A cleaning method, apparatus, device, and computer-readable storage medium

Abstract

This application discloses a cleaning method, apparatus, cleaning equipment, and computer-readable storage medium. The method includes: determining that the cleaning program currently being executed by the cleaning equipment is a mopping program; controlling a lifting mechanism to lower a mopping component to a first position, wherein the mopping component is in contact with the floor to be cleaned when in the first position; controlling the lifting mechanism to raise a sweeping component to a second position, wherein the sweeping component is not in contact with the floor to be cleaned when in the second position; and executing the mopping program using the mopping component. Thus, by controlling the lifting mechanism to lower the mopping component to the first position while simultaneously raising the sweeping component to the second position, the sweeping component remains separated from the floor to be cleaned while the mopping component is working, preventing the sweeping component from contaminating the cleaned floor after the mopping component has finished cleaning, thereby improving the mopping effect of the cleaning equipment.

Description

Technical Field

[0001] This application relates to the field of intelligent robot technology, and more particularly to a cleaning method, apparatus, device, and computer-readable storage medium. Background Technology

[0002] Currently, smart cleaning devices on the market (such as household robot vacuums and urban sweepers) support both pure sweeping and pure mopping modes, and meet users' needs for separate sweeping and mopping functions. For example, when a smart cleaning device is mopping, it does not sweep, i.e., it operates in pure mopping mode, so users want the smart cleaning device to clean the floor thoroughly.

[0003] In related technologies, although the sweeping module stops operating when the mopping module of an intelligent cleaning device is working, the sweeping module can still contaminate the floor while the mopping module is mopping, thus affecting the mopping effect of the intelligent cleaning device. Summary of the Invention

[0004] To address the aforementioned technical problems, embodiments of this application aim to provide a cleaning method, apparatus, device, and computer-readable storage medium.

[0005] The technical solution of this application embodiment is implemented as follows:

[0006] This application provides a cleaning method applied to a cleaning device, the cleaning device including at least a cleaning component and a lifting mechanism, the lifting mechanism being used to raise or lower the cleaning component, the cleaning component including a mopping component and a sweeping component; the method includes:

[0007] The cleaning program currently being executed by the cleaning equipment is determined to be a mopping program. The lifting mechanism is controlled to lower the mopping component to a first position, wherein the mopping component is able to contact the floor to be cleaned when it is in the first position.

[0008] The lifting mechanism is controlled to raise the sweeping component to a second position; wherein, when the sweeping component is in the second position, it is not in contact with the floor to be cleaned.

[0009] The mopping procedure is performed using the mopping component.

[0010] This application provides a cleaning device, including:

[0011] The first control module is used to determine that the cleaning program currently being executed by the cleaning equipment is a mopping program, and to control the lifting mechanism to lower the mopping component to a first position, wherein the mopping component can contact the floor to be cleaned when it is in the first position;

[0012] The second control module is used to control the lifting mechanism to raise the sweeping component to a second position; wherein, when the sweeping component is in the second position, it is not in contact with the floor to be cleaned.

[0013] An execution module is used to execute the mopping program using the mopping component.

[0014] This application provides a cleaning device, which includes at least a cleaning component and a lifting mechanism. The lifting mechanism is used to raise or lower the cleaning component. The cleaning component includes a mopping component and a sweeping component. The cleaning device also includes:

[0015] Memory, used to store executable cleaning instructions;

[0016] The processor, when executing executable cleaning instructions stored in the memory, implements the cleaning method provided in the embodiments of this application.

[0017] This application provides a computer-readable storage medium storing computer-executable cleaning instructions configured to execute the cleaning method provided in this application.

