Cleaning apparatus, control method thereof, electronic apparatus, storage medium, and program product

Abstract

The application provides a cleaning device and a control method thereof, an electronic device, a storage medium and a program product. The cleaning device comprises a cleaning device and a switching device. The cleaning device comprises a plurality of cleaning components. The switching between the cleaning states corresponding to the required cleaning components is realized for different types of objects to be removed. Then, the cleaning device can clean the objects to be removed based on the cleaning state suitable for the type of the object to be removed. Different cleaning states correspond to different types of cleaning components to clean the objects to be removed. In this way, the cleaning mode of the cleaning device can be flexibly switched based on the type of the object to be removed, so as to improve the processing capability of the cleaning device for different types of dirt and improve the cleaning effect.

Description

Technical Field

[0001] This application relates to the field of cleaning equipment, and more particularly to a cleaning device and its control method, electronic equipment, storage medium and program product. Background Technology

[0002] As people's requirements for cleanliness increase and cleaning technology continues to improve, cleaning equipment such as cleaning robots have become increasingly popular products in the market.

[0003] There are currently two main methods for cleaning equipment to handle dust particles on the ground. One method is to use the bristles on the front roller brush to lift up the dust and particles, and then use the strong suction of the fan to suck the dust and particles into the dust collection box. The other method is a suction-type dust collection method, which uses an internal fan to create negative pressure and draw dust and particles into the internal dust collection box.

[0004] However, no matter which method is used, it has its shortcomings when dealing with different types of dirt, resulting in poor cleaning results. Summary of the Invention

[0005] This application provides a cleaning device and its control method, electronic device, storage medium and program product, which enable the cleaning mode of the cleaning device to be flexibly switched, to treat different types of dirt in a targeted manner, improve the cleaning effect of the cleaning device, and achieve the purpose of thorough cleaning.

[0006] In a first aspect, this application provides a cleaning device, the cleaning device comprising:

[0007] A cleaning device, comprising multiple cleaning components;

[0008] A switching device, connected to a cleaning device, is used to switch between the working states of a first cleaning component and a second cleaning component among multiple cleaning components; when the first cleaning component is in working state, it cleans a first type of object to be removed; when the second cleaning component is in working state, it cleans a second type of object to be removed.

[0009] In this way, the cleaning mode can be switched to the corresponding cleaning mode for different types of objects to be removed, and the appropriate cleaning components can be used to clean the objects in a targeted manner, which enriches the cleaning methods and improves the cleaning flexibility and cleaning effect.

[0010] Optionally, the cleaning device may also include: a cleaning device body, the cleaning device body forming a cavity for accommodating a plurality of cleaning components;

[0011] The cavity has a pre-set space for switching between multiple cleaning components.

[0012] This provides enough space for switching between multiple cleaning components, ensuring flexible switching and thus expanding the applicability of the cleaning equipment.

[0013] Optionally, multiple cleaning components include: a suction nozzle assembly and / or a roller brush assembly, wherein the roller brush assembly is used to clean a first type of object to be removed; and the suction nozzle assembly is used to clean a second type of object to be removed.

[0014] Through the above design, this application can effectively achieve flexible switching between the two cleaning components: the roller brush assembly and the suction nozzle assembly.

[0015] Optionally, multiple cleaning components include a suction port assembly and a roller brush assembly. The suction port assembly includes a retractable channel, one end of which is connected to a dust collection box, and the other end of which forms a suction port for sucking up the object to be cleaned.

[0016] When the roller brush assembly of the cleaning equipment is in operation, the retractable channel is compressed to increase the distance between the suction port and the surface to be cleaned. The roller brush assembly moves to a position between the suction port and the surface to be cleaned. Firstly, the debris to be removed is detached from the surface by the action of the roller brush assembly and then sucked into the dust collection box through the suction port; and / or,

[0017] When the suction port assembly of the cleaning equipment is in operation, the roller brush assembly is lifted, increasing the distance between the roller brush assembly and the surface to be cleaned; the telescopic channel is extended to suck in a second type of debris from the surface to be cleaned through the suction port.

[0018] In this way, the suction port assembly and the roller brush assembly can be used to clean the first type of object to be removed and the second type of object to be removed, respectively, which can be applied to different application scenarios and improve the flexibility of the application.

