Garbage disposal method of cleaning device, cleaning device, and storage medium

Abstract

The application relates to a garbage disposal method of a cleaning device, the cleaning device and a storage medium, and belongs to the technical field of automatic control. The method comprises the following steps: acquiring a current used space of a collection mechanism; in the case that the used space meets first compression conditions, controlling a compression mechanism to perform a compression action on the collection mechanism; and in the case that the used space of the collection mechanism after compression is greater than a first threshold, controlling a pollution discharge mechanism to discharge the compressed objects in the collection mechanism. The method can solve the problems that the distribution of garbage in the collection mechanism is relatively sparse and irregular, the used space is not accurately determined, and the utilization rate of the internal space of the collection mechanism is not high. Since the compression process can make the distribution of objects in the collection mechanism more concentrated and regular, the accuracy of the used space determination is improved. Therefore, based on the used space after compression, it is determined whether the objects are discharged, the space of the collection mechanism can be fully utilized, and the space utilization rate of the collection mechanism is improved.

Description

Technical Field

[0001] This application belongs to the field of automatic control technology, specifically relating to a waste disposal method for cleaning equipment, cleaning equipment, and storage medium. Background Technology

[0002] Cleaning equipment refers to equipment that has the function of cleaning surfaces. Generally, during the cleaning process, cleaning equipment collects dust, food scraps, straws, and other debris from the surface into its collection mechanism.

[0003] Traditional waste disposal methods for cleaning equipment include: detecting the current used space of the collection mechanism; and outputting a message indicating that the collection mechanism is full when the used space reaches a preset threshold, prompting the user to remove the trash can and empty the trash in it.

[0004] However, the distribution of garbage in collection facilities is sparse and irregular, which leads to inaccurate assessment of used space and low utilization of the internal space of the collection facilities. Summary of the Invention

[0005] This application provides a waste disposal method, cleaning equipment, and storage medium for cleaning equipment, which can solve the problem that the sparse and irregular distribution of waste in the collection mechanism leads to inaccurate judgment of used space and low utilization rate of the internal space of the collection mechanism. This application provides the following technical solution:

[0006] A first aspect provides a waste disposal method for a cleaning device, the cleaning device comprising a collection mechanism, a compression mechanism, and a discharge mechanism; the collection mechanism is used to collect waste collected during the operation of the cleaning device, the compression mechanism is used to compress the waste in the collection mechanism, and the discharge mechanism is used to discharge the waste in the collection mechanism from the cleaning device; the waste disposal method includes:

[0007] Obtain the currently used space of the collection mechanism;

[0008] When the used space meets the first compression condition, the compression mechanism is controlled to perform a compression action on the collection mechanism; the first compression condition includes the used space changing from less than a first threshold to greater than or equal to the first threshold;

[0009] If the used space after compression in the collection mechanism is greater than the first threshold, the sewage discharge mechanism is controlled to discharge the compressed object from the collection mechanism.

[0010] Optionally, the method further includes:

[0011] When the used space meets the second compression condition, the compression mechanism is controlled to perform a compression action on the collection mechanism; the second compression condition includes the used space changing from less than a second threshold to greater than or equal to the second threshold, where the second threshold is less than the first threshold.

[0012] Optionally, the second threshold includes n second thresholds sorted from smallest to largest, where n is an integer greater than 1;

[0013] Accordingly, when the used space meets the second compression condition, controlling the compression mechanism to perform a compression action on the collection mechanism includes:

[0014] Determine whether the used space satisfies the i-th second compression condition, wherein the i-th second compression condition includes the used space changing from less than the i-th second threshold to greater than or equal to the i-th second threshold, where i is an integer from 1 to n.

[0015] If the used space does not meet the i-th second compression condition, increment the value of i by 1 to trigger the execution of the step of determining whether the used space meets the i-th second compression condition;

[0016] When the used space meets the i-th second compression condition, the compression mechanism is controlled to perform a compression action on the collection mechanism.

[0017] Optionally, the method further includes:

[0018] When the used space after compression of the collection mechanism is less than or equal to the first threshold, the cleaning device is controlled to perform a cleaning action.

[0019] Optionally, before the sewage discharge mechanism discharges the compressed object from the collection mechanism, the method further includes:

[0020] Obtain the location of waste disposal;

[0021] The cleaning equipment is controlled to move to the waste discharge location to discharge the compressed object at the waste discharge location.

[0022] Optionally, obtaining the location of waste disposal includes:

[0023] Obtain the pre-marked waste disposal location on the work map; the work map is a regional map corresponding to the current work area of ​​the cleaning equipment.

[0024] Optionally, obtaining the pre-marked waste disposal locations on the working map includes:

[0025] Display the work map;

[0026] Receive marking operations applied to the working map;

[0027] The map location indicated by the marking operation is determined as the waste disposal location.

[0028] Optionally, there are at least two waste disposal locations, and obtaining the waste disposal locations includes:

[0029] The waste disposal location to be used in this instance must be determined from at least two waste disposal locations.

[0030] Optionally, determining the waste disposal location to be used in this instance from at least two waste disposal locations includes:

[0031] Obtain the relative distance between the cleaning equipment and each waste disposal location; determine the waste disposal location with the smallest relative distance as the waste disposal location used this time;

[0032] or,

[0033] The waste disposal location for this use will be determined based on the historical waste disposal locations.

[0034] or,

[0035] The location of the waste disposal in the uncleaned area is determined as the waste disposal location used in this instance.

[0036] In a second aspect, a cleaning device is provided, the cleaning device including a processor and a memory; the memory stores a program, which is loaded and executed by the processor to implement the waste disposal method of the cleaning device provided in the first aspect.

[0037] Thirdly, a computer-readable storage medium is provided, wherein a program is stored therein, which, when executed by a processor, is used to implement the waste disposal method of the cleaning equipment provided in the first aspect.

[0038] The beneficial effects of this application include at least the following: obtaining the current used space of the collection mechanism; controlling the compression mechanism to perform a compression action on the collection mechanism when the used space meets the first compression condition; controlling the sewage discharge mechanism to discharge the compressed objects from the collection mechanism when the used space after compression is greater than the first threshold; it can solve the problem that the distribution of garbage in the collection mechanism is relatively sparse and irregular, resulting in inaccurate judgment of the used space and low utilization rate of the internal space of the collection mechanism; since the compression process can make the distribution of objects in the collection mechanism more dense and regular, thereby improving the accuracy of the judgment of the used space, determining whether to discharge objects based on the used space after compression can make full use of the space of the collection mechanism and improve the space utilization rate of the collection mechanism.

[0039] At the same time, since the sewage discharge mechanism can be automatically controlled to discharge the compressed objects without the need for manual dumping of objects from the collection mechanism, the intelligence of the cleaning equipment can be improved, while avoiding secondary pollution caused by manual dumping.