[0018] The cleaning method, apparatus, equipment, and computer-readable storage medium provided in this application embodiment are applied to a cleaning device. The cleaning device includes at least a cleaning component and a lifting mechanism. The lifting mechanism is used to raise or lower the cleaning component, which includes a mopping component and a sweeping component. The cleaning method includes: determining that the cleaning program currently being executed by the cleaning device is a mopping program; controlling the lifting mechanism to lower the mopping component to a first position, wherein the mopping component is in contact with the floor to be cleaned when in the first position; controlling the lifting mechanism to raise the sweeping component to a second position, wherein the sweeping component is not in contact with the floor to be cleaned when in the second position; and executing the mopping program using the mopping component. Thus, by controlling the lifting mechanism to lower the mopping component to the first position while simultaneously raising the sweeping component to the second position, the sweeping component remains separated from the floor to be cleaned while the mopping component is working, preventing the sweeping component from contaminating the cleaned floor after the mopping component has finished cleaning, thereby improving the mopping effect of the cleaning device. Attached Figure Description

[0019] Figure 1 A flowchart illustrating a cleaning method provided for the implementation of this application;

[0020] Figure 2 A schematic flowchart illustrating a floor-mopping method using a mopping robot, provided as an embodiment of this application;

[0021] Figure 3This is a schematic diagram of the structure of a mopping robot provided in an embodiment of this application;

[0022] Figure 4A A schematic diagram illustrating the working state of a sweeping function module in pure mopping mode, provided in an embodiment of this application;

[0023] Figure 4B A schematic diagram illustrating the working state of a mopping function module in pure mopping mode, provided in an embodiment of this application;

[0024] Figure 5 This is a schematic diagram of the composition of a cleaning device provided in an embodiment of this application;

[0025] Figure 6 This is a schematic diagram of the composition of a cleaning device provided in an embodiment of this application. Detailed Implementation

[0026] To make the objectives, technical solutions, and advantages of this application clearer, the application will be further described in detail below with reference to the accompanying drawings. The described embodiments should not be regarded as limitations on this application. All other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0027] In the following description, references to “some embodiments” or “other embodiments” describe a subset of all possible embodiments. However, it is understood that “some embodiments” or “other embodiments” may be the same subset or different subsets of all possible embodiments and may be combined with each other without conflict.

[0028] In the following description, the terms "first" and "second" are used merely to distinguish similar objects and do not represent a specific ordering of objects. It is understood that "first" and "second" may be interchanged in a specific order or sequence where permitted, so that the embodiments of this application described herein can be implemented in an order other than that illustrated or described herein.

[0029] Unless otherwise defined, all technical and scientific terms used in this application have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains. The terminology used in this application is for the purpose of describing embodiments of this application only and is not intended to be limiting of this application.

[0030] Based on the problems existing in related technologies, this application provides a cleaning method that can prevent the sweeping component from contaminating the cleaned floor after the mopping component has finished cleaning the floor, thereby improving the mopping effect of the cleaning equipment.

[0031] The cleaning method provided in the embodiments of this application will be described below. This method is applied to cleaning equipment, which may be a floor mop, floor scrubber, sweeper, or sweeper. See also Figure 1 , Figure 1 A flowchart illustrating a cleaning method provided for the implementation of this application, the method comprising the following steps:

[0032] S101. Determine that the cleaning program currently being executed by the cleaning equipment is the mopping program, and control the lifting mechanism to lower the mopping component to the first position.

[0033] It should be noted that cleaning equipment includes at least cleaning components and a lifting mechanism. The lifting mechanism is used to raise or lower the cleaning components. The lifting mechanism can be fixedly connected to the cleaning components or rotatably connected to them, thus allowing direct control of the cleaning components' raising or lowering. The cleaning components are used to remove dust, debris, and other grime from the floor. These components include mopping and sweeping components. The mopping component can be the mopping function module of the cleaning equipment, used for mopping and wiping the floor. The sweeping component can be the sweeping function module of the cleaning equipment, used for sweeping the floor.

[0034] In some embodiments, after the cleaning equipment is started or during the operation of the cleaning equipment, the program currently being executed by the cleaning equipment can be obtained, and it can be determined whether the program currently being executed by the cleaning equipment is a cleaning program. In some embodiments, the cleaning program may include a sweeping program, a mopping program, a sweeping and mopping program, etc. When it is determined that the program currently being executed by the cleaning equipment is a cleaning program, it can be further determined whether the cleaning program is a mopping program. If it is determined that the cleaning program that the cleaning equipment needs to execute is a mopping program, it can be determined that a pure mopping mode needs to be executed, and the cleaning component required to complete the pure mopping mode is the mopping component.

