Control method and device for cleaning equipment, cleaning equipment and storage medium

Abstract

Embodiments of the present invention provide a control method, device, cleaning device and storage medium for cleaning equipment. The cleaning equipment includes a gripping device, and at least part of the gripping surface of the gripping device is provided with a pressure sensor for detecting the force condition of the corresponding surface; the method includes: obtaining pressure information detected by the pressure sensor on at least part of the gripping surface; determining the actual user operation behavior based on at least part of the pressure information corresponding to each of the gripping surfaces; based on the actual operation conditions, controlling the cleaning equipment to perform a preset operation corresponding to the actual operation conditions, and the actual operation conditions include the actual user operation behavior. The method helps to control the cleaning equipment more accurately.

Description

Technical Field

[0001] The present invention relates to the technical field of cleaning equipment, and more specifically to a control method and device for cleaning equipment, cleaning equipment and a storage medium. Background Art

[0002] With the development of science and technology and the increasing demand for people's quality of life, smart homes have gradually appeared in people's daily lives. Among them, handheld cleaning devices such as floor scrubbers are becoming more and more popular as a substitute for mopping brooms.

[0003] The cleaning device can judge the user's operation behavior to perform operations corresponding to the user's operation behavior. In the related art, the changes of the cleaning device itself are usually used to indirectly judge the user's operation behavior. However, this judgment method ignores the existence of other external forces. When there are other external forces, this judgment method cannot distinguish whether the current changes of the cleaning device itself are caused by the user's operation behavior or by external forces, which may cause the performed operations to fail to meet the user's needs. Summary of the invention

[0004] The present invention is proposed in consideration of the above problems. According to one aspect of the present invention, a control method for a cleaning device is provided, wherein the cleaning device comprises a gripping device, and at least a portion of the gripping surface of the gripping device is provided with a pressure sensor for detecting the force condition of the corresponding surface; the method comprises: obtaining pressure information detected by the pressure sensor on at least a portion of the gripping surface; determining actual user operation behavior based on at least the pressure information corresponding to at least a portion of the gripping surface; and controlling the cleaning device to perform a preset operation corresponding to the actual operation condition based on actual operation conditions, wherein the actual operation condition includes actual user operation behavior.

[0005] Exemplarily, actual user operation behavior is determined based at least on pressure information corresponding to at least part of the holding surface, including: inputting pressure information corresponding to at least part of the holding surface and face identification information of the holding surface corresponding to the pressure information into a pre-established prediction model, so that the prediction model outputs behavior identification information of the actual user operation behavior; wherein the prediction model is generated based on training with specific training data, and the specific training data includes historical pressure information, face identification information of the holding surface corresponding to the historical pressure information, and behavior identification information of historical user operation behaviors corresponding to the historical pressure information.

[0006] Exemplarily, the method also includes: determining an initial model; training the initial model using historical pressure information, face identification information of the holding face corresponding to the historical pressure information, and behavior identification information of historical user operation behaviors corresponding to the historical pressure information to determine a prediction model.

[0007] Exemplarily, determining the actual user operation behavior based on at least part of the pressure information corresponding to each holding surface includes: determining the first user operation behavior based on the pressure information corresponding to each at least part of the holding surface; and determining the first user operation behavior as the actual user operation behavior.

[0008] Exemplarily, the cleaning device also includes a position sensor and / or a posture sensor, the position sensor is used to detect the position of the cleaning device, and the posture sensor is used to detect the posture of the cleaning device, and the actual user operation behavior is determined based on at least part of the pressure information corresponding to each of at least part of the holding surfaces, including: determining the first user operation behavior based on the pressure information corresponding to each of at least part of the holding surfaces; determining the second user operation behavior based on the position information detected by the position sensor and / or the posture information detected by the posture sensor; when the first user operation behavior is consistent with the second user operation behavior, determining the first user operation behavior as the actual user operation behavior.

[0009] Exemplarily, based on the pressure information corresponding to at least part of the holding surfaces, determining the first user operation behavior includes: based on the pressure information corresponding to at least part of the holding surfaces, determining the actual pressure level corresponding to at least part of the holding surfaces; based on the actual pressure level corresponding to at least part of the holding surfaces, determining the first user operation behavior according to a preset relationship, the preset relationship being the correspondence between the pressure level corresponding to at least part of the holding surfaces and the user operation behavior.

[0010] Exemplarily, the actual operation condition also includes: an actual pressure level corresponding to a specific holding surface among at least some of the holding surfaces; wherein the specific holding surface is a holding surface that the user is expected to hold when performing the actual user operation behavior.

[0011] Exemplarily, the cleaning device includes a cleaning element and / or a power-assisting wheel; at least a portion of the gripping surface includes a first gripping surface that the user is expected to hold when pushing the cleaning device forward; based on actual operating conditions, the cleaning device is controlled to perform preset operations corresponding to the actual operating conditions, including: when the actual user operation behavior is to push the cleaning device forward and the actual pressure level corresponding to the first gripping surface reaches a first pressure level threshold, the cleaning device is controlled to perform a first preset operation, and the first preset operation includes: increasing the rotation speed of the cleaning element from the current rotation speed to a first target rotation speed; and / or increasing the rotation speed of the power-assisting wheel from the current rotation speed to a second target rotation speed.

[0012] Exemplarily, the cleaning device includes a cleaning element and / or a power-assisting wheel; at least a portion of the gripping surface includes a second gripping surface that the user is expected to hold when pulling the cleaning element back; based on actual operating conditions, the cleaning device is controlled to perform preset operations corresponding to the actual operating conditions, including: when the actual user operation behavior is to pull the cleaning element back and the actual pressure level corresponding to the second gripping surface reaches a second pressure level threshold, the cleaning device is controlled to perform a second preset operation, and the second preset operation includes: reducing the rotation speed of the cleaning element from the current rotation speed to a third target rotation speed; reducing the rotation speed of the power-assisting wheel from the current rotation speed to a fourth target rotation speed.

[0013] Exemplarily, the cleaning device includes a cleaning element and / or a power-assisting wheel; at least part of the holding surface includes a third holding surface that is expected to be held when the user controls the cleaning device to twist to the left and / or a fourth holding surface that is expected to be held when the user controls the cleaning device to twist to the right; based on actual operating conditions, the cleaning device is controlled to perform preset operations corresponding to the actual operating conditions, including: when the actual user operation behavior is to control the cleaning device to twist to the left, if the actual pressure level corresponding to the third holding surface reaches the third pressure level threshold, the cleaning device is controlled to perform a third preset operation, and the third preset operation includes at least one of the following operations: reducing the rotation speed of the cleaning element from the current rotation speed to the fifth target rotation speed; reducing the rotation speed of the power-assisting wheel from the current rotation speed to the sixth target rotation speed; and / or, when the actual user operation behavior is to control the cleaning device to twist to the right, if the actual pressure level corresponding to the fourth holding surface reaches the fourth pressure level threshold, the cleaning device is controlled to perform the third preset operation.