[0040] At the same time, since the sewage discharge mechanism can be automatically controlled to discharge the compressed objects without the need to suck the objects from the collection mechanism into the dust collection bin, the integrated bin can avoid the problems of mold and odor caused by storing objects for a long time, thus avoiding environmental pollution.

[0041] In addition, since the compression mechanism performs compression on the collection mechanism when the used space meets the second compression condition, the objects in the waste collection mechanism can be compressed step by step during the waste collection process. This avoids the problem of poor compression effect caused by only performing compression once. Therefore, the compression effect of the objects in the collection mechanism can be improved, and the space utilization rate of the collection mechanism can be further improved.

[0042] In addition, since the number of objects collected by the collection mechanism is constantly increasing during the cleaning process, when there are at least two second compression conditions, sorting the second compression conditions according to their respective second thresholds from smallest to largest, and determining in turn whether the used space meets the second compression conditions, can improve the efficiency of the judgment.

[0043] In addition, since the collection mechanism can still hold a certain amount of objects even when the compressed space is less than or equal to the first threshold, controlling the cleaning equipment to perform cleaning actions can continue to collect the garbage from the area to be cleaned into the collection mechanism. Therefore, the space of the collection mechanism can be fully utilized, and the space utilization rate of the collection mechanism can be improved.

[0044] In addition, by first controlling the cleaning equipment to move to the garbage discharge location and then controlling the cleaning equipment to discharge the compressed object, environmental pollution caused by the random discharge of the compressed object can be avoided, and it is also convenient to clean up the discharged object.

[0045] In addition, since the garbage disposal locations marked on the work map can be obtained, the cleaning equipment can use path planning algorithms to directly navigate to the garbage disposal location, thus improving the working efficiency of the cleaning equipment.

[0046] In addition, since the map location indicated by the mark operation on the working map is determined as the garbage disposal location, the determined garbage disposal location can be matched with the garbage disposal location expected by the user, and at the same time, it is convenient for the user to specify the garbage disposal location.

[0047] In addition, since there are at least two garbage disposal locations, the garbage disposal location with the smallest relative distance is selected as the garbage disposal location for this use, which can shorten the time it takes for the cleaning equipment to reach the garbage disposal location, thus improving the working efficiency of the cleaning equipment.

[0048] In addition, since there are at least two waste disposal locations, determining the waste disposal location for the current use based on historical waste disposal locations allows the determined waste disposal location to match the user's usage habits, thus making it easier for the user to clean up the waste discharged by the cleaning equipment.

[0049] In addition, since the location of the garbage disposal in the uncleaned area is determined as the garbage disposal location for this use, the cleaning equipment can continue to perform cleaning operations from the uncleaned area where the disposal location is located after removing the garbage, thus improving the working efficiency of the cleaning equipment. Attached Figure Description

[0050] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0051] Figure 1 This is a schematic diagram of the structure of a cleaning device provided in one embodiment of this application;

[0052] Figure 2 This is a flowchart of a waste disposal method for a cleaning device provided in one embodiment of this application;

[0053] Figure 3 This is a block diagram of a waste disposal device for a cleaning equipment provided in one embodiment of this application;

[0054] Figure 4 This is a block diagram of an electronic device provided in one embodiment of this application. Detailed Implementation

[0055] The technical solutions of this application will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. The application will be described in detail below with reference to the accompanying drawings and embodiments. It should be noted that, unless otherwise specified, the embodiments and features in the embodiments of this application can be combined with each other.

[0056] It should be noted that the terms "first," "second," etc., in the specification, claims, and drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.

[0057] In this application, unless otherwise stated, directional terms such as "upper," "lower," "top," and "bottom" are generally used in relation to the direction shown in the accompanying drawings, or in relation to the vertical, perpendicular, or gravitational direction of the component itself; similarly, for ease of understanding and description, "inner" and "outer" refer to the inner and outer contours of each component itself, but the above directional terms are not used to limit this application.

[0058] Figure 1 This is a schematic diagram of the structure of a cleaning device provided in one embodiment of this application. The cleaning device is used to clean a surface to be cleaned, which can be a floor, tabletop, wall, solar cell surface, etc. This embodiment does not limit the type of surface to be cleaned.

[0059] according to Figure 1 It is known that the cleaning equipment includes at least a cleaning mechanism 110, a collection mechanism 120, a compression mechanism 130, a sewage discharge mechanism 140, and a controller 150.

[0060] When the cleaning equipment performs cleaning work, the cleaning unit 110 sends the garbage on the surface to be cleaned into the collection unit 120 for cleaning the surface.

[0061] Accordingly, the collection unit 120 is used to collect the waste collected during the operation of the cleaning equipment.

[0062] Here, "garbage" refers to dirt and grime on the surface to be cleaned, such as dust, lint, hair, straws, food scraps, etc. This embodiment does not limit the type of garbage.

[0063] In one example, the cleaning mechanism 110 includes a vacuuming assembly for sucking debris from the surface to be cleaned into a collection mechanism 120.

[0064] Optionally, the number of vacuuming components can be one or at least two; this embodiment does not limit the number of vacuuming mechanisms.

[0065] Optionally, one end of the vacuuming assembly is a vacuum port, and the other end is connected to the collection mechanism 120 to suck the debris from the vacuum port into the collection mechanism 120.

[0066] Optionally, the suction port of the vacuum assembly can be located at the bottom of the cleaning device, or it can be located on the side of the cleaning device. When the suction port is located at the bottom of the cleaning device, the suction port can be located at the center of the bottom, the front end of the bottom, and / or the edge of the bottom. This embodiment does not limit the location of the suction port.

[0067] In another example, cleaning mechanism 110 includes a cleaning component that contacts the surface to be cleaned when the cleaning device performs a cleaning operation to carry the debris from the surface into collection mechanism 120.

[0068] Optionally, the cleaning component can be a roller brush, a bristle brush, etc., and the number of cleaning components can be one or at least two. This embodiment does not limit the implementation method and number of cleaning components.

[0069] Generally, the cleaning components are installed at the bottom of the cleaning equipment, such as at the center of the bottom, the front end of the bottom, and / or the bottom edge. This embodiment does not limit the installation position of the cleaning components.

[0070] Optionally, the cleaning component can directly bring the waste into the collection mechanism 120, or it can bring the waste into the suction port of the vacuum component so that the vacuum component can suck the waste into the collection mechanism 120. This embodiment does not limit the way the cleaning component brings the waste into the collection mechanism 120.

[0071] In actual implementation, the cleaning mechanism 110 may also include other components. This embodiment does not limit the type of the cleaning mechanism 110.