[0035] In some embodiments, the mopping program can be used to control the corresponding cleaning operations of the mopping component. By obtaining that the cleaning program currently being executed by the cleaning device is the mopping program, it can be known that the cleaning operation that the device needs to perform is the mopping operation, thereby determining the components required to perform the mopping operation.

[0036] It should be noted that when the mopping component is in the first position, it can contact the floor to be cleaned. The first position only indicates the position where the mopping component contacts the floor after the lifting mechanism lowers the mopping component to the floor. It does not limit the size of the contact surface, the degree of contact, or the direction of contact. When the mopping component is in the first position, it contacts the floor to be cleaned in order to perform mopping and cleaning.

[0037] In some embodiments, when the mopping component is not in operation (or in its initial state), the mopping component may be located at any position above the first position. For example, the mopping component may be hidden inside the cleaning device, or there may be a gap between it and the floor to be cleaned, or a part of the mopping component may be in contact with the floor. When the mopping component is controlled to work, the mopping component first descends from the first position and contacts the floor so that the mopping component can complete the cleaning of the floor.

[0038] S102, Control the lifting mechanism to raise the sweeping component to the second position.

[0039] In some embodiments, when the mopping component is in the first position, the sweeping component is in the second position and the sweeping component is not in contact with the floor to be cleaned. The second position is higher than the first position. The second position can be any position between the floor to be cleaned and the cleaning device, or it can be the position when the sweeping component is raised by controlling the lifting mechanism and hidden inside the cleaning device.

[0040] S103. Use the mopping component to perform the mopping procedure.

[0041] In some embodiments, when the control lifting mechanism lowers the mopping component to a first position to contact the ground and causes the sweeping component to rise to a second position to maintain a distance from the ground, the mopping component can be controlled to clean the floor to be cleaned according to the mopping program.

[0042] In this embodiment, firstly, it is determined that the cleaning program currently being executed by the cleaning device is a mopping program. The lifting mechanism is then controlled to lower the mopping component to a first position, where the mopping component is in contact with the floor to be cleaned. Next, the lifting mechanism is controlled to raise the sweeping component to a second position, where the sweeping component is not in contact with the floor to be cleaned. Finally, the mopping component is used to execute the mopping program. Thus, by controlling the lifting mechanism to lower the mopping component to the first position while simultaneously raising the sweeping component to the second position, the sweeping component remains separated from the floor to be cleaned while the mopping component is working. This prevents the sweeping component from contaminating the cleaned floor after the mopping component has finished cleaning, thereby improving the mopping effect of the cleaning device.

[0043] In some embodiments, the cleaning equipment provided in this application may further include a laser sensor and a vision sensor. The laser sensor and vision sensor are used to acquire information about dirt on the ground. Based on this, embodiments of this application also provide a method for acquiring object information. The method for acquiring object information provided in embodiments of this application can be implemented through steps S201 to S203, and each step is described in detail below.

[0044] S201. Use a laser sensor to obtain the position information of each object on the ground to be cleaned.

[0045] It should be noted that the objects on the floor to be cleaned can be any dirt or debris on the floor, such as fruit peels, paper scraps, dust, water stains, etc. The laser sensor can obtain the position information of each object, thereby determining the location of each object on the floor to be cleaned, so that the mopping device can be used to clean each object on the floor to be cleaned.

[0046] S202. Use a vision sensor to collect image information of each object.

[0047] It should be noted that the visual sensor can be any type of image acquisition device, such as a camera or webcam. The visual sensor captures images of the surface to be cleaned, obtaining information such as the size, color, and type of each object. The visual sensor can be placed anywhere within the cleaning equipment, such as below or to the side. For example, it can be positioned close to the surface to be cleaned to ensure unobstructed operation, allowing for a wider field of view and more realistic and comprehensive image information.