[0019] Optionally, when the suction port assembly of the cleaning equipment is in operation, the suction port, the suction port strip, and the surface to be cleaned form a sealed space.

[0020] In this way, when the suction port assembly of the cleaning equipment is in working condition to clean the second type of object to be removed, a relatively sealed space is formed around the suction port, the lower rubber strip, and the surface to be cleaned. With the operation of the fan, the internal negative pressure is increased, resulting in stronger suction and better cleaning effect.

[0021] Optionally, the retractable channel can be a silicone channel or a channel with folding properties.

[0022] In this way, when switching working states, the movement of the cleaning components can be reduced. Simply lift or lower the roller brush assembly to leave enough space for the retractable channel to stretch or compress, and the working state can be switched, saving costs and space.

[0023] Optionally, the switching device includes at least one of a linkage assembly, a cam assembly, and a rack and pinion assembly.

[0024] Thus, the diverse structures of the switching devices allow for greater flexibility in the configuration of cleaning equipment, making it suitable for different application scenarios and user needs.

[0025] Optionally, the linkage assembly includes multiple links and multiple pivots; the multiple links include a first link and a second link; the multiple pivots include a first pivot, a second pivot, and a third pivot.

[0026] One end of the first connecting rod is connected to the suction port assembly via the first rotating shaft; the other end of the first connecting rod is connected to one end of the second connecting rod via the second rotating shaft; the other end of the second connecting rod is connected to the roller brush assembly via the third rotating shaft.

[0027] In this way, by connecting the two connecting rods, three rotating shafts, the suction port assembly, and the roller brush assembly, the suction port assembly and the roller brush assembly can be switched, simplifying the connection structure.

[0028] Optionally, the cleaning device further includes a drive unit; when the cleaning device switches from the working state of the roller brush assembly to the working state of the suction assembly, the drive unit drives the first and second connecting rods to rotate, and the first, second, and third rotating shafts change position, so that the roller brush assembly rotates upward and the suction assembly rotates downward, thereby realizing the switch of working states; and / or,

[0029] When the cleaning equipment switches from the working state of the suction assembly to the working state of the roller brush assembly, the drive device drives the first and second connecting rods to rotate, and the first, second and third rotating shafts change position so that the roller brush assembly rotates downward and the suction assembly rotates upward, thereby realizing the switch of working state.

[0030] In this way, based on the rotation of the first and second links, the positions of the first, second, and third rotating shafts change, which can drive the cleaning equipment to switch between the working state of the roller brush assembly and the working state of the suction assembly. The structure and logic are relatively simple and suitable for the promotion of cleaning equipment.

[0031] Optionally, a switching device is used to switch the working state by changing the positions of the first cleaning component and the second cleaning component among multiple cleaning components.

[0032] In this way, the cleaning state can be switched by changing the position of the cleaning components, simplifying the switching logic and improving the practicality of the cleaning equipment.

[0033] Optional, the cleaning equipment also includes:

[0034] The control device is used to determine the corresponding target object to be removed based on the type of object to be removed on the surface to be cleaned during the cleaning process of the cleaning equipment, and to control the switching device to switch to the working state of the cleaning components required to clean the target object.

[0035] In this way, this application can determine the working state of the cleaning component based on the type of object to be removed from the surface to be cleaned, and then control the cleaning component to switch to the cleaning state required to clean the corresponding type of object in advance, thereby improving the intelligence of component switching.

[0036] Optionally, the cleaning equipment may also include: a sensing device for collecting sensing information corresponding to the current object to be cleaned and sending it to the control device;

[0037] The control device is specifically used to: determine the corresponding target object to be removed based on the sensor information, and control the switching device to switch to the working state of the cleaning components required to clean the target object.

[0038] In this way, the target object to be removed can be determined based on the sensor information collected by the sensor device, and the working state of the cleaning components required to clean the target object can be switched in advance. This solves the problem of not being able to clean different types of objects in time due to the untimely switching of working states. Furthermore, the cleaning state can be intelligently switched according to the environment in which the cleaning equipment is located and the type of object to be removed, thus improving the convenience of using the cleaning equipment.