[0072] Optionally, the collection mechanism 120 may include one or at least two receiving cavities, wherein when there are two receiving cavities, the types of waste stored in the different receiving cavities may be the same or different.

[0073] The types of waste can be classified according to their properties, such as solid waste and liquid waste, or according to whether the waste has been compressed, such as uncompressed waste and compressed waste. This embodiment does not limit the classification method of waste types.

[0074] Optionally, the collection mechanism 120 can be made of a rigid material, in which case the collection mechanism 120 can be a garbage box, or it can be made of a flexible or elastic material, in which case the collection mechanism 120 can be a garbage bag. This embodiment does not limit the material of the collection mechanism 120.

[0075] The compression mechanism 130 is used to compress the objects in the collection mechanism 120 to improve the space utilization of the collection mechanism 120.

[0076] Optionally, when the compression mechanism 130 performs the compression action on the collection mechanism 120, it can directly contact the object in the collection mechanism 120 to directly compress the object in the collection mechanism 120. Alternatively, it can indirectly compress the object in the collection mechanism 120 by compressing the collection mechanism 120. This embodiment does not limit the way the compression mechanism 130 performs the compression action.

[0077] In one example, the collecting mechanism 120 is made of a rigid material, and the compression mechanism 130 is located inside the collecting mechanism 120. During the compression action, the compression mechanism 130 directly contacts the object in the collecting mechanism 120 and squeezes the object in the collecting mechanism 120 to compress the object in the collecting mechanism 120.

[0078] In another example, the collecting mechanism 120 is made of a flexible or elastic material, and the compression mechanism 130 is connected to the collecting mechanism 120. During the compression process, the compression mechanism 130 extracts the air from the collecting mechanism 120, causing the collecting mechanism 120 to deform, thereby causing the inner wall of the collecting mechanism 120 to squeeze the object in the collecting mechanism 120, thus compressing the object in the collecting mechanism 120.

[0079] The discharge mechanism 140 is used to discharge objects from the collection mechanism 120 into the cleaning equipment.

[0080] Optionally, one end of the sewage discharge mechanism 140 is connected to the collection mechanism 120, and the other end is a sewage discharge port, so as to discharge the objects in the collection mechanism 120 through the sewage discharge port.

[0081] Optionally, the drain outlet of the drain mechanism 140 can be located at the bottom of the cleaning equipment, or it can be located on the side of the cleaning equipment. This embodiment does not limit the location of the drain outlet.

[0082] Optionally, the sewage discharge mechanism 140 has two working states: an open state and a closed state. When the sewage discharge mechanism 140 is in the open state, it connects the collection mechanism 120 with the external space of the cleaning equipment, allowing objects in the collection mechanism 120 to be discharged from the cleaning equipment. When the sewage discharge mechanism 140 is in the closed state, it does not connect the collection mechanism 120 with the external space of the cleaning equipment, preventing objects in the collection mechanism 120 from being discharged from the cleaning equipment.

[0083] In one example, when the sewage discharge mechanism 140 is in the open state, objects in the collection mechanism 120 are naturally discharged from the cleaning equipment through the sewage discharge mechanism 140 based on gravity.

[0084] In another example, the discharge mechanism 140 works in conjunction with the compression mechanism 130. When compressing the object in the collection mechanism 120, the discharge mechanism 140 is in a closed state, and the compression mechanism 130 is used to compress the object in the collection mechanism 120. When discharging the object from the collection mechanism 120, the discharge mechanism 140 is in an open state, and the compression mechanism 130 is used to squeeze the object in the collection mechanism 120 toward the discharge mechanism 140 so that the object in the collection mechanism 120 is discharged through the discharge mechanism 140.

[0085] The controller 150 can be a microcontroller unit installed inside the cleaning equipment, or any component with control functions. This embodiment does not limit the type of controller 150.

[0086] In this embodiment, the controller 150 is used to: obtain the current used space of the collection mechanism 120; when the used space meets the first compression condition, control the compression mechanism 130 to perform a compression action on the collection mechanism 120; when the used space of the collection mechanism 120 after compression is greater than the first threshold, control the sewage discharge mechanism 140 to discharge the compressed object in the collection mechanism 120.

[0087] The first compression condition includes changing the used space from less than a first threshold to greater than or equal to the first threshold.

[0088] Optionally, to detect the used space of the collection mechanism 120, a first sensing component 160 is installed on the cleaning equipment. The first sensing component 160 is connected to the controller 150 and is used to determine the used space of the collection mechanism 120. The first sensing component 160 can be implemented in several ways, including but not limited to the following:

[0089] In the first embodiment, the first sensing component 160 includes one or at least two sets of signal transmitting components and a signal receiving component mounted opposite to the signal transmitting components. The signal transmitting components are used to transmit sensing signals to the signal receiving components, and the signal receiving components are used to receive the sensing signals transmitted by the signal transmitting components. In this case, the used space can be determined based on whether the signal receiving components receive the sensing signals or the signal strength of the sensing signals received by the signal receiving components.

[0090] In one example, if the signal receiving component can receive the sensing signal, it is determined that the used space is less than a preset threshold; if the signal receiving component cannot receive the sensing signal, it is determined that the used space is greater than or equal to the preset threshold.

[0091] In another example, if the signal strength of the sensing signal received by the signal receiving component is greater than a first signal threshold, it is determined that the used space is less than a preset threshold; if the signal strength of the sensing signal received by the signal receiving component is less than or equal to the first signal threshold, it is determined that the used space is greater than or equal to the preset threshold.

[0092] The preset threshold is pre-stored in the cleaning device. In the case where the first sensing component 160 includes at least two sets of signal transmitting components and signal receiving components, the preset thresholds corresponding to different signal transmitting components and signal receiving components may be the same or different.

[0093] The first signal threshold is pre-stored in the cleaning device.

[0094] Optionally, the signal transmitting component can be an infrared signal transmitter, and the corresponding signal receiving component can be an infrared signal receiver; or, the signal transmitting component can also be an ultrasonic signal transmitter, and the corresponding signal receiving component can be an ultrasonic signal receiver. This embodiment does not limit the type of the signal transmitting component and the signal receiving component.

[0095] The second type is that the first sensing component 160 includes a signal transmitting module and a signal receiving module. The signal transmitting module is used to send a sensing signal into the collecting mechanism 120, and the signal receiving module is used to receive the reflected signal obtained after the sensing signal transmitted by the signal transmitting component is transmitted. In this case, the size of the remaining space can be determined based on the signal strength of the reflected signal received by the signal receiving module.

[0096] In one example, if the signal strength of the reflected signal received by the signal receiving component is greater than or equal to a second signal threshold, it is determined that the used space is greater than or equal to a preset threshold; if the signal strength of the transmitted signal received by the signal receiving component is less than the second signal threshold, it is determined that the used space is less than the preset threshold.