[0048] In some embodiments, there may be one or more vision sensors. If multiple vision sensors are included, they may be positioned at the same location or different locations on the cleaning equipment. Multiple vision sensors at the same or different locations may operate simultaneously or at different times. Multiple vision sensors can take multiple images of the same area on the surface to be cleaned, allowing for comparison of these images during subsequent analysis of objects on the surface, resulting in more accurate results. Alternatively, multiple vision sensors may each be responsible for capturing images of different areas, thereby accelerating the image acquisition process and improving the efficiency of the cleaning equipment.

[0049] S203. Determine the object information of each object from each location information and each image information.

[0050] After obtaining the location information and corresponding image information of each object on the surface to be cleaned, the location information and image information of each object can be used as its own object information and saved so that the object information can be analyzed later to determine the cleanliness or dirtiness of the surface to be cleaned.

[0051] In some embodiments of this application, after determining the location information and image information as object information of each object, i.e., step S203, the following steps S204 to S209 can also be performed. Each step is described in detail below.

[0052] S204. Determine the degree of dirtiness of each object on the ground to be cleaned based on the object information of each object.

[0053] It should be noted that the degree of dirtiness is used to indicate whether the surface to be cleaned is clean. In practice, different dirtiness levels can be set to represent different degrees of dirtiness. The dirtiness level can be divided according to the difficulty of cleaning the dirt. For example, the degree of dirtiness can be divided into Level 1, Level 2, Level 3, etc. Level 1 indicates that the dirtiness is light, that is, the surface to be cleaned is relatively clean; Level 2 indicates that the dirtiness is moderate, that is, the surface to be cleaned is relatively dirty; Level 3 indicates that the dirtiness is heavy, that is, the surface to be cleaned is very dirty. Of course, the classification of the degree of dirtiness here is only an example for illustration, and this application does not limit it.

[0054] In some embodiments, by analyzing the object information of each object, the degree of dirtiness corresponding to the location of each object can be obtained. It should be noted that the same shooting area may include multiple different objects, and different objects may belong to the same level of dirtiness, for example, fruit peels and paper scraps may both correspond to the second level; different objects may also belong to different levels of dirtiness, for example, dust corresponds to the first level and oil stains correspond to the third level.

[0055] In some embodiments, determining the degree of dirtiness of each object on the surface to be cleaned based on the object information of each object can be achieved by identifying the dirt category of the object corresponding to the object information through image information in the object information, determining the location of the object based on the location information in the object information, and then determining the dirt level of each object on the surface to be cleaned based on the dirt category of each object and the location of each object.

[0056] S205. Determine the location of the object whose level of dirtiness is higher than the preset dirtiness threshold as the target location.

[0057] It should be noted that the preset dirt level threshold can be a pre-set threshold indicating the degree of dirtiness. For example, if there are five levels of dirtiness, the fourth level can be set as the preset dirt level threshold. If the dirtiness level or degree of dirtiness of the object is determined to be higher than the preset dirt level threshold, then the object is considered to have stubborn stains, and the location of the object is considered to be dirty. In other words, the location of the object is determined to be the target location.

[0058] S206. When the cleaning equipment moves to the target position, control the lifting mechanism to lower the mopping component to the third position.

[0059] In some embodiments, after the target location is determined, the elevator can be controlled to lower the mopping component to a third position to complete the cleaning of the target location. The third position is lower than the first position. When the mopping component is in the third position, it contacts the floor to be cleaned and applies pressure to the floor. This pressure allows the mopping component to more effectively clean stubborn stains at the target location during operation.

[0060] In some embodiments, different pressures can be set for stubborn stains at different target locations. For example, for very difficult-to-clean stubborn stains, a larger pressure can be set, meaning that the mopping part continues to press against the floor after contact with it, generating greater pressure on the floor to be cleaned. Conversely, for more difficult-to-clean stubborn stains, a relatively smaller pressure can be set.

[0061] Understandably, by determining the degree of dirt at the location of an object based on its object information, and using the location of an object with a dirt level higher than a preset dirt level threshold as the target location, you can identify the location of stubborn stains. Then, by controlling the mopping component to descend to a third position below the first position, you can effectively clean stubborn stains on the floor.

[0062] In some embodiments, after the cleaning device moves to the target position, the control lifting mechanism lowers the mopping component to the third position, and the mopping component can be used to perform a cleaning procedure to clean the target position.

