the present invention, the step of the control information receiving unit performing cleaning work on the current usage scene based on the first scene map specifically includes:

[0101] During the cleaning process, the information receiving unit controls the information receiving unit to collect second scene information in the current usage scenario, wherein the second scene information includes at least second obstacle information and second terrain information.

[0102] The first scene map is calibrated and updated based on the second scene information to generate a second scene map, which is then used to replace the first scene map.

[0103] In this embodiment, during the cleaning process, the information receiving unit can also collect second obstacle information and second terrain information in the current usage scenario to generate second scene information. Subsequently, the controller calibrates the first scene map based on the second scene information, correcting erroneous terrain or obstacle information in the first scene map, thereby generating a second scene map and replacing the original first scene map, thus achieving scene map correction. Furthermore, the cleaning equipment in this embodiment can also update the scene map when obstacles change position due to human error, ensuring the accuracy and timeliness of the scene map.

[0104] According to some embodiments of the present invention, the step of the control information acquisition unit acquiring first scene information under the current usage scenario specifically includes:

[0105] During the cleaning process, the information collection unit controls the camera module to take pictures of the current usage scene and controls the AI ​​recognition module to recognize the scene pictures in order to obtain the first scene information.

[0106] According to some embodiments of the present invention, the step of controlling the information acquisition unit to send the first scene information to the information receiving unit specifically includes:

[0107] The control information acquisition unit sends the first scene information directly to the information receiving unit via the Wi-Fi module; or, the control information acquisition unit sends the first scene information to the information receiving unit via the base station through the Wi-Fi module.

[0108] In one specific embodiment, the sweeping robot is an information collection unit and the floor scrubber is an information receiving unit. During the sweeping process, the sweeping robot collects real-time terrain data of the cleaning area and takes photos through the camera module. These photos are then transmitted back to the internal system, where the AI ​​recognition module analyzes the distribution of obstacles to improve the map information. The map information is then shared with the floor scrubber via the WiFi module and home IoT, allowing the floor scrubber to plan its cleaning path in advance based on the target map information.

[0109] In addition, the robot vacuum cleaner can share maps via WiFi module and home IoT, and smart devices inside the home can also share data, such as robot vacuum cleaners, floor scrubbers, base stations, and sensors in the regional IoT to retrieve data, so that the robot vacuum cleaner and floor scrubber can obtain map information of the target area in advance and select the starting point for cleaning and plan the cleaning path.

[0110] The control device for the cleaning equipment provided by the present invention is described below. The control device for the cleaning equipment described below can be referred to in correspondence with the control method for the cleaning equipment described above.

[0111] like Figure 5As shown, a control device for a cleaning device according to a second aspect embodiment of the present invention is provided, wherein the cleaning device includes a sweeper, a scrubber, and a base station for accommodating the sweeper and the scrubber.

[0112] The control device includes: a first selection module 110, a first control module 120, and a second control module 130.

[0113] The first selection module 110 is used to select one of the floor scrubber and the sweeper as the information collection unit and the other as the information receiving unit; the first control module 120 is used to control the information collection unit to collect the first scene information under the current usage scenario and to control the information collection unit to send the first scene information to the information receiving unit; the second control module 130 is used to control the information receiving unit to perform cleaning work on the current usage scenario according to the first scene information.

[0114] According to a third aspect of the present invention, a cleaning device includes a sweeper, a scrubber, and a base station for accommodating the sweeper and the scrubber, and further includes a controller for performing the control method of the cleaning device or a control device for the cleaning device.

[0115] The control device and cleaning equipment according to embodiments of the present invention have similar effects to the control method of the cleaning equipment of the first aspect of the present invention, and will not be described again here.

[0116] Figure 6 An example is a schematic diagram of the physical structure of an electronic device, such as... Figure 6 As shown, the electronic device may include a processor 810, a communications interface 820, a memory 830, and a communication bus 840, wherein the processor 810, the communications interface 820, and the memory 830 communicate with each other via the communication bus 840. The processor 810 can call logical instructions in the memory 830 to execute the control method of the cleaning device described in the first aspect embodiment of the present invention.

[0117] Furthermore, the logical instructions in the aforementioned memory 830 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0118] On the other hand, the present invention also provides a computer program product, which includes a computer program that can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer is able to execute the control method for the cleaning equipment described in the first aspect embodiment of the present invention.

[0119] In another aspect, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, is implemented to perform the control method of the cleaning equipment described in the first aspect embodiment of the present invention.

[0120] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0121] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., including several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods of various embodiments or some parts of embodiments.