[0097] Optionally, the correspondence between the second signal threshold and the preset threshold is pre-stored in the cleaning device. When there are multiple second signal thresholds, the preset thresholds corresponding to different second signal thresholds are different.

[0098] In another example, the preset space size corresponding to the signal strength of the reflected signal is determined as the used space.

[0099] Optionally, the preset space size corresponding to the signal strength is pre-stored in the cleaning device, and the preset space size is different for different signal strengths.

[0100] Optionally, the first sensing component 160 can be an infrared signal sensor, or it can be an ultrasonic signal sensor. This embodiment does not limit the type of the first sensing component 160.

[0101] In actual implementation, the first sensing component 160 can also be implemented in other ways. This embodiment does not limit the implementation method of the sensing component 160.

[0102] Optionally, in order to obtain environmental information of the working area of ​​the cleaning equipment, a second sensing component 170 is provided on the cleaning equipment. The second sensing component 170 is connected to the controller 150 to obtain environmental information of the working area. The second sensing component 170 can be a laser sensor, an image sensor, or a collision sensor. This embodiment does not limit the type of the second sensing component 170.

[0103] Optionally, in order to control the movement of the cleaning equipment, a moving mechanism 180 is provided on the cleaning equipment. The moving mechanism 180 is connected to the controller 150 so as to drive the cleaning equipment to move under the control of the controller 150.

[0104] The mobile mechanism 180 can be wheeled or tracked. This embodiment does not limit the implementation of the mobile mechanism 180.

[0105] In actual implementation, the cleaning equipment may also include other components, such as batteries and water tanks. This embodiment will not list all the components included in the cleaning equipment.

[0106] In this embodiment, by obtaining the current used space of the collection mechanism; when the used space meets the first compression condition, the compression mechanism is controlled to perform a compression action on the collection mechanism; when the used space of the collection mechanism after compression is greater than the first threshold, the sewage discharge mechanism is controlled to discharge the compressed objects in the collection mechanism. This can solve the problem that the distribution of garbage in the collection mechanism is relatively sparse and irregular, resulting in inaccurate judgment of the used space and low utilization rate of the internal space of the collection mechanism. Since the compression process can make the distribution of objects in the collection mechanism more dense and regular, thereby improving the accuracy of the judgment of the used space, determining whether to discharge objects based on the used space after compression can make full use of the space of the collection mechanism and improve the space utilization rate of the collection mechanism.

[0107] At the same time, since the sewage discharge mechanism can be automatically controlled to discharge the compressed objects without the need for manual dumping of objects from the collection mechanism, the intelligence of the cleaning equipment can be improved, while avoiding secondary pollution caused by manual dumping.

[0108] The waste disposal method of the cleaning equipment provided in this application is described in detail below.

[0109] This application uses the region division methods provided in various embodiments in an electronic device as an example for illustration. This electronic device can be implemented as follows: Figure 1 The cleaning device shown can be implemented as another device that has established a communication connection with the cleaning device. Other devices can be computers, tablets, mobile phones, etc. This embodiment does not limit the implementation of electronic devices.

[0110] Figure 2 This is a flowchart of a waste disposal method for a cleaning device provided in one embodiment of this application. The method includes at least the following steps:

[0111] Step 201: Obtain the currently used space of the collection agency.

[0112] Used space refers to the space in the collection facility where objects have already been stored.

[0113] Optionally, the used space can be expressed as the actual size of the used space, for example, 200 mL; or it can be expressed as the ratio of the actual size of the used space to the capacity of the collection mechanism, for example, 50% of the used space. This embodiment does not limit the way the used space is expressed.

[0114] Optionally, obtaining the currently used space of the collection mechanism includes: obtaining the current sensing information of the first sensing component; and determining the currently used space of the collection mechanism based on the sensing information.

[0115] In one example, the first sensing component includes one or at least two sets of signal transmitting components and a signal receiving component mounted opposite to the signal transmitting components. In this case, the sensing information is whether the signal receiving component can receive the sensing signal, or the strength of the sensing signal received by the signal receiving component.

[0116] Accordingly, determining the current used space of the collection mechanism based on sensor information includes: determining that the used space is less than a preset threshold when the signal receiving component can receive the sensor signal; and determining that the used space is greater than or equal to the preset threshold when the signal receiving component cannot receive the sensor signal.

[0117] The preset threshold is pre-stored in the electronic device. In the first case where the sensing component includes at least two sets of signal transmitting components and signal receiving components, the preset thresholds corresponding to different signal transmitting components and signal receiving components may be the same or different.

[0118] In another example, the first sensing component includes a signal transmitting module and a signal receiving module, where the sensing information is the signal strength of the reflected signal received by the signal receiving module.

[0119] Accordingly, determining the currently used space of the collection mechanism based on sensor information includes: determining the preset space size corresponding to the signal strength of the reflected signal as the used space.

[0120] Optionally, the preset space size corresponding to the signal strength is pre-stored in the electronic device, and the preset space size is different for different signal strengths.

[0121] In actual implementation, other methods can also be used to determine the current used space of the collection mechanism. This embodiment does not limit the method of obtaining and determining the current used space of the collection mechanism.

[0122] Step 202: If the used space meets the first compression condition, control the compression mechanism to perform a compression action on the collection mechanism.

[0123] The first compression condition includes changing the used space from less than a first threshold to greater than or equal to the first threshold.

[0124] Optionally, the first threshold is pre-stored in the electronic device.

[0125] In one example, the first threshold is close to the volume of the collection mechanism, for example: the volume of the collection mechanism is 400 mL, and the first threshold is 360 mL.

[0126] Since the used space is close to the volume of the collection mechanism, the compression mechanism is controlled to perform a compression action on the collection mechanism to compress the objects in the collection mechanism into a shape, which makes it easier to process the objects in the collection mechanism.

[0127] Optionally, the methods for determining whether the used space meets the first compression condition include the following:

[0128] In the first case, the first sensing component includes a signal transmitting component and a signal receiving component. In this case, when the signal receiving component corresponding to the first threshold changes from being able to receive the sensing signal to being unable to receive the sensing signal, it is determined that the used space meets the first compression condition.

[0129] In the second case, the first sensing component includes a signal transmitting component and a signal receiving component. In this case, when the signal strength of the sensing signal received by the signal receiving component corresponding to the first threshold changes from being greater than the first signal threshold to being less than or equal to the first signal threshold, it is determined that the used space meets the first compression condition.

[0130] The first signal threshold is pre-stored in the electronic device.

[0131] The third type is where the first sensing component includes a signal transmitting module and a signal receiving module. In this case, when the signal strength of the reflected signal received by the signal receiving module changes from less than the second signal threshold corresponding to the first threshold to greater than or equal to the second signal threshold corresponding to the first threshold, it is determined that the used space meets the first compression condition.