[0063] S207. Determine whether the cleaning equipment has moved from the target location to a location other than the target location.

[0064] It should be noted that other locations can be any location on the ground to be cleaned except for the target location. In practice, the current location of the cleaning equipment can be obtained in real time to determine whether the current location is the target location. If the current location is not the target location, it indicates that the cleaning equipment has moved outside the target location, and proceed to step S208; if the current location is the target location, proceed to step S209.

[0065] S208. Control the lifting mechanism to raise the mopping component to the first position so that the mopping component can continue to clean the corresponding areas in other positions.

[0066] In some embodiments, when the cleaning device has moved to a position other than the target position, it indicates that the cleaning of stubborn stains at the target position has been completed. At this time, the mopping component can be controlled to rise to the first position to clean the dirt in the corresponding areas of other positions. When the cleaning device is in the first position, the mopping component is in contact with the floor to be cleaned, and the pressure of the mopping component on the floor to be cleaned is less than the pressure when the mopping component is in the third position, which can complete the cleaning of non-stubborn stains.

[0067] S209. Continue to keep the mopping component in the third position to clean the target area.

[0068] In some embodiments, if the mopping component is still in the target position, it indicates that the mopping component has not yet completed the cleaning work at the target position. For example, the cleaning equipment may be about to or is cleaning stubborn stains. In this case, the lifting mechanism is controlled to keep the mopping component in the third position to achieve the cleaning of dirt at the target position.

[0069] In some embodiments of this application, after acquiring image information of each object using a visual sensor, i.e., step S202, the following steps S301 to S303 may also be performed.

[0070] S301. Determine the category of each object on the ground to be cleaned based on the image information of each object.

[0071] It should be noted that the categories are either ground-adhesive or non-ground-adhesive. Ground-adhesive categories correspond to dirt that easily adheres to the ground, such as oil stains and water stains; non-ground-adhesive categories correspond to dirt that does not easily adhere to the ground, such as paper scraps and fruit peels. After obtaining the graphic information of each object, it can be determined whether each object corresponds to a ground-adhesive or non-ground-adhesive dirt.

[0072] S302. Based on the category corresponding to each object, determine the first statistic of ground-adhesive objects and the second statistic of non-ground-adhesive objects.

[0073] In some embodiments, the first statistic for ground-adhesive objects can be the statistic corresponding to the category of ground-adhesive objects, and the second statistic for non-ground-adhesive objects can be the statistic corresponding to the category of non-ground-adhesive objects. After obtaining the category corresponding to each object, statistics can be performed on ground-adhesive objects and non-ground-adhesive objects respectively.

[0074] S303. When the first statistical number is greater than the first preset threshold and the second statistical number is less than or equal to the second preset threshold, it is determined that the cleaning program currently being executed by the cleaning device is the mopping program.

[0075] In some embodiments, when the value of the first statistic is greater than the first preset threshold and the value of the second statistic is less than or equal to the second preset threshold, it indicates that the current floor to be cleaned may contain a large number of adhesive objects. In this case, it can be determined that the cleaning device is currently performing a mopping program to clean the adhesive objects. The first and second preset thresholds can be any pre-set non-negative integers. The first preset threshold can be greater than the second preset threshold. In some embodiments, the first preset threshold can also be equal to the second preset threshold. For example, the first preset threshold can be 4, 6, etc., and the second preset threshold can be 1, 2, 3, 4, etc.

[0076] In some embodiments of this application, the step S101 of "determining that the cleaning program currently being executed by the cleaning device is a mopping program" can be achieved through the following steps S401 to S402.

[0077] S401. After the cleaning equipment is started, receive the selection instruction for the cleaning program.

[0078] It should be noted that the selection command is used to determine the cleaning operation (cleaning mode) to be performed by the cleaning equipment. In practice, after the cleaning equipment is started, it can receive the selection command sent by the control terminal. For example, the user can send the selection command to the cleaning equipment through a mobile terminal, remote control or other devices, or the cleaning equipment can be equipped with a function selection module (the function selection module can select the cleaning mode to be performed by the cleaning equipment, which may include pure mopping mode, pure sweeping mode, etc.). After receiving the user's operation on the function selection module, the selection command is sent to the control module that controls the operation of the cleaning components.