[0014] Exemplarily, the cleaning device includes a cleaning element, and based on actual operating conditions, the cleaning device is controlled to perform preset operations corresponding to the actual operating conditions, including: determining the number of changes in the actual user operating behavior determined within a preset time; judging whether the number of changes is greater than a preset number threshold; when the number of changes is greater than the preset number threshold, controlling the cleaning device to perform a fourth preset operation; wherein the fourth preset operation includes: increasing the rotation speed of the cleaning element from the current rotation speed to a seventh target rotation speed.

[0015] According to a second aspect of the present invention, there is also provided a control device for a cleaning device, comprising: a processor and a memory, wherein a computer program is stored in the memory, and the processor is used to execute the computer program to implement the above-mentioned control method for the cleaning device.

[0016] According to a third aspect of the present invention, a cleaning device is provided, comprising: a holding device and a control device for the cleaning device, wherein at least a portion of the holding surface of the holding area of ​​the holding device is provided with a pressure sensor for detecting the force condition of the corresponding surface.

[0017] According to a fourth aspect of the present invention, there is also provided a computer-readable storage medium storing a computer program / instruction, which implements the control method of the cleaning device as described above when the computer program / instruction is executed by a processor.

[0018] The above-mentioned technical scheme determines the actual user operation behavior by utilizing the pressure information corresponding to at least part of the holding surface, which can avoid the interference of other external forces on the judgment results, and is conducive to improving the accuracy of the determined actual user operation behavior. Therefore, based on the determined actual user operation behavior, the cleaning equipment can be controlled more accurately, thereby improving the intelligence of the cleaning equipment.

[0019] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention, it can be implemented according to the contents of the specification. In order to make the above and other purposes, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The above and other purposes, features and advantages of the present invention will become more apparent by describing the embodiments of the present invention in more detail in conjunction with the accompanying drawings. The accompanying drawings are used to provide a further understanding of the embodiments of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings, the same reference numerals generally represent the same components or steps.

[0021] Figure 1 A schematic diagram showing a cleaning device according to an embodiment of the present invention;

[0022] Figure 2 A schematic diagram showing a holding device according to an embodiment of the present invention;

[0023] Figure 3 A schematic flow chart showing a method for controlling a cleaning device according to an embodiment of the present invention; and

[0024] Figure 4 A schematic block diagram showing a control device of a cleaning device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0025] In order to make the purpose, technical scheme and advantages of the present invention more obvious, the exemplary embodiments according to the present invention will be described in detail with reference to the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments of the present invention, and it should be understood that the present invention is not limited to the exemplary embodiments described herein. Based on the embodiments of the present invention described in the present invention, all other embodiments obtained by those skilled in the art without creative work should fall within the protection scope of the present invention.

[0026] Handheld cleaning devices such as floor scrubbers and vacuum cleaners are widely used in daily life. Some handheld cleaning devices can perform operations corresponding to the user's operation behavior by judging the user's operation behavior during use. In the related art, the user's operation behavior is generally judged by the following two schemes: the first is to install an inertial sensor (IMU) on the body of the cleaning device to sense the change of the cleaning device's own posture, and then determine the force of the cleaning device by the change of the cleaning device's own posture, and then judge the user's operation behavior; the second is to sense the change of the cleaning device's own posture and position by a variety of sensors installed on the cleaning device, and then judge the user's operation behavior by the change of the cleaning device's own posture and position. The multiple sensors can be any of angle sensors, displacement sensors, velocity sensors and acceleration sensors. Both of the above schemes rely on the changes in the cleaning device itself to indirectly judge the user's operation behavior. However, when there are other external forces (such as a pet hitting the cleaning device), this judgment method cannot distinguish whether the current change of the cleaning device itself is caused by the user's operation behavior or by external forces, which may cause the cleaning device to fail to perform operations that meet the user's needs according to the actual user's operation behavior. This will affect the cleaning effect of the cleaning device and the user's experience. In view of this, the present invention provides a control method of a cleaning device, a control device of a cleaning device, a cleaning device and a computer-readable storage medium to solve the above technical problems as much as possible. The control method of the cleaning device, the control device of the cleaning device, the cleaning device and the computer-readable storage medium are described in detail below.

[0027] According to one aspect of the present invention, a control method for a cleaning device is provided. The control method for a cleaning device can be run on a control device of the cleaning device, for example, in a main microcontroller chip (i.e., MCU) of the cleaning device. The cleaning device includes a holding device. Exemplarily, the holding device can be a handle, and a user can control the cleaning device to move forward or turn by holding the handle. For ease of understanding, the following is combined with Figure 1 An exemplary structure of a cleaning device having a holding device is described. Figure 1 FIG. 2 shows a schematic diagram of a cleaning device according to an embodiment of the present invention. Figure 1 As shown, the cleaning device may include a holding device 110, a connecting rod 120, a body 130, a chassis 140 and a suction channel 150. The holding device 110, the body 130 and the chassis 140 may be connected by the connecting rod 120. The body 130 may be provided with a sewage tank 131 and a fan 132. The chassis 140 may be provided with a clean water tank 141. In addition, the chassis 140 may also be provided with a receiving cavity ( Figure 1The cleaning chamber is provided with a cleaning member 143. For example, the cleaning member 143 may include but is not limited to one or more of a roller brush, a roller, a mop, etc. A suction channel 150 may be provided in the connection area between the fuselage 130 and the chassis 140. One end of the suction channel 150 is connected to the sewage tank 131 and the other end is connected to the suction port 142. The clean water tank 141 can store clean water. During the operation of the cleaning equipment, the clean water is used to provide the cleaning member or the area to be cleaned for cleaning. The cleaning equipment may also include a water pump (not shown), which is used to pump the clean water in the clean water tank 141 to the cleaning member or the area to be cleaned. The area to be cleaned may be any area to be cleaned, such as a family space, a room unit of a family space, a part of a room unit, a large place or a part of a large place. From another perspective, the area to be cleaned may refer to a larger area to be cleaned for the first time, such as an entire room unit; it may also refer to an area that needs to be repaired and swept after the first cleaning of a larger area, such as a wall area in a room unit, or an obstacle area. Cleaning products generated during the cleaning process, such as sewage, garbage, etc., can be stored in the sewage tank 131. In addition, the cleaning products can be sucked by the fan 132 so that the cleaning products enter from the suction port 142 and enter the sewage tank 131 through the suction channel 150. The chassis 140 is also provided with a motor ( Figure 1 The motor may be connected to the cleaning member 143 to drive the cleaning member 143 to rotate, so as to use the cleaning member 143 to clean the dirt in the area to be cleaned. Figure 1 The structure of the cleaning device shown is only an example and is not intended to limit the present invention. The control method of the cleaning device of the present invention is applicable to any cleaning device having a holding device.