[0132] The second signal threshold corresponding to the first threshold is pre-stored in the electronic device.

[0133] Fourthly, the first sensing component includes a signal transmitting module and a signal receiving module. In this case, when the preset space size corresponding to the signal strength of the reflected signal received by the signal receiving module changes from less than the first threshold to greater than or equal to the first threshold, it is determined that the used space meets the first compression condition.

[0134] The preset space size corresponding to the signal strength is pre-stored in the cleaning device, and the preset space size is different for different signal strengths.

[0135] In actual implementation, other methods can also be used to determine whether the used space meets the first compression condition. This embodiment does not limit the method of determining whether the used space meets the first compression condition.

[0136] Optionally, controlling the compression mechanism to perform compression actions on the collection mechanism includes the following:

[0137] In the first case, the compression mechanism is located inside the collection mechanism. In this case, the compression mechanism is controlled to perform a compression action on the collection mechanism, including: controlling the compression mechanism to move inside the collection mechanism to compress the object in the collection mechanism.

[0138] Because the compression mechanism comes into contact with the objects in the collection mechanism during its movement within the collection mechanism, thereby squeezing the objects, the objects in the collection mechanism can be compressed.

[0139] The second type is where the collecting mechanism is made of a flexible or elastic material, and the compression mechanism is connected to the collecting mechanism. In this case, the compression mechanism is controlled to perform a compression action on the collecting mechanism, including: controlling the compression mechanism to extract air from the collecting mechanism in order to compress the object in the collecting mechanism.

[0140] Because the compression mechanism causes deformation of the collection mechanism during the process of extracting air from the collection mechanism, the inner wall of the collection mechanism squeezes the object in the collection mechanism, thus compressing the object in the collection mechanism.

[0141] In actual implementation, the compression mechanism can also compress the object in the collection mechanism in other ways. This embodiment does not limit the way the compression mechanism compresses the object in the collection mechanism.

[0142] Step 203: If the used space after compression in the collection mechanism is greater than the first threshold, control the sewage discharge mechanism to discharge the compressed object from the collection mechanism.

[0143] The compressed used space refers to the space used by the collecting mechanism after the compression mechanism performs the compression action on the collecting mechanism.

[0144] Optionally, the sewage discharge mechanism is connected to the collection mechanism, and the sewage discharge mechanism has two working states: an open state and a closed state. When the sewage discharge mechanism is in the open state, it connects the collection mechanism with the external space of the cleaning equipment. At this time, objects in the collection mechanism can be discharged from the cleaning equipment through the sewage discharge mechanism. When the sewage discharge mechanism is in the closed state, it cannot connect the collection mechanism with the external space of the cleaning equipment. At this time, objects in the collection mechanism cannot be discharged from the cleaning equipment through the sewage discharge mechanism.

[0145] Optionally, controlling the discharge mechanism to discharge the compressed object from the collection mechanism includes: controlling the discharge mechanism to be in an open state to discharge the compressed object from the collection mechanism.

[0146] In order to fully discharge the compressed object from the collection mechanism, the sewage discharge mechanism is controlled to discharge the compressed object from the collection mechanism, and the following additional steps are taken: controlling the compression mechanism to move within the collection mechanism to squeeze the compressed object toward the sewage discharge mechanism so that the sewage discharge mechanism can discharge the compressed object from the collection mechanism.

[0147] In order to improve the space utilization rate within the collection mechanism, the waste disposal method provided in this embodiment further includes: controlling the cleaning equipment to perform cleaning actions when the used space after compression of the collection mechanism is less than or equal to a first threshold.

[0148] Since the collection mechanism can still hold a certain amount of objects even when the compressed space is less than or equal to the first threshold, controlling the cleaning equipment to perform cleaning actions can continue to collect the garbage from the area to be cleaned into the collection mechanism. Therefore, the space of the collection mechanism can be fully utilized, and the space utilization rate of the collection mechanism can be improved.

[0149] To further improve the compression effect on objects in the collection mechanism, thereby further improving the space utilization of the collection mechanism, the waste disposal method provided in this embodiment also includes: when the used space meets the second compression condition, controlling the compression mechanism to perform a compression action on the collection mechanism.

[0150] The second compression condition includes the used space changing from less than a second threshold to greater than or equal to the second threshold, where the second threshold is less than the first threshold.

[0151] Optionally, the second threshold is pre-stored in the electronic device.

[0152] In one example, the second threshold is half the volume of the collection mechanism. For example, if the volume of the collection mechanism is 400 mL, then the second threshold is 200 mL.

[0153] Since the compression mechanism performs compression on the collection mechanism when the used space meets the second compression condition, and the second threshold is less than the first threshold, it is possible to compress the objects in the waste collection mechanism step by step during the waste collection process, avoiding the problem of poor compression effect caused by only performing compression once. Therefore, it can improve the compression effect of the objects in the collection mechanism and further improve the space utilization rate of the collection mechanism.

[0154] Since the only difference between the second compression condition and the first compression condition is the value of the second threshold, the method for determining whether the used space meets the second compression condition is the same as the method for determining whether the used space meets the first compression condition, and will not be repeated here in this embodiment.

[0155] Optionally, there may be one or at least two second compression conditions. This embodiment does not limit the number of second compression conditions.

[0156] In one example, when there are at least two second compression conditions, the second threshold consists of n second thresholds sorted from smallest to largest, where n is an integer greater than 1.

[0157] Accordingly, if the used space meets the second compression condition, the compression mechanism is controlled to perform a compression action on the collection mechanism, including: determining whether the used space meets the i-th second compression condition; if the used space does not meet the i-th second compression condition, incrementing the value of i by 1 and triggering the execution of the step of determining whether the used space meets the i-th second compression condition; if the used space meets the i-th second compression condition, the compression mechanism is controlled to perform a compression action on the collection mechanism.

[0158] The i-th second compression condition includes the used space changing from less than the i-th second threshold to greater than or equal to the i-th second threshold, where i is an integer from 1 to n.

[0159] In one example, there are three second compression conditions, with corresponding second thresholds of 100mL, 200mL, and 300mL. The first second compression condition includes changing the used space from less than 100mL to greater than or equal to 100mL; the second second compression condition includes changing the used space from less than 200mL to greater than or equal to 200mL; and the third second compression condition includes changing the used space from less than 300mL to greater than or equal to 300mL.

[0160] Since the number of objects collected by the collection mechanism is constantly increasing during the cleaning process, when there are at least two second compression conditions, sorting the second compression conditions according to their respective second thresholds from smallest to largest, and then determining whether the used space meets the second compression conditions in turn, can improve the efficiency of the judgment.