[0079] S402. When the selected program is determined to be a mopping program based on the selection instruction, the cleaning program currently being executed by the cleaning equipment is determined to be the mopping program.

[0080] In some embodiments, after receiving a selection instruction for a cleaning program, the cleaning device can be controlled to execute the corresponding cleaning program according to the instruction. In practice, the cleaning program corresponding to the selection instruction can be determined by reading the selection instruction. If the selection instruction indicates the execution of a pure mopping mode, then the program currently being executed by the cleaning device is determined to be the cleaning program corresponding to the pure mopping mode.

[0081] In this embodiment, the cleaning program currently being executed by the cleaning device is determined to be a mopping program. The lifting mechanism is controlled to lower the mopping component to a first position, where it is in contact with the floor to be cleaned. The lifting mechanism is then controlled to raise the sweeping component to a second position, where it is not in contact with the floor. The mopping component is then used to execute the mopping program. By controlling the lifting mechanism to lower the mopping component to the first position while simultaneously raising the sweeping component to the second position, the sweeping component remains separated from the floor while the mopping component is working. This prevents the sweeping component from contaminating the cleaned floor after the mopping component has finished cleaning, thus improving the mopping effect. Furthermore, based on object information, the location of an object with a dirt level exceeding a preset dirt level threshold is determined as the target location, i.e., the location of stubborn stains on the floor to be cleaned is identified. The lifting mechanism is then controlled to lower the mopping component to a third position to clean the target location, achieving effective cleaning of stubborn stains by the mopping component.

[0082] The implementation process of the embodiments of this application in a practical application scenario will be described below.

[0083] In some embodiments, such as Figure 2 The diagram shown is a flowchart illustrating a mopping method using a mopping robot according to an embodiment of this application. The mopping method provided in this embodiment is applied to a mopping robot 1 (cleaning equipment). Figure 3 The diagram shown is a structural schematic of a mopping robot according to an embodiment of this application. The mopping robot 1 includes at least the following components: Figure 3 The sweeping function module 11 (sweeping component) and mopping function module 12 (mopping component) shown are illustrated. The mopping method of the mopping robot provided in this application embodiment can be implemented through the following steps S501 to S502, and each step is described in detail below.

[0084] S501. Confirm entry into pure mopping mode. The robot stops the sweeping module and lifts it off the ground.

[0085] like Figure 4A The diagram shown is a schematic of the working state of a sweeping function module in pure mopping mode according to an embodiment of this application. In some embodiments, when the user wants the sweeping robot to enter pure mopping mode, the robot controls the sweeping function module to stop running and controls the mopping function module to start working according to the selection instruction sent by the function selection module, so that the sweeping function module is lifted off the ground, avoiding the sweeping function module from polluting the ground when the mopping function module is running.

[0086] S502. When the robot detects stubborn stains on the ground, the robot presses the mopping module down onto the ground.

[0087] like Figure 4B The diagram shown is a schematic of the working state of a mopping function module in pure mopping mode according to an embodiment of this application. When the robot detects stubborn stains on the ground, it needs to clean the stubborn stains. At this time, since the mopping function module can not remove the stubborn stains simply by contacting the ground, the robot will control the mopping function module to press down on the ground to increase the downward pressure of the mopping function module on the ground and effectively improve the cleaning ability of the mopping function module to clean stubborn stains on the ground.

[0088] In this embodiment, by controlling the mopping module to operate while the sweeping module stops and lifts off the ground, the robot vacuum cleaner avoids the problem of the sweeping module contaminating the floor during different pure mopping cleaning modes, thus improving the mopping effect. Simultaneously, when stubborn stains are detected on the floor, the mopping module is controlled to press downwards, effectively cleaning these stains.