[0028] At least part of the gripping surface of the gripping device is provided with a pressure sensor for detecting the force condition of the corresponding surface. Figure 2 A schematic diagram of a holding device according to an embodiment of the present invention is shown. Figure 2 The left side of the figure is a front view of the holding device. Figure 1The right side of the figure is a side view of the holding device. In this embodiment, the A1 surface of the holding device is the holding surface close to the user side when the user normally uses the cleaning device. Pressure sensors are provided on the A1 surface, A2 surface, B1 surface, B2 surface, C1 surface and C2 surface of the holding device. It can be understood that this arrangement is only an example, and at least part of the holding surface (i.e., the holding surface provided with the pressure sensor) can also include only part of the holding surfaces among the A1 surface, A2 surface, B1 surface, B2 surface, C1 surface and C2 surface. For example, at least part of the holding surface only includes the A1 surface, A2 surface, B1 surface and B2 surface. In this embodiment, pressure sensors are provided on the A1 surface, A2 surface, B1 surface and B2 surface of the holding device. In other embodiments, at least part of the holding surface may include other holding surfaces except the A1 surface, A2 surface, B1 surface, B2 surface, C1 surface and C2 surface. For example, pressure sensors can also be provided on the D1 surface and the D2 surface. The pressure sensor may be any type of sensor capable of detecting pressure, such as a piezoelectric film sensor.

[0029] exist Figure 2 In the embodiment shown, the shape of the holding device is rectangular. It can be understood that Figure 2 The shape of the holding device in the figure is only an example, and the holding device can also be in other shapes. For example, it can be elliptical, circular, triangular, etc. When the holding device adopts other shapes, a pressure sensor can be set on at least part of the holding surface of the holding device of this shape. For example, when the holding device is triangular, a pressure sensor can be set on the inner side and / or outer side of any one or several sides of the triangular holding device. When the holding device is circular, a pressure sensor can be set on the inner side and / or outer side of the circular holding device.

[0030] Optionally, the number of pressure sensors provided on each of at least a portion of the gripping surfaces may be 1. Alternatively, the number of pressure sensors provided on each of at least a portion of the gripping surfaces may be at least two. In a specific embodiment, a corresponding number of pressure sensors may be provided according to the size of each gripping surface.

[0031] Figure 3 FIG. 1 is a schematic flow chart showing a method for controlling a cleaning device according to an embodiment of the present invention. Figure 2 As shown, the control method 300 of the cleaning device may include the following steps S310, S320 and S330.

[0032] In step S310, pressure information detected by a pressure sensor on at least a portion of the grip surface is obtained.

[0033] Optionally, the pressure information may be an electrical signal detected by a pressure sensor. There is a certain correspondence between the electrical signal detected by the pressure sensor and the pressure value. Alternatively, the pressure information may also be a pressure value obtained by converting the electrical signal detected by the pressure sensor. Alternatively, the pressure information may also be a pressure level. Optionally, the pressure information may include at least two of the electrical signal, pressure value and pressure level.

[0034] Optionally, when the number of pressure sensors provided on any gripping surface in at least part of the gripping surface is one, the pressure information detected by the pressure sensor can be used as the pressure information of the corresponding gripping surface. Optionally, when the number of pressure sensors provided on any gripping surface in at least part of the gripping surface is at least two, the pressure information detected by each pressure sensor on the gripping surface can be combined to obtain the pressure information of the gripping surface. For example, if the pressure information detected by each sensor is a pressure value, the average of the pressure values ​​detected by multiple pressure sensors on any gripping surface can be used as the pressure information of the gripping surface.

[0035] In step S320, actual user operation behavior is determined based on at least part of the pressure information corresponding to each of the gripping surfaces.

[0036] After obtaining the pressure information corresponding to at least part of the holding surface, the actual user operation behavior can be determined based on the pressure information corresponding to at least part of the holding surface. That is, the actual user operation behavior is the user operation behavior determined based on the pressure information corresponding to at least part of the holding surface currently obtained. For example, the correspondence between the pressure information corresponding to at least part of the holding surface and different user operation behaviors (which can be called the first correspondence) can be determined in advance by theory or experiment, and then the actual user operation behavior is determined based on the pressure information corresponding to at least part of the holding surface obtained in step S310 and the predetermined first correspondence. For another example, the pressure information corresponding to at least part of the holding surface can be input into a trained neural network model to determine the actual user operation behavior.

[0037] In step S330, based on the actual operating conditions, the cleaning device is controlled to perform a preset operation corresponding to the actual operating conditions, where the actual operating conditions include actual user operating behaviors.

[0038] After the actual user operation behavior is determined in step S320, the cleaning device can be controlled to perform a preset operation corresponding to the actual operation condition according to the actual operation condition composed of at least the user operation behavior. Optionally, a correspondence relationship (which may be referred to as a second correspondence relationship) between different operation conditions and different operations of the cleaning device can be established in advance according to user needs. In step S320, the preset operation corresponding to the actual operation condition can be determined according to the currently determined actual operation condition and the second correspondence relationship, and the cleaning device can be controlled to perform the corresponding preset operation.

[0039] It can be understood that according to the actual operating conditions, the working scene of the cleaning device can be determined. The cleaning device has a corresponding preset operation in each working scene. In some embodiments, when the actual user operation behavior is to push the cleaning device forward or pull the cleaning device backward, it can be considered that the cleaning device is in a scene of normal execution of the cleaning task, and the cleaning device can be controlled to continue to perform the cleaning operation currently being performed. In some embodiments, when the actual user operation behavior is to press down the cleaning device, it can be considered that the cleaning device is in a scene of cleaning stubborn stains, and the cleaning device can be controlled to increase the power of the fan to increase the cleaning strength of the cleaning device. In some embodiments, when the actual user operation behavior is to lift the cleaning device, if the cleaning device is in a working state, it can be considered that the cleaning device is in a scene of crossing a threshold or other obstacles, and the cleaning device can be controlled to stop the cleaning operation. Controlling the cleaning device to stop the cleaning operation may include, for example, controlling the cleaning device to turn off the water pump and shut down the cleaning parts (such as a roller brush) to prevent the water in the cleaning device from being thrown out when the cleaning device is lifted. If the cleaning device is in a non-working state, for example, the cleaning device is located on the base of a base station matched with it, it can be considered that the cleaning device is in a scene of preparing to perform a cleaning operation, and the cleaning device can be controlled to start automatically. In some embodiments, when the actual user operation behavior is to tilt the cleaning device downward, it can be considered that the cleaning device is in a scenario of cleaning a low area. At this time, the cleaning parts of the cleaning device can be controlled to reduce the speed, or when the cleaning device includes a power-assisted wheel, the cleaning device can be controlled to reduce the speed of the power-assisted wheel.