[0122] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A control method of a cleaning apparatus, characterized by, The cleaning equipment includes sweepers and scrubbers; The control method includes: One of the floor scrubber and the sweeper is assigned as an information acquisition unit, and the other is assigned as an information receiving unit; The information acquisition unit is controlled to collect first scene information under the current usage scenario, and the information acquisition unit is controlled to send the first scene information to the information receiving unit; The information receiving unit is controlled to perform cleaning work on the current usage scenario based on the first scenario information; The step of assigning one of the floor scrubber and the sweeper as an information acquisition unit and the other as an information receiving unit specifically includes: Obtain the usage status information of the floor scrubber and the sweeper; Based on the usage status information, one of the floor scrubber and the sweeper is assigned as an information acquisition unit and the other is assigned as an information receiving unit; Alternatively, the scenario type of the current usage scenario can be obtained, and based on the scenario type, one of the floor scrubber and the sweeper can be assigned as an information collection unit and the other as an information receiving unit.

2. The control method of the cleaning apparatus according to claim 1, characterized by, The step of assigning one of the floor scrubber and the sweeper as an information acquisition unit and the other as an information receiving unit based on the usage status information specifically includes: If it is determined that one of the floor scrubber and the sweeper is in working condition and the other is in idle condition, then the floor scrubber and the sweeper in working condition are selected as the information collection unit, and the one in idle condition is selected as the information receiving unit. If it is determined that both the floor scrubber and the sweeper are in working condition, then the start working time of the floor scrubber and the sweeper is obtained, and the one with the earlier start working time is selected as the information collection unit, and the one with the later start working time is selected as the information receiving unit.

3. The control method of a cleaning apparatus according to claim 1, wherein The step of controlling the information receiving unit to perform cleaning work on the current usage scenario based on the first scenario information specifically includes: A first scene map is generated based on the first scene information, and the information receiving unit is controlled to perform cleaning work on the current usage scene based on the first scene map. The first scene information includes at least first obstacle information and first terrain information.

4. The control method of the cleaning apparatus according to claim 3, characterized by, The step of controlling the information receiving unit to perform cleaning work on the current usage scene based on the first scene map specifically includes: The cleaning path, cleaning start point, and cleaning end point are generated based on the first scene map, and the information receiving unit is controlled to perform a patrol cleaning between the cleaning start point and the cleaning end point according to the cleaning path.

5. The control method of the cleaning apparatus according to claim 3, wherein The step of generating a first scene map based on the first scene information and controlling the information receiving unit to perform cleaning work on the current usage scene based on the first scene map specifically includes: Based on the live obstacle information contained in the first obstacle information, mark the live activity area on the first scene map; During the cleaning process, the information receiving unit is controlled to avoid the area where the living organism is active.

6. The control method of the cleaning apparatus according to claim 3, wherein The step of controlling the information receiving unit to perform cleaning work on the current usage scene based on the first scene map specifically includes: During the cleaning process, the information receiving unit is controlled to collect second scene information under the current usage scenario, wherein the second scene information includes at least second obstacle information and second terrain information. The first scene map is calibrated and updated based on the second scene information to generate a second scene map, and the second scene map is used to replace the first scene map.

7. The control method for the cleaning equipment according to any one of claims 1 to 6, characterized in that, The step of controlling the information acquisition unit to acquire the first scene information under the current usage scenario specifically includes: During the cleaning process, the information collection unit controls the camera module to take pictures of the current usage scene, and controls the AI ​​recognition module to recognize the scene pictures in order to obtain the first scene information.

8. The control method of the cleaning apparatus according to any one of claims 1 to 6, characterized by, The cleaning equipment also includes a base station for accommodating the floor scrubber and the sweeper; the step of controlling the information acquisition unit to send the first scene information to the information receiving unit specifically includes; The information acquisition unit is controlled to send the first scene information directly to the information receiving unit via a Wi-Fi module; or, the information acquisition unit is controlled to send the first scene information to the information receiving unit via a base station through a Wi-Fi module.

9. A control device for a cleaning apparatus, characterized in that The cleaning equipment includes sweepers and scrubbers; The control device includes: The first selection module is used to assign one of the floor scrubber and the sweeper as an information acquisition unit and the other as an information receiving unit; The first control module controls the information acquisition unit to acquire first scene information under the current usage scenario, and controls the information acquisition unit to send the first scene information to the information receiving unit; The second control module is used to control the information receiving unit to perform cleaning work on the current usage scenario according to the first scenario information; The step of assigning one of the floor scrubber and the sweeper as an information acquisition unit and the other as an information receiving unit specifically includes: Obtain the usage status information of the floor scrubber and the sweeper; Based on the usage status information, one of the floor scrubber and the sweeper is assigned as an information acquisition unit and the other is assigned as an information receiving unit; Alternatively, the scenario type of the current usage scenario can be obtained, and based on the scenario type, one of the floor scrubber and the sweeper can be assigned as an information collection unit and the other as an information receiving unit.

10. A cleaning apparatus, characterized by include: A sweeper, a scrubber, and a base station for housing the sweeper and the scrubber; A controller for performing the control method of the cleaning equipment as described in any one of claims 1 to 8, or the control device of the cleaning equipment as described in claim 9.

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