[0089] This application further provides a cleaning device for use in cleaning equipment. The cleaning equipment includes at least a cleaning component and a lifting mechanism. The lifting mechanism is used to raise or lower the cleaning component. The cleaning component includes a mopping component and a sweeping component. Figure 5 This is a schematic diagram of the composition of a cleaning device provided in an embodiment of this application, as shown below. Figure 5 As shown, the cleaning device 500 includes:

[0090] The first control module 501 is used to determine that the cleaning program currently being executed by the cleaning equipment is a mopping program, and to control the lifting mechanism to lower the mopping component to a first position, wherein the mopping component can contact the floor to be cleaned when it is in the first position;

[0091] The second control module 502 is used to control the lifting mechanism to raise the sweeping component to a second position; wherein, when the sweeping component is in the second position, it is not in contact with the floor to be cleaned.

[0092] The execution module 503 is used to execute the mopping program using the mopping component.

[0093] It should be noted that the description of the cleaning device in this application embodiment is similar to the description of the method embodiment above, and has similar beneficial effects as the method embodiment; therefore, it will not be repeated. For technical details not disclosed in this device embodiment, please refer to the description of the method embodiment in this application for understanding.

[0094] It should be noted that, in the embodiments of this application, if the above-described control method is implemented as a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the embodiments of this application, or the part that contributes to the related technology, 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 methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), magnetic disks, or optical disks. Thus, the embodiments of this application are not limited to any specific hardware and software combination.

[0095] Accordingly, embodiments of this application provide a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the cleaning method provided in the above embodiments.

[0096] This application embodiment also provides a cleaning device, which includes at least a cleaning component and a lifting mechanism. The lifting mechanism is used to raise or lower the cleaning component, which includes a mopping component and a sweeping component. Figure 6 This is a schematic diagram of the composition structure of a cleaning device provided in an embodiment of this application, as shown below. Figure 6 As shown, the cleaning device 600 includes a cleaning component and a lifting mechanism, and further includes a memory 601, a processor 602, a communication interface 603, and a communication bus 604. The memory 601 stores executable cleaning instructions; the processor 602 executes the executable cleaning instructions stored in the memory to implement the cleaning method provided in the above embodiment.

[0097] The descriptions of the cleaning equipment and storage medium embodiments above are similar to those of the method embodiments above, and have similar beneficial effects. For technical details not disclosed in the cleaning equipment and storage medium embodiments of this application, please refer to the descriptions of the method embodiments of this application for understanding.

[0098] It should be understood that the phrase "one embodiment" or "an embodiment" throughout the specification means that a specific feature, structure, or characteristic related to the embodiment is included in at least one embodiment of this application. Therefore, "in one embodiment" or "in an embodiment" appearing throughout the specification does not necessarily refer to the same embodiment. Furthermore, these specific features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. It should be understood that in the various embodiments of this application, the sequence numbers of the above-described processes do not imply a sequential order of execution; the execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application. The sequence numbers of the above-described embodiments are merely descriptive and do not represent the superiority or inferiority of the embodiments.

[0099] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0100] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are merely illustrative. For example, the division of units is only a logical functional division, and in actual implementation, there may be other division methods, such as: multiple units or components can be combined, or integrated into another system, or some features can be ignored or not executed. In addition, the coupling, direct coupling, or communication connection between the various components shown or discussed can be through some interfaces, and the indirect coupling or communication connection between devices or units can be electrical, mechanical, or other forms.

[0101] The units described above as separate components may or may not be physically separate. The components shown as units may or may not be physical units. They may be located in one place or distributed across multiple network units. Some or all of the units may be selected to achieve the purpose of this embodiment according to actual needs.

[0102] In addition, each functional unit in the various embodiments of this application can be integrated into one processing unit, or each unit can be a separate unit, or two or more units can be integrated into one unit; the integrated unit can be implemented in hardware or in the form of hardware plus software functional units.

[0103] Those skilled in the art will understand that all or part of the steps of the above method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it performs the steps of the above method embodiments. The aforementioned storage medium includes various media that can store program code, such as mobile storage devices, ROMs, magnetic disks, or optical disks.

[0104] Alternatively, if the integrated units described above are implemented as software functional modules and sold or used as independent products, they can also be stored in a computer-readable storage medium. Based on this understanding, the technical solutions of the embodiments of this application, or the parts that contribute to the prior art, 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 product to execute all or part of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as mobile storage devices, ROMs, magnetic disks, or optical disks.