[0040] The above-mentioned technical scheme determines the actual user operation behavior by utilizing the pressure information corresponding to at least part of the holding surface, which can avoid the interference of other external forces on the judgment results, and is conducive to improving the accuracy of the determined actual user operation behavior. Therefore, based on the determined actual user operation behavior, the cleaning equipment can be controlled more accurately, thereby improving the intelligence of the cleaning equipment.

[0041] Exemplarily, in step S120, determining the actual user operation behavior based at least on the pressure information corresponding to at least part of the holding surface may include the following steps: inputting the pressure information corresponding to at least part of the holding surface and the face identification information of the holding surface corresponding to the pressure information into a pre-established prediction model, so that the prediction model outputs the behavior identification information of the actual user operation behavior; wherein the prediction model is generated based on training with specific training data, and the specific training data includes historical pressure information, the face identification information of the holding surface corresponding to the historical pressure information, and the behavior identification information of the historical user operation behavior corresponding to the historical pressure information.

[0042] Optionally, the prediction model can be obtained by training any existing or future developed neural network that can achieve classification. The neural network can be, for example, any one of a feedforward neural network (FNN), a convolutional neural network (CNN), a recurrent neural network (RNN), etc.

[0043] It can be understood that the surface identification information is information used to identify the holding surface, and based on the surface identification information, it can be known which holding surface on the holding device the current holding surface is. The surface identification information can be, for example, characters containing letters and numbers such as the above-mentioned "A1", "A2", "B1". Of course, such characters are only examples and not limitations of the present invention. Any other form of information can be used to identify the holding surface, as long as the cleaning device can identify and distinguish each holding surface. For example, Chinese characters can be used to identify the holding surface. Behavior identification information is information used to identify user operation behavior, and based on the behavior identification information, it can be known what kind of behavior the user operation behavior is. Obtaining the behavior identification information of the actual user operation behavior is equivalent to determining the actual user operation behavior. Similar to the surface identification information, the behavior identification information can be any form of information, as long as the cleaning device can identify and distinguish various user operation behaviors. For example, the behavior identification information can be Chinese characters such as "push forward", "pull back", "press down", etc. The historical user operation behavior is the corresponding user operation behavior when the pressure information of the holding surface is the historical pressure information. Training based on historical pressure information, face identification information of the holding face corresponding to the historical pressure information, and behavior identification information of historical user operation behaviors helps to obtain a more accurate prediction model.

[0044] When the pressure information corresponding to at least part of the gripping surface is obtained, the pressure information corresponding to at least part of the gripping surface and the surface identification information of the gripping surface corresponding to the pressure information can be input into the prediction model. Figure 2The process is explained by taking the holding device shown as an example. In this embodiment, the pressure information is represented by pressure level. The pressure level of the A1 surface is 0, the pressure level of the A2 surface is 0, the pressure level of the B1 surface is 1, the pressure level of the B2 surface is 1, the pressure level of the C1 surface is 1, and the pressure level of the C2 surface is 1. (PA1=0, PA2=0, PB1=1, PB2=1, PC1=1, PC2=1) can be input into the prediction model to determine the actual user operation behavior. PA1, PA2, PB1, PB2, PC1, PC2 are the pressure levels corresponding to the A1, A2, B1, B2, C1, and C2 surfaces respectively.

[0045] The above technical solution obtains behavior identification information of actual user operation behavior by inputting pressure information corresponding to at least part of the holding surfaces and face identification information of the holding surfaces corresponding to the pressure information into a pre-established prediction model. This solution helps to quickly and accurately determine the actual user operation behavior.

[0046] Exemplarily, method 300 may further include the following steps: determining an initial model; training the initial model using historical pressure information, face identification information of the holding face corresponding to the historical pressure information, and behavior identification information of historical user operation behaviors corresponding to the historical pressure information to determine a prediction model.

[0047] Optionally, the initial model can be any existing or future developed neural network model that can be used for classification, such as a feedforward neural network (FNN), a convolutional neural network (CNN), a recurrent neural network (RNN), etc. The initial model can be an untrained or pre-trained neural network model.

[0048] Optionally, the initial model is trained using historical pressure information, face identification information of the holding surface corresponding to the historical pressure information, and behavior identification information of historical user operation behaviors to determine the prediction model, which may include the following steps: inputting the historical pressure information and the face identification information of the holding surface corresponding to the historical pressure information into the initial model to obtain behavior identification information for predicting user operation behaviors; calculating a loss function based on the behavior identification information of the predicted user operation behaviors and the behavior identification information of historical actual user operations to obtain a loss value; optimizing the parameters (including weights) of the initial model based on the loss value until the model converges to obtain a trained prediction model.

[0049] The above technical solution helps to ensure that the trained prediction model has high accuracy by training the initial model based on historical pressure information, face identification information of the holding face corresponding to the historical pressure information, and behavior identification information of historical user operation behaviors.

[0050] Exemplarily, determining the actual user operation behavior based on at least part of the pressure information corresponding to each holding surface may include the following steps: determining a first user operation behavior based on the pressure information corresponding to each at least part of the holding surface; and determining the first user operation behavior as the actual user operation behavior.

[0051] In this embodiment, the actual user operation behavior is determined directly based on the pressure information corresponding to at least part of the gripping surfaces. This solution does not require the participation of additional sensors, which is beneficial to reducing the design and production costs of the device.

[0052] Exemplarily, the cleaning device also includes a position sensor and / or a posture sensor, the position sensor is used to detect the position of the cleaning device, and the posture sensor is used to detect the posture of the cleaning device. Determining the actual user operation behavior based on at least part of the pressure information corresponding to each of at least part of the holding surfaces may include the following steps: determining the first user operation behavior based on the pressure information corresponding to each of at least part of the holding surfaces; determining the second user operation behavior based on the position information detected by the position sensor and / or the posture information detected by the posture sensor; when the first user operation behavior is consistent with the second user operation behavior, determining the first user operation behavior as the actual user operation behavior.

[0053] Optionally, the position sensor may be any type of position sensor currently available or developed in the future. For example, the position sensor may include, but is not limited to, any one or more of a mechanical displacement sensor, a photoelectric position sensor, an ultrasonic position sensor, a Hall position sensor, etc. The attitude sensor may be any type of attitude sensor currently available or developed in the future. For example, the attitude sensor includes, but is not limited to, a gyroscope and / or an acceleration sensor, etc.

[0054] Optionally, when the first user operation behavior is inconsistent with the second user operation behavior, prompt information may be output.