[0161] In order to control the cleaning equipment to discharge compressed objects to a designated location, before controlling the sewage discharge mechanism to discharge compressed objects from the collection mechanism, the following steps are also included: obtaining the garbage discharge location; controlling the cleaning equipment to move to the garbage discharge location to discharge the compressed objects at the garbage discharge location.

[0162] Optionally, the waste discharge location can be any location in the work area. In order to facilitate the cleaning of the objects discharged by the cleaning equipment, the waste discharge location can be located near the base station of the cleaning equipment, or it can be located near the trash can. This embodiment does not limit the waste discharge location.

[0163] By first controlling the cleaning equipment to move to the garbage discharge location, and then controlling the cleaning equipment to discharge the compressed object, environmental pollution caused by the random discharge of compressed objects can be avoided, and it is also easier to clean up the discharged object.

[0164] Alternatively, the methods for obtaining the location of waste disposal include, but are not limited to, the following:

[0165] The first method involves obtaining the waste disposal location based on the working map. In this case, obtaining the waste disposal location includes obtaining the waste disposal location that has been pre-marked on the working map.

[0166] The work map is the area map corresponding to the current work area of ​​the cleaning equipment.

[0167] Since the garbage disposal locations marked on the work map can be obtained, the cleaning equipment can use path planning algorithms to directly navigate to the garbage disposal location, thus improving the working efficiency of the cleaning equipment.

[0168] Optionally, the working map includes information on impassable areas and / or passable areas within the working area.

[0169] Optionally, the working map may be pre-generated, or it may be sent to the electronic device by other devices. This embodiment does not limit the way the electronic device obtains the working map.

[0170] In one example, the working map is pre-generated by the electronic device. In this case, obtaining the working map includes: obtaining environmental information of the working area collected by the second sensing component during the movement of the cleaning device in the working area, and constructing a working map of the working area based on the environmental information of the working area.

[0171] Optionally, obtaining the waste disposal location pre-marked in the working map includes: displaying the working map; receiving a marking operation applied to the working map; and determining the map location indicated by the marking operation as the waste disposal location.

[0172] In this embodiment, the electronic device is equipped with a touch screen to display a work map of the work area, including: displaying the work map via the touch screen installed on the electronic device.

[0173] Accordingly, receiving a marking operation applied to the working map includes: receiving a marking operation applied to the working map displayed on the touch screen.

[0174] In other embodiments, displaying a work map of the work area includes: sending the work map to other devices based on a communication connection with other devices so that the work map can be displayed on the other devices, which are equipped with touch screens.

[0175] Accordingly, receiving marking operations applied to the working map includes: acquiring marking operations applied to the working map displayed on the touch screen of other devices based on communication connections with other devices.

[0176] Since the map location indicated by the marker operation on the working map is determined as the garbage disposal location, the determined garbage disposal location can be matched with the garbage disposal location expected by the user.

[0177] Optionally, controlling the cleaning equipment to move to the waste disposal location includes: obtaining the current location information of the cleaning equipment; generating a movement path from the current location to the waste disposal location based on the working map, the current location information, and the waste disposal location; and controlling the cleaning equipment to move to the waste disposal location according to the movement path.

[0178] The movement path can be the path with the shortest distance or the path with the shortest time. Different types of movement paths correspond to different path planning methods. This embodiment does not limit the type of movement path or the method of generating movement paths.

[0179] The second method involves obtaining the garbage discharge location based on the positioning signal. In this case, obtaining the garbage discharge location includes: receiving the positioning signal of the positioning location, wherein the distance between the garbage discharge location and the positioning location is less than a preset distance threshold; and determining the first relative position information of the positioning location relative to the cleaning equipment based on the positioning signal.

[0180] Accordingly, controlling the cleaning equipment to move to the waste discharge location includes: controlling the cleaning equipment to move to a target location range based on first relative position information; and within the target location range, controlling the cleaning equipment to move to the waste discharge location based on the location feature information of the waste discharge location.

[0181] The target location range is a circular area with the location as the center and a preset distance threshold as the radius; the preset distance threshold is stored in the electronic device in advance.

[0182] Optionally, the first relative position information includes the distance between the positioning location and the cleaning equipment and / or the orientation of the positioning location relative to the cleaning equipment.

[0183] Optionally, the location can be any location that can emit a location signal. Schematic, the location can be the location of the cleaning equipment's base station, or it can be the location of the trash can. This embodiment does not limit the location.

[0184] Optionally, the positioning signal can be any wireless signal that can be used for positioning. Schematic, the positioning signal can be an Ultra Wide Band (UWB) signal, or it can be a WIFI signal. This embodiment does not limit the type of positioning signal.

[0185] In one example, the location feature information is a target image of the garbage discharge location. In this case, controlling the cleaning equipment to move to the garbage discharge location based on the location feature information of the garbage discharge location includes: acquiring location images of each location within the target location area; determining the similarity between the target image and each location image; and controlling the cleaning equipment to move to the location image corresponding to the maximum similarity value, so as to control the cleaning equipment to move to the garbage discharge location.

[0186] In another example, the location feature information is the second relative location information of the waste discharge location relative to the positioning location. Controlling the cleaning equipment to move to the waste discharge location based on the location feature information of the waste discharge location includes: determining the third relative location information of the waste discharge location relative to the cleaning equipment based on the first and second relative location information; and controlling the cleaning equipment to move to the waste discharge location based on the third relative location information.

[0187] Optionally, the second relative position information includes the distance between the waste disposal location and the positioning location and / or the direction of the waste disposal location relative to the positioning location.

[0188] Optionally, the third relative location information includes the distance between the waste disposal location and the cleaning equipment and / or the direction of the waste disposal location relative to the cleaning equipment.

[0189] In actual implementation, the location feature information can also be other information, such as a specific marker. Correspondingly, other methods can be used to control the cleaning equipment to move to the garbage discharge location based on the location feature information. This embodiment does not limit the type of location feature information or the method of controlling the cleaning equipment to move to the garbage discharge location based on the location feature information.

[0190] In addition, in actual implementation, other methods can be used to obtain the garbage discharge location, and correspondingly, other methods can be used to control the cleaning equipment to move to the garbage discharge location. This embodiment does not limit the method of obtaining the garbage discharge location or the method of controlling the cleaning equipment to move to the garbage discharge location.

[0191] In one example, there are at least two waste disposal locations. Obtaining the waste disposal locations includes: determining the waste disposal location to be used in this instance from among the at least two waste disposal locations.

[0192] Since the waste disposal location can be selected from at least two disposal locations, the intelligence of the cleaning equipment can be improved.

[0193] Optionally, the methods for determining the waste disposal location to be used in this instance among at least two waste disposal locations include the following:

[0194] The first method involves obtaining the relative distance between the cleaning equipment and each waste disposal location; the waste disposal location with the smallest relative distance is then selected as the waste disposal location for this application.