[0105] The above description is merely an embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A cleaning method applied to cleaning equipment, characterized in that, The cleaning equipment includes at least a cleaning component, a lifting mechanism, and a vision sensor. The lifting mechanism is used to raise or lower the cleaning component. The cleaning component includes a mopping component and a sweeping component. The method includes: The visual sensor is used to acquire image information of each object on the surface to be cleaned; based on the image information of each object, the category corresponding to each object on the surface to be cleaned is determined, and the category includes ground-adhesive type or non-ground-adhesive type; the ground-adhesive type is dirt that is easy to adhere to the ground; the non-ground-adhesive type is dirt that is not easy to adhere to the ground; Based on the category corresponding to each object, a first statistic of ground-adhesive objects and a second statistic of non-ground-adhesive objects are determined; When the first statistical number is greater than the first preset threshold and the second statistical number is less than or equal to the second preset threshold, it is determined that the cleaning program currently being executed by the cleaning equipment is a mopping program, and the lifting mechanism is controlled to lower the mopping component to the first position, wherein the mopping component can contact the floor to be cleaned when it is in the first position; The lifting mechanism is controlled to raise the sweeping component to a second position; wherein, when the sweeping component is in the second position, it is not in contact with the floor to be cleaned. The mopping procedure is performed using the mopping component.

2. The method according to claim 1, wherein the cleaning device further includes a laser sensor, and the method further includes: The laser sensor is used to acquire the position information of each object on the ground to be cleaned; Each location information and each image information is determined as the object information of each object.

3. The method according to claim 2, characterized in that, The method further includes: The degree of dirtiness of each object on the ground to be cleaned is determined based on the object information of each object. The target location is determined by identifying the location of an object whose level of dirt exceeds a preset dirt level threshold. When the cleaning device moves to the target position, the lifting mechanism is controlled to lower the mopping component to a third position, wherein the third position is lower than the first position.

4. The method according to claim 3, characterized in that, The method further includes: The cleaning device is determined to move from the target position to another position outside the target position. The lifting mechanism is controlled to raise the mopping component to the first position so that the mopping component can continue to clean the area corresponding to the other position.

5. The method according to claim 1, characterized in that, The method further includes: After the cleaning equipment is started, a selection instruction for the cleaning program is received; Based on the selection instruction, if it is determined that the selected program is a mopping program, then the cleaning program currently being executed by the cleaning device is the mopping program.

6. A cleaning device, characterized in that, include: The first control module is used to acquire image information of various objects on the ground to be cleaned using a vision sensor. Based on the image information of each object, the category corresponding to each object on the surface to be cleaned is determined. The category includes surface-adhesive objects and non-surface-adhesive objects. Surface-adhesive objects are dirt that easily adheres to the surface. Non-surface-adhesive objects are dirt that does not easily adhere to the surface. Based on the category corresponding to each object, a first statistical count of surface-adhesive objects and a second statistical count of non-surface-adhesive objects are determined. When the first statistical count is greater than a first preset threshold and the second statistical count is less than or equal to a second preset threshold, the cleaning program currently being executed by the cleaning equipment is determined to be a mopping program. The lifting mechanism is controlled to lower the mopping component to a first position, wherein the mopping component can contact the surface to be cleaned when it is in the first position. The second control module is used to control the lifting mechanism to raise the sweeping component to a second position; wherein, when the sweeping component is in the second position, it is not in contact with the floor to be cleaned. An execution module is used to execute the mopping program using the mopping component.

7. A cleaning device, characterized in that, The cleaning equipment includes at least a cleaning component, a lifting mechanism, and a vision sensor. The lifting mechanism is used to raise or lower the cleaning component. The cleaning component includes a mopping component and a sweeping component. The vision sensor is used to acquire image information of various objects on the floor to be cleaned. The cleaning equipment also includes: Memory, used to store executable cleaning instructions; A processor, configured to perform an executable cleanup stored in the memory, implements the method of any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that, The system stores cleaning instructions for inducing the processor to execute the method as described in any one of claims 1 to 5.

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