[0055] Optionally, the cleaning equipment may include an information output device. Exemplarily, the information output device may include one or more of a display device, a buzzer alarm, a speaker, a light emitting device, a communication device, etc. The communication device may include any wired communication device and / or a wireless communication device. Exemplarily, the prompt information described herein may include one or more of audio information, text information, image information, video information, light information, etc. The display device is used to output one or more of text information, image information and video information, and the buzzer alarm and the speaker are used to output audio information. The light emitting device is used to output light information. The communication device is used to transmit any form of prompt information to any associated device. Associated devices may include but are not limited to personal computers, servers, mobile terminals (such as user's smart phones), etc. For example, the information output device may be a buzzer alarm, which reminds the user that the actual user operation behavior cannot be accurately determined by the buzzer alarm. For another example, the information output device may also be a display device, which reminds the user that the actual user operation behavior cannot be accurately determined by displaying characters such as "behavior undetermined". In one embodiment, the prompt may be provided in the form of pictures and texts on the screen of a user terminal interconnected with the cleaning device network, or by light prompts and / or voice prompts through indicator lights, voice players, etc. on the cleaning device. For example, a voice prompt of "behavior undetermined" may be provided.

[0056] Optionally, after outputting the prompt information, method 300 may further include the following steps: receiving the user's input information to determine the actual user operation behavior. In this embodiment, when the first user operation behavior is inconsistent with the second user operation behavior, the user can be prompted by the prompt information, and then the actual user operation behavior is accurately determined according to the user's input information. Alternatively, after outputting the prompt information, method 300 may further include the following steps: in response to the user's control operation, the cleaning device is controlled to perform a preset operation corresponding to the actual operating condition. In this embodiment, when the first user operation behavior is inconsistent with the second user operation behavior, the user can directly control the cleaning device to perform a preset operation corresponding to the actual operating condition. This solution helps to ensure the working reliability of the cleaning device.

[0057] The above technical solution comprehensively determines the actual user operation behavior based on the first user operation behavior and the second user operation behavior, thereby helping to more accurately determine the actual user operation behavior.

[0058] Exemplarily, determining the first user operation behavior based on the pressure information corresponding to at least part of the holding surfaces may include the following steps: determining the actual pressure level corresponding to at least part of the holding surfaces based on the pressure information corresponding to at least part of the holding surfaces; determining the first user operation behavior based on the actual pressure level corresponding to at least part of the holding surfaces according to a preset relationship, wherein the preset relationship is the correspondence between the pressure level corresponding to at least part of the holding surfaces and the user operation behavior.

[0059] The actual pressure level is the pressure level corresponding to the currently detected pressure information. Optionally, the conversion relationship between the pressure information and the pressure level can be predetermined by theory or experiment. For example, when the pressure information is represented by a pressure value, multiple different pressure levels can be pre-set, and the multiple pressure levels correspond to multiple pressure value ranges one by one. When the current actual pressure value is within a specific pressure range among multiple pressure ranges, the pressure information is determined to be the pressure level corresponding to the specific pressure range. In a specific embodiment, the pressure levels may include 0, 1, and 2. Among them, when the actual pressure value is less than or equal to the first pressure value threshold, the current pressure level is determined to be level 0; when the actual pressure value is greater than the first pressure value threshold and less than the second pressure value threshold, the current pressure level is determined to be level 1; when the actual pressure value is greater than or equal to the second pressure value threshold, the current pressure level is determined to be level 2. Among them, the second pressure value threshold is greater than the first pressure value threshold.

[0060] The preset relationship is the corresponding relationship between the pressure level corresponding to at least part of the grip surface and the user operation behavior. Optionally, the preset relationship can be predetermined by the user through theory or experiment. For example, the corresponding relationship between different pressure levels and user operation behaviors can be tested in a standard scenario. The preset relationship can be expressed as actual user operation behavior = f (pressure information corresponding to at least part of the grip surface). Figure 2 The embodiment shown illustrates the preset relationship. In this embodiment, the preset relationship can be expressed as: actual user operation behavior = f(PA1, PA2, PB1, PB2, PC1, PC2).

[0061] In the solution of this example, the actual pressure level corresponding to at least part of the gripping surface can be determined based on the pressure information corresponding to at least part of the gripping surface, and then the first user operation behavior can be determined according to the actual pressure level corresponding to at least part of the gripping surface and the preset relationship. The calculation process of this solution is simple, which helps to more accurately determine the first user operation behavior, and further helps to accurately determine the actual user operation behavior.

[0062] Exemplarily, the actual operation condition also includes: an actual pressure level corresponding to a specific holding surface among at least some of the holding surfaces; wherein the specific holding surface is a holding surface that the user is expected to hold when performing the actual user operation behavior.

[0063] In the solution of this example, the actual operation condition may also include an actual pressure level corresponding to a specific gripping surface among at least some of the gripping surfaces. The specific gripping surface is the gripping surface that the user is expected to hold when performing the actual user operation behavior. Figure 2 The specific gripping surface is explained by taking the holding device shown as an example. When the actual user operation behavior is to push the cleaning device forward, the specific gripping surface may be the A1 surface. When the actual user operation behavior is to pull the cleaning device backward, the specific gripping surface may be the A2 surface. When the actual user operation behavior is to lift the cleaning device, the specific gripping surface may be the B2 surface. When the actual user operation behavior is to press down the cleaning device, the specific gripping surface may be the B1 surface. When the actual user operation behavior is to twist the cleaning device to the left, the specific gripping surface may be the C1 surface. When the actual user operation behavior is to twist the cleaning device to the right, the specific gripping surface may be the C2 surface. When the user performs a certain user operation behavior, such as pushing the cleaning device forward, the degree of force applied by the user on the specific gripping surface may also reflect the degree of resistance encountered by the user when performing the user operation behavior. When the user performs the same user operation behavior, if the degree of resistance is different, it means that the degree of assistance required by the user is also different. Therefore, optionally, in addition to the actual user operation behavior, the pressure level on the specific gripping surface can be further taken into consideration, and these two situations can be combined to control the cleaning device to perform preset operations corresponding to the actual operating conditions.

[0064] In the above technical solution, the actual operation condition includes the actual pressure level corresponding to the specific gripping surface in at least part of the gripping surfaces and the actual user operation behavior, thereby, the cleaning device can be controlled to perform the corresponding preset operation based on the actual pressure level corresponding to the specific gripping surface in at least part of the gripping surfaces and the actual user operation behavior. This solution helps to make the cleaning device perform operations more intelligently and helps to improve the user experience.

[0065] Exemplarily, the cleaning device includes a cleaning element and / or a power-assisting wheel; at least a portion of the gripping surface includes a first gripping surface that the user is expected to hold when pushing the cleaning device forward; based on actual operating conditions, the cleaning device is controlled to perform preset operations corresponding to the actual operating conditions, including: when the actual user operation behavior is to push the cleaning device forward and the actual pressure level corresponding to the first gripping surface reaches a first pressure level threshold, the cleaning device is controlled to perform a first preset operation, and the first preset operation includes: increasing the rotation speed of the cleaning element from the current rotation speed to a first target rotation speed; and / or increasing the rotation speed of the power-assisting wheel from the current rotation speed to a second target rotation speed.