[0195] Optionally, the relative distance can be the actual distance between the cleaning equipment and each waste disposal location, or it can be the length of the shortest path between the cleaning equipment and each waste disposal location. This embodiment does not limit the type of relative distance.

[0196] By determining the garbage disposal location with the smallest relative distance as the disposal location for this application, the time it takes for the cleaning equipment to reach the disposal location can be shortened, thus improving the working efficiency of the cleaning equipment.

[0197] The second method is to determine the waste disposal location for the current use based on the historical waste disposal locations.

[0198] Optionally, the waste disposal location used in the past can be the waste disposal location used last time, or it can be the waste disposal location used the most times in the past. This embodiment does not limit the way of determining the waste disposal location used this time based on the waste disposal location used in the past.

[0199] Since the waste disposal location for this use is determined based on the historical waste disposal locations, the determined waste disposal location can be matched with the user's usage habits, thus making it easier for the user to clean up the waste discharged by the cleaning equipment.

[0200] The third method is to determine the garbage disposal location in an uncleaned area as the garbage disposal location for this use.

[0201] Alternatively, uncleaned area refers to an area in the work area that needs to be cleaned but has not been cleaned.

[0202] Optionally, if the uncleaned area includes multiple waste disposal locations, the waste disposal location to be used in this instance can be determined from the multiple waste disposal locations in the uncleaned area by combining the first or second method described above.

[0203] Since the location of the garbage discharge point in the uncleaned area is determined as the garbage discharge point for this use, the cleaning equipment can continue cleaning from the uncleaned area where the garbage was discharged after it is removed, thus improving the working efficiency of the cleaning equipment.

[0204] Optionally, after the control mechanism discharges the compressed object from the collection mechanism, it also includes: outputting a garbage cleaning prompt to remind the user to dispose of the garbage at the garbage discharge location.

[0205] Optionally, the garbage cleaning prompt can be an audio prompt, and correspondingly, the garbage cleaning prompt is output through an audio playback component installed on the cleaning device; or, the garbage cleaning prompt can also be a prompt message sent to a user device or server, and correspondingly, the garbage cleaning prompt is output through a communication component on the cleaning device. This embodiment does not limit the way the garbage cleaning prompt is output.

[0206] For example, a garbage collection prompt might be a message sent to the user's device or server stating, "Garbage has been disposed of at xxxx (garbage disposal location). Please clean it up promptly." In this case, the user can clean up the garbage at the disposal location based on the prompt message.

[0207] In summary, the waste disposal method of the cleaning equipment in this embodiment obtains the current used space of the collection mechanism; when the used space meets the first compression condition, it controls the compression mechanism to perform a compression action on the collection mechanism; when the used space of the collection mechanism after compression is greater than the first threshold, it controls the sewage discharge mechanism to discharge the compressed objects from the collection mechanism. This can solve the problem that the distribution of waste in the collection mechanism is relatively sparse and irregular, resulting in inaccurate judgment of the used space and low utilization rate of the internal space of the collection mechanism. Since the compression process can make the distribution of objects in the collection mechanism more dense and regular, thereby improving the accuracy of the judgment of the used space, determining whether to discharge objects based on the used space after compression can make full use of the space of the collection mechanism and improve the space utilization rate of the collection mechanism.

[0208] At the same time, since the sewage discharge mechanism can be automatically controlled to discharge the compressed objects without the need for manual dumping of objects from the collection mechanism, the intelligence of the cleaning equipment can be improved, while avoiding secondary pollution caused by manual dumping.

[0209] At the same time, since the sewage discharge mechanism can be automatically controlled to discharge the compressed objects without the need to suck the objects from the collection mechanism into the dust collection bin, the integrated bin can avoid the problems of mold and odor caused by storing objects for a long time, thus avoiding environmental pollution.

[0210] In addition, since the compression mechanism performs compression on the collection mechanism when the used space meets the second compression condition, the objects in the waste collection mechanism can be compressed step by step during the waste collection process. This avoids the problem of poor compression effect caused by only performing compression once. Therefore, the compression effect of the objects in the collection mechanism can be improved, and the space utilization rate of the collection mechanism can be further improved.

[0211] In addition, since the number of objects collected by the collection mechanism is constantly increasing during the cleaning process, when there are at least two second compression conditions, sorting the second compression conditions according to their respective second thresholds from smallest to largest, and determining in turn whether the used space meets the second compression conditions, can improve the efficiency of the judgment.

[0212] In addition, since the collection mechanism can still hold a certain amount of objects even when the compressed space is less than or equal to the first threshold, controlling the cleaning equipment to perform cleaning actions can continue to collect the garbage from the area to be cleaned into the collection mechanism. Therefore, the space of the collection mechanism can be fully utilized, and the space utilization rate of the collection mechanism can be improved.

[0213] In addition, by first controlling the cleaning equipment to move to the garbage discharge location and then controlling the cleaning equipment to discharge the compressed object, environmental pollution caused by the random discharge of the compressed object can be avoided, and it is also convenient to clean up the discharged object.

[0214] In addition, since the garbage disposal locations marked on the work map can be obtained, the cleaning equipment can use path planning algorithms to directly navigate to the garbage disposal location, thus improving the working efficiency of the cleaning equipment.

[0215] In addition, since the map location indicated by the mark operation on the working map is determined as the garbage disposal location, the determined garbage disposal location can be matched with the garbage disposal location expected by the user, and at the same time, it is convenient for the user to specify the garbage disposal location.

[0216] In addition, since there are at least two garbage disposal locations, the garbage disposal location with the smallest relative distance is selected as the garbage disposal location for this use, which can shorten the time it takes for the cleaning equipment to reach the garbage disposal location, thus improving the working efficiency of the cleaning equipment.

[0217] In addition, since there are at least two waste disposal locations, determining the waste disposal location for the current use based on historical waste disposal locations allows the determined waste disposal location to match the user's usage habits, thus making it easier for the user to clean up the waste discharged by the cleaning equipment.

[0218] In addition, since the location of the garbage disposal in the uncleaned area is determined as the garbage disposal location for this use, the cleaning equipment can continue to perform cleaning operations from the uncleaned area where the disposal location is located after removing the garbage, thus improving the working efficiency of the cleaning equipment.

[0219] This embodiment provides a waste disposal device for cleaning equipment, such as... Figure 3 As shown. This embodiment uses this method for... Figure 1The cleaning device shown is used as an example for illustration. The device includes at least the following modules: space acquisition module 310, compression determination module 320, and discharge determination module 330.