[0066] Optionally, the first target speed and the second target speed can be set as needed. For example, the first target speed and the second target speed can be experimental values ​​determined according to experiments or theoretical values ​​set according to theories. For another example, the first target speed and the second target speed can be determined according to the current speed of the corresponding component. For example, the first target speed can be 1.2 times the current speed of the cleaning member. The second target speed can be 1.1 times the current speed of the power-assisted wheel.

[0067] Optionally, the first pressure level threshold can be set as required. For example, the first pressure level threshold can be an experimental value obtained from an experimental test or a theoretical value determined from a theory.

[0068] As described above, the working scenario of the cleaning device can be determined based on the actual operating conditions. When the actual user operation behavior is to push the cleaning device forward and the actual pressure level corresponding to the first gripping surface reaches the first pressure level threshold, it can be considered that the current user is pushing the cleaning device hard, and the cleaning device may be in a scenario of crossing steps. Therefore, the user can be assisted in pushing the cleaning device by increasing the speed of the cleaning element from the current speed to the first target speed, and / or increasing the speed of the power-assisted wheel from the current speed to the second target speed.

[0069] The above technical solution can play an auxiliary role by increasing the rotation speed of the cleaning member and / or the power-assisted wheel when the actual user operation behavior is to push the cleaning device forward and the actual pressure level corresponding to the first grip surface reaches the first pressure level threshold. This solution helps to improve the user experience.

[0070] Exemplarily, the cleaning device includes a cleaning element and / or a power-assisting wheel; at least a portion of the gripping surface includes a second gripping surface that the user is expected to hold when pulling the cleaning element back; based on actual operating conditions, the cleaning device is controlled to perform preset operations corresponding to the actual operating conditions, including: when the actual user operation behavior is to pull the cleaning element back and the actual pressure level corresponding to the second gripping surface reaches a second pressure level threshold, the cleaning device is controlled to perform a second preset operation, and the second preset operation includes: reducing the rotation speed of the cleaning element from the current rotation speed to a third target rotation speed; reducing the rotation speed of the power-assisting wheel from the current rotation speed to a fourth target rotation speed.

[0071] Optionally, the third target speed and the fourth target speed can be set as needed. For example, the third target speed and the fourth target speed can be experimental values ​​determined by experiments or theoretical values ​​set according to theories. For another example, the third target speed and the fourth target speed can be determined according to the current speed of the corresponding component. For example, the third target speed can be 0.3 times the current speed of the cleaning member. The second target speed can be 0.2 times the current speed of the booster wheel.

[0072] Optionally, the second pressure level threshold can be set as required. For example, the second pressure level threshold can be an experimental value obtained from an experimental test or a theoretical value determined from a theory.

[0073] As described above, the working scenario of the cleaning device can be determined according to the actual operating conditions. When the actual user operation behavior is to pull back the cleaning device and the actual pressure level corresponding to the second gripping surface reaches the second pressure level threshold, it can be considered that the current user is controlling the cleaning device to stop moving forward urgently. At this time, the cleaning device may be in a scene with obstacles in front of the path, for example, there are people or objects that suddenly enter in the direction of travel of the cleaning device. Therefore, the user can be assisted in controlling the cleaning device to stop moving forward by reducing the speed of the cleaning part from the current speed to the third target speed and / or reducing the speed of the power-assisted wheel from the current speed to the fourth target speed, so as to avoid the cleaning device dragging the user.

[0074] The above technical solution can assist the user's current operation by reducing the rotation speed of the cleaning member and / or the power-assisting wheel when the actual user operation behavior is to pull the cleaning device backward and the actual pressure level corresponding to the second grip surface reaches the second pressure level threshold, thereby reducing the impact of the operation of the cleaning device itself on the user. This solution helps to improve the user's experience.

[0075] Exemplarily, the cleaning device includes a cleaning element and / or a power-assisted wheel; at least part of the holding surface includes a third holding surface that is expected to be held when the user controls the cleaning device to twist to the left and / or a fourth holding surface that is expected to be held when the user controls the cleaning device to twist to the right; based on actual operating conditions, the cleaning device is controlled to perform preset operations corresponding to the actual operating conditions, including: when the actual user operation behavior is to control the cleaning device to twist to the left, if the actual pressure level corresponding to the third holding surface reaches the third pressure level threshold, the cleaning device is controlled to perform a third preset operation, and the third preset operation includes at least one of the following operations: reducing the rotation speed of the cleaning element from the current rotation speed to the fifth target rotation speed; reducing the rotation speed of the power-assisted wheel from the current rotation speed to the sixth target rotation speed; and / or, when the actual user operation behavior is to control the cleaning device to twist to the right, if the actual pressure level corresponding to the fourth holding surface reaches the fourth pressure level threshold, the cleaning device is controlled to perform the third preset operation.

[0076] Optionally, the fifth target speed and the sixth target speed can be set as needed. For example, the third target speed and the fourth target speed can be experimental values ​​determined by experiments or theoretical values ​​set according to theories. For another example, the third target speed and the fourth target speed can be determined according to the current speed of the corresponding component. For example, the third target speed can be 0.3 times the current speed of the cleaning member. The second target speed can be 0.2 times the current speed of the booster wheel.

[0077] Optionally, the third pressure level threshold and the fourth pressure level threshold can be set as required. For example, the third pressure level threshold and the fourth pressure level threshold can be experimental values ​​obtained from experimental tests or theoretical values ​​determined from theories.

[0078] As described above, the working scenario of the cleaning device can be determined according to the actual operating conditions. When the actual user operation behavior is to control the cleaning device to twist to the left and the actual pressure level corresponding to the third gripping surface reaches the third pressure level threshold, or when the actual user operation behavior is to control the cleaning device to twist to the right and the actual pressure level corresponding to the fourth gripping surface reaches the fourth pressure level threshold, it can be considered that the current user is controlling the cleaning device to turn at a large angle, that is, the cleaning device may be in a scenario where it needs to turn. Therefore, by reducing the rotation speed of the cleaning part from the current rotation speed to the fifth target rotation speed and / or reducing the rotation speed of the power-assisted wheel from the current rotation speed to the sixth target rotation speed, the user can be assisted in controlling the cleaning device to turn, thereby preventing the cleaning device from dragging the user.

[0079] The above technical solution can assist the user's current operation by reducing the rotation speed of the cleaning member and / or the power-assisted wheel, and reduce the impact of the operation of the cleaning device itself on the user, when the actual user operation behavior is to control the cleaning device to twist to the left and the actual pressure level corresponding to the third grip surface reaches the third pressure level threshold, or when the actual user operation behavior is to control the cleaning device to twist to the right and the actual pressure level corresponding to the fourth grip surface reaches the fourth pressure level threshold. This solution helps to improve the user's experience.