[0220] Space acquisition module 310 acquires the currently used space of the collection mechanism;

[0221] The compression determination module 320 controls the compression mechanism to perform a compression action on the collection mechanism when the used space meets the first compression condition; the first compression condition includes the used space changing from less than a first threshold to greater than or equal to the first threshold.

[0222] When the used space after compression in the collection mechanism exceeds a first threshold, the discharge determination module 330 controls the discharge mechanism to discharge the compressed object from the collection mechanism.

[0223] For relevant details, please refer to the above-described embodiments of the equipment and methods.

[0224] It should be noted that the waste disposal device for cleaning equipment provided in the above embodiments is only illustrated by the division of the above functional modules. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the waste disposal device for cleaning equipment can be divided into different functional modules to complete all or part of the functions described above. In addition, the waste disposal device for cleaning equipment provided in the above embodiments and the waste disposal method embodiments for cleaning equipment belong to the same concept, and the specific implementation process is detailed in the method embodiments, which will not be repeated here.

[0225] This embodiment provides an electronic device, such as... Figure 4 As shown. This embodiment uses this method for... Figure 1 The controller of the cleaning device shown is used as an example for illustration. This electronic device includes at least a processor 401 and a memory 402.

[0226] Processor 401 may include one or more processing cores, such as a quad-core processor or an octa-core processor. Processor 401 may be implemented using at least one hardware form selected from DSP (Digital Signal Processing), FPGA (Field-Programmable Gate Array), and PLA (Programmable Logic Array). Processor 401 may also include a main processor and a coprocessor. The main processor, also known as a CPU (Central Processing Unit), is used to process data in the wake-up state; the coprocessor is a low-power processor used to process data in the standby state. In some embodiments, processor 401 may integrate a GPU (Graphics Processing Unit), which is responsible for rendering and drawing the content to be displayed on the screen. In some embodiments, processor 401 may also include an AI (Artificial Intelligence) processor, which is used to handle computational operations related to machine learning.

[0227] Memory 402 may include one or more computer-readable storage media, which may be non-transitory. Memory 402 may also include high-speed random access memory and non-volatile memory, such as one or more disk storage devices or flash memory devices. In some embodiments, the non-transitory computer-readable storage media in memory 402 is used to store at least one instruction, which is executed by processor 401 to implement the waste disposal method of the cleaning device provided in the method embodiments of this application.

[0228] In some embodiments, the electronic device may also optionally include: a peripheral device interface and at least one peripheral device. The processor 401, memory 402, and peripheral device interface can be connected via a bus or signal line. Each peripheral device can be connected to the peripheral device interface via a bus, signal line, or circuit board. Indicatively, peripheral devices include, but are not limited to: radio frequency circuitry, a touch display screen, audio circuitry, and a power supply.

[0229] Of course, electronic devices may also include fewer or more components, and this embodiment does not limit this.

[0230] Optionally, this application also provides a computer-readable storage medium storing a program that is loaded and executed by a processor to implement the waste disposal method of the cleaning equipment described in the above method embodiments.

[0231] Optionally, this application also provides a computer product including a computer-readable storage medium storing a program, which is loaded and executed by a processor to implement the waste disposal method of the cleaning device described in the above method embodiments.

[0232] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0233] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A waste disposal method for a cleaning device, characterized in that, The cleaning equipment includes a collection mechanism, a compression mechanism, and a sewage discharge mechanism; the collection mechanism is used to collect the waste collected during the operation of the cleaning equipment, the compression mechanism is used to compress the objects in the collection mechanism, and the sewage discharge mechanism is used to discharge the objects in the collection mechanism from the cleaning equipment. The waste disposal method includes: Obtain the currently used space of the collection mechanism; When the used space meets the first compression condition, the compression mechanism is controlled to perform a compression action on the collection mechanism; the first compression condition includes the used space changing from less than a first threshold to greater than or equal to the first threshold; If the used space after compression in the collection mechanism is greater than the first threshold, the sewage discharge mechanism is controlled to discharge the compressed object from the collection mechanism. The method further includes: When the used space meets the second compression condition, the compression mechanism is controlled to perform a compression action on the collection mechanism; the second compression condition includes the used space changing from less than a second threshold to greater than or equal to the second threshold, where the second threshold is less than the first threshold; The second threshold includes n second thresholds sorted from smallest to largest, where n is an integer greater than 1; Accordingly, when the used space meets the second compression condition, controlling the compression mechanism to perform a compression action on the collection mechanism includes: Determine whether the used space satisfies the i-th second compression condition, wherein the i-th second compression condition includes the used space changing from less than the i-th second threshold to greater than or equal to the i-th second threshold, where i is an integer from 1 to n. If the used space does not meet the i-th second compression condition, increment the value of i by 1 to trigger the execution of the step of determining whether the used space meets the i-th second compression condition; When the used space meets the i-th second compression condition, the compression mechanism is controlled to perform a compression action on the collection mechanism.

2. The waste treatment method according to claim 1, characterized in that, The method further includes: When the used space after compression of the collection mechanism is less than or equal to the first threshold, the cleaning device is controlled to perform a cleaning action.

3. The waste treatment method according to claim 1, characterized in that, Before the sewage discharge mechanism discharges the compressed object from the collection mechanism, the method further includes: Obtain the location of waste disposal; The cleaning equipment is controlled to move to the waste discharge location to discharge the compressed object at the waste discharge location.

4. The waste treatment method according to claim 3, characterized in that, The acquisition of waste disposal location includes: Obtain the pre-marked waste disposal location on the work map; the work map is a regional map corresponding to the current work area of ​​the cleaning equipment.

5. The waste treatment method according to claim 4, characterized in that, The step of obtaining the pre-marked waste disposal locations on the working map includes: Display the work map; Receive marking operations applied to the working map; The map location indicated by the marking operation is determined as the waste disposal location.

6. The waste treatment method according to claim 3, characterized in that, The waste disposal locations are at least two, and obtaining the waste disposal locations includes: The waste disposal location to be used in this instance must be determined from at least two waste disposal locations.

7. The waste treatment method according to claim 6, characterized in that, Determining the waste disposal location to be used in this instance from at least two waste disposal locations includes: Obtain the relative distance between the cleaning equipment and each waste disposal location; determine the waste disposal location with the smallest relative distance as the waste disposal location used this time; or, The waste disposal location for this use will be determined based on the historical waste disposal locations. or, The location of the waste disposal in the uncleaned area is determined as the waste disposal location used in this instance.

8. A cleaning device, characterized in that, The cleaning device includes a processor and a memory; the memory stores a program, which is loaded and executed by the processor to implement the waste disposal method of the cleaning device as described in any one of claims 1 to 7.

9. A computer-readable storage medium, characterized in that, The storage medium stores a program that, when executed by a processor, is used to implement the waste disposal method of the cleaning equipment as described in any one of claims 1 to 7.

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