[0080] Exemplarily, the cleaning device includes a cleaning element, and based on actual operating conditions, the cleaning device is controlled to perform preset operations corresponding to the actual operating conditions, including: determining the number of changes in the actual user operating behavior determined within a preset time; judging whether the number of changes is greater than a preset number threshold; when the number of changes is greater than the preset number threshold, controlling the cleaning device to perform a fourth preset operation; wherein the fourth preset operation includes: increasing the rotation speed of the cleaning element from the current rotation speed to a seventh target rotation speed.

[0081] It can be understood that a change in the actual user operation behavior means that the actual user operation behaviors determined twice are different. For example, if the actual user operation behavior determined for the first time is to push the cleaning device forward, and the actual user operation behavior determined for the second time is to pull the cleaning device back, it can be considered that the actual user operation behavior has changed once.

[0082] Optionally, the preset time can be set to any suitable time as required. Exemplarily, the preset time can be in the range of [10, 60] seconds (s). For example, the preset time can be set to 10s, 20s, 30s, etc.

[0083] Optionally, the preset number threshold can be set to any appropriate number as needed, which can be an experimental value measured according to an experiment or a theoretical value set according to a theory. Exemplarily, the preset number threshold can be in the range of [3, 20] times, such as 5 times, 8 times, 10 times, etc. Assuming that the preset number threshold is represented by n, that is, when the number of changes in the actual user operation behavior exceeds n times within the preset time, the cleaning device can be controlled to perform the fourth preset operation.

[0084] Optionally, the seventh target speed can be set as needed. For example, the seventh target speed can be an experimental value determined by experiment or a theoretical value set according to theory. For another example, the seventh target speed can be determined according to the current speed of the cleaning member. For example, the seventh target speed can be 1.5 times the current speed of the cleaning member.

[0085] As described above, the working scene of the cleaning device can be determined according to the actual operating conditions. When the number of changes in the actual user operation behavior is greater than the preset number threshold, it can be considered that the current user is controlling the cleaning device to clean stubborn stains. Therefore, the cleaning force of the cleaning device can be increased by increasing the speed of the cleaning element from the current speed to the seventh target speed, thereby ensuring the cleaning effect of the cleaning device.

[0086] The above technical solution can improve the cleaning force of the cleaning device by increasing the rotation speed of the cleaning element when the number of changes in the actual user operation behavior is greater than the preset number threshold, which helps to ensure the cleaning effect of the cleaning device. This solution helps to improve the user experience.

[0087] According to another aspect of the present invention, a control device for a cleaning device is provided. Figure 4 FIG. 2 is a schematic block diagram showing a control device for a cleaning device according to an embodiment of the present invention. Figure 4 As shown, the control device 400 includes: a processor 410 and a memory 420. The memory 420 stores a computer program, and the processor 410 is used to execute the computer program to implement the above-mentioned control method 300 of the cleaning device.

[0088] According to another aspect of the present invention, a cleaning device is provided, which comprises a gripping device and a control device 400 of the cleaning device, wherein at least a part of the gripping surface of the gripping region of the gripping device is provided with a pressure sensor for detecting the force applied to the corresponding surface.

[0089] According to another aspect of the present invention, a computer readable storage medium is also provided. The storage medium stores a computer program / instruction, and when the computer program / instruction is executed by the processor, the control method 300 of the cleaning device described above is implemented. The storage medium may include, for example, a read-only memory (ROM), an erasable programmable read-only memory (EPROM), a portable compact disk read-only memory (CD-ROM), a USB memory, or any combination of the above storage media. The computer readable storage medium may be any combination of one or more computer readable storage media.

[0090] A person skilled in the art can easily understand the implementation structure, working principle and beneficial effects of the control device of the cleaning device, the cleaning device and the computer-readable storage medium by reading the control method of the cleaning device. For the sake of brevity, no further description is given here.

[0091] Although example embodiments have been described herein with reference to the accompanying drawings, it should be understood that the above example embodiments are merely exemplary and are not intended to limit the scope of the present invention thereto. Various changes and modifications may be made therein by one of ordinary skill in the art without departing from the scope and spirit of the present invention. All such changes and modifications are intended to be included within the scope of the present invention as required by the appended claims.

[0092] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0093] In the several embodiments provided by the present invention, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed.

[0094] In the description provided herein, a large number of specific details are described. However, it is understood that embodiments of the present invention can be practiced without these specific details. In some instances, well-known methods, structures and techniques are not shown in detail so as not to obscure the understanding of this description.

[0095] Similarly, it should be understood that in order to streamline the present invention and help understand one or more of the various inventive aspects, in the description of the exemplary embodiments of the present invention, the various features of the present invention are sometimes grouped together into a single embodiment, figure, or description thereof. However, the method of the present invention should not be interpreted as reflecting the following intention: the claimed invention requires more features than the features explicitly stated in each claim. More specifically, as reflected in the corresponding claims, the inventive point is that the corresponding technical problem can be solved with less than all the features of a single disclosed embodiment. Therefore, the claims following the specific embodiment are hereby expressly incorporated into the specific embodiment, wherein each claim itself serves as a separate embodiment of the present invention.

[0096] It will be understood by those skilled in the art that, except for mutually exclusive features, all features disclosed in this specification (including the accompanying claims, abstracts and drawings) and all processes or units of any method or device disclosed in this specification may be combined in any combination. Unless otherwise expressly stated, each feature disclosed in this specification (including the accompanying claims, abstracts and drawings) may be replaced by an alternative feature that provides the same, equivalent or similar purpose.

[0097] In addition, those skilled in the art will appreciate that, although some embodiments described herein include certain features included in other embodiments but not other features, the combination of features of different embodiments is meant to be within the scope of the present invention and form different embodiments. For example, in the claims, any one of the claimed embodiments may be used in any combination.

[0098] The various component embodiments of the present invention can be implemented in hardware, or implemented in a software module running on one or more processors, or implemented in a combination thereof. It should be understood by those skilled in the art that a microprocessor or a digital signal processor (DSP) can be used in practice to implement some or all functions of some modules in the control device of the cleaning device of the embodiment of the present invention, the cleaning device. The present invention can also be implemented as a part or all of the device program (for example, computer program and computer program product) for performing the method described herein. Such a program of the present invention can be stored in a computer-readable medium, or can have the form of one or more signals. Such a signal can be downloaded from an Internet website, or provided on a carrier signal, or provided in any other form.

[0099] It should be noted that the above embodiments illustrate the present invention rather than limit it, and that those skilled in the art may devise alternative embodiments without departing from the scope of the appended claims. In the claims, any reference symbol between brackets shall not be construed as a limitation on the claims. The word "comprising" does not exclude the presence of elements or steps not listed in the claims. The word "one" or "an" preceding an element does not exclude the presence of a plurality of such elements. The present invention may be implemented by means of hardware comprising a number of different elements and by means of a suitably programmed computer. In a unit claim enumerating a number of devices, several of these devices may be embodied by the same hardware item. The use of the words first, second, and third, etc., does not indicate any order. These words may be interpreted as names.

[0100] The above is only a specific embodiment of the present invention or an explanation of a specific embodiment. The protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. The protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. A method for controlling a cleaning device, characterized in that: The cleaning device comprises a holding device, at least part of the holding surface of the holding device is provided with a pressure sensor for detecting the force condition of the corresponding surface; The method comprises: Acquire pressure information detected by a pressure sensor on at least a portion of the grip surface; Determining actual user operation behavior based at least on the pressure information corresponding to each of the at least part of the gripping surfaces; Based on actual operating conditions, controlling the cleaning device to perform a preset operation corresponding to the actual operating conditions, wherein the actual operating conditions include the actual user operation behavior; Wherein, the cleaning device includes a cleaning member, and based on the actual operating condition, controlling the cleaning device to perform a preset operation corresponding to the actual operating condition includes: Determine the number of changes in the actual user operation behavior determined within a preset time; Determine whether the number of changes is greater than a preset number threshold; When the number of changes is greater than the preset number threshold, the cleaning device is controlled to perform a fourth preset operation; wherein the fourth preset operation includes: increasing the rotation speed of the cleaning member from the current rotation speed to a seventh target rotation speed.

2. The method according to claim 1, characterized in that The determining of the actual user operation behavior based on at least the pressure information corresponding to at least part of the gripping surfaces includes: Inputting the pressure information corresponding to the at least part of the holding surfaces and the surface identification information of the holding surfaces corresponding to the pressure information into a pre-established prediction model, so that the prediction model outputs the behavior identification information of the actual user operation behavior; The prediction model is generated based on specific training data, and the specific training data includes historical pressure information, face identification information of the holding face corresponding to the historical pressure information, and behavior identification information of historical user operation behaviors corresponding to the historical pressure information.

3. The method according to claim 2, characterized in that The method further comprises: Determine the initial model; The initial model is trained using the historical pressure information, the surface identification information of the holding surface corresponding to the historical pressure information, and the behavior identification information of the historical user operation behavior corresponding to the historical pressure information to determine the prediction model.

4. The method according to claim 1, characterized in that: The determining of the actual user operation behavior based on at least the pressure information corresponding to at least part of the gripping surfaces includes: determining a first user operation behavior based on the pressure information corresponding to each of the at least part of the gripping surfaces; The first user operation behavior is determined as the actual user operation behavior.

5. The method according to claim 1, characterized in that The cleaning device further comprises a position sensor and / or a posture sensor, wherein the position sensor is used to detect the position of the cleaning device, and the posture sensor is used to detect the posture of the cleaning device, and the actual user operation behavior is determined based on at least the pressure information corresponding to each of the at least part of the gripping surfaces, including: determining a first user operation behavior based on the pressure information corresponding to each of the at least part of the gripping surfaces; Determine a second user operation behavior based on the position information detected by the position sensor and / or the posture information detected by the posture sensor; When the first user operation behavior is consistent with the second user operation behavior, the first user operation behavior is determined as the actual user operation behavior.

6. The method according to claim 4 or 5, characterized in that: The determining the first user operation behavior based on the pressure information corresponding to the at least part of the gripping surfaces includes: Determining actual pressure levels corresponding to at least a portion of the gripping surfaces based on pressure information corresponding to the at least a portion of the gripping surfaces; Based on the actual pressure levels corresponding to at least part of the gripping surfaces, the first user operation behavior is determined according to a preset relationship, where the preset relationship is the correspondence between the pressure levels corresponding to at least part of the gripping surfaces and the user operation behavior.

7. The method according to claim 6, characterized in that The actual operating conditions also include: an actual pressure level corresponding to a specific gripping surface among the at least a portion of the gripping surfaces; The specific holding surface is the holding surface that the user is expected to hold when performing the actual user operation behavior.

8. The method according to claim 7, characterized in that The cleaning device includes a cleaning member and / or a power-assisted wheel; the at least part of the gripping surface includes a first gripping surface that is expected to be gripped by a user when pushing the cleaning device forward; The controlling the cleaning device to perform a preset operation corresponding to the actual operating condition based on the actual operating condition includes: When the actual user operation behavior is to push the cleaning device forward and the actual pressure level corresponding to the first gripping surface reaches the first pressure level threshold, the cleaning device is controlled to perform a first preset operation, and the first preset operation includes: increasing the rotation speed of the cleaning element from the current rotation speed to the first target rotation speed; and / or increasing the rotation speed of the power-assisted wheel from the current rotation speed to the second target rotation speed.

9. The method according to claim 7, characterized in that: The cleaning device includes a cleaning member and / or a power-assisted wheel; the at least part of the gripping surface includes a second gripping surface that is expected to be gripped by a user when the user pulls back the cleaning device; The controlling the cleaning device to perform a preset operation corresponding to the actual operating condition based on the actual operating condition includes: When the actual user operation behavior is to pull back the cleaning device and the actual pressure level corresponding to the second gripping surface reaches the second pressure level threshold, the cleaning device is controlled to perform a second preset operation, and the second preset operation includes: reducing the speed of the cleaning element from the current speed to a third target speed; reducing the speed of the power-assisted wheel from the current speed to a fourth target speed.

10. The method according to claim 7, characterized in that The cleaning device includes a cleaning member and / or a power-assisted wheel; the at least part of the gripping surface includes a third gripping surface that is expected to be gripped when the user controls the cleaning device to twist leftward and / or a fourth gripping surface that is expected to be gripped when the user controls the cleaning device to twist rightward; The controlling the cleaning device to perform a preset operation corresponding to the actual operating condition based on the actual operating condition includes: When the actual user operation behavior is to control the cleaning device to twist to the left, if the actual pressure level corresponding to the third grip surface reaches the third pressure level threshold, the cleaning device is controlled to perform a third preset operation, and the third preset operation includes at least one of the following operations: reducing the speed of the cleaning member from the current speed to the fifth target speed; reducing the speed of the power-assisted wheel from the current speed to the sixth target speed; and / or, When the actual user operation behavior is to control the cleaning device to twist right, if the actual pressure level corresponding to the fourth gripping surface reaches a fourth pressure level threshold, the cleaning device is controlled to perform the third preset operation.

11. A control device for a cleaning device, characterized in that: include: A processor and a memory, wherein a computer program is stored in the memory, and the processor is used to execute the computer program to implement the control method of the cleaning device according to any one of claims 1 to 10.

12. A cleaning device, characterized in that: include: A holding device and a control device for a cleaning device as claimed in claim 11, wherein at least a portion of the holding surface of the holding region of the holding device is provided with a pressure sensor for detecting the force condition of the corresponding surface.

13. A computer-readable storage medium, characterized in that: A computer program / instruction is stored, and when the computer program / instruction is executed by a processor, the control method of the cleaning device according to any one of claims 1 to 10 is implemented.

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