[0039] Optionally, the control device includes:

[0040] The identification module is used to output identification results based on the sensing information collected by the sensing device; the identification results are used to indicate the target features corresponding to the second type of object to be removed.

[0041] The controller is used to output corresponding switching commands based on the target characteristics and send them to the drive device, so that the drive device can drive the switching device to switch the working state based on the switching commands.

[0042] In this way, based on the identification results including target features output by the identification module, the corresponding cleaning state can be determined in a timely manner as the working state of the second cleaning component, and then a switching command can be generated to switch the working state in advance. This solves the problem of not having enough time to clean the second type of object to be removed due to the untimely switching of the working state, and improves the accuracy and timeliness of the switching of the working state.

[0043] Optional, the recognition module is specifically used for:

[0044] The sensor information is input into the artificial intelligence (AI) model, and the recognition result is output; the target features are features with entanglement characteristics and / or granular features.

[0045] In this way, cleaning equipment can combine with AI to intelligently identify objects to be cleaned, including target features, so as to switch working states in advance, reduce problems caused by untimely switching of working states, and enable cleaning equipment to accurately predict the switching of working states, thereby improving the working efficiency of cleaning equipment.

[0046] Optionally, the sensing devices include: image sensors and / or radar.

[0047] In this way, various types of sensing devices and data acquisition methods can be used to determine the target object to be removed, improving the flexibility and accuracy of the determination of the target object.

[0048] Optionally, the radar uses point cloud data to identify target features; the identification module is specifically used for:

[0049] The collected image information corresponding to the object to be removed is input into the artificial intelligence (AI) model to identify the target features in the image information;

[0050] Determine whether the target features identified by the AI ​​model are correct based on point cloud data.

[0051] In this way, by re-verifying the target features, the accuracy of identifying the target features can be improved and identification errors can be prevented.

[0052] Optionally, radar is used to determine the distance between the cleaning equipment and the object to be cleaned; the identification module is specifically used for:

[0053] When the distance is less than a preset threshold, extract the image features from the image information corresponding to the current object to be removed;

[0054] Image features are input into an artificial intelligence (AI) model for identification to determine whether the target features exist in the image features.

[0055] In this way, by pre-collecting image information to determine whether target features exist, the cleaning equipment can be switched to its working state in advance to clean the objects to be removed. This solves the problem of not being able to clean different types of objects in time due to untimely switching of working states, and ensures timely cleaning.

[0056] Secondly, this application provides a control method for a cleaning device, the cleaning device including a cleaning apparatus and a switching device, the cleaning apparatus including multiple cleaning components; the method includes:

[0057] To enable switching between the working states of the first cleaning component and the second cleaning component among multiple cleaning components;

[0058] The first cleaning component, when in operation, cleans the first type of object to be removed; the second cleaning component, when in operation, cleans the second type of object to be removed.

[0059] Optionally, switching between the working states of the first cleaning component and the second cleaning component among multiple cleaning components includes:

[0060] The working state can be switched by changing the positions of the first cleaning component and the second cleaning component among multiple cleaning components.

[0061] Optionally, the multiple cleaning components include a suction port assembly and a roller brush assembly. The suction port assembly includes a retractable channel, one end of which is connected to a dust collection box, and the other end forming a suction port for sucking up the object to be cleaned. The method further includes:

[0062] When switching to the roller brush assembly mode, the retractable channel is compressed to increase the distance between the suction port and the surface to be cleaned. The roller brush assembly moves to a position between the suction port and the surface. The first type of debris is detached from the surface by the roller brush assembly and then sucked into the dust collection box through the suction port; and / or...

[0063] When it is necessary to switch to the working state of the suction port assembly, the roller brush assembly is raised to increase the distance between the roller brush assembly and the surface to be cleaned, and the telescopic channel is extended to suck in the second type of debris to be removed from the surface to be cleaned through the suction port.

[0064] Thirdly, this application provides an electronic device, including: a processor, and a memory communicatively connected to the processor;

[0065] The memory stores the instructions that the computer executes;

[0066] The processor executes computer execution instructions stored in the memory to implement the method as described in any one of the second aspects.

[0067] Fourthly, this application provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, are used to implement the method as described in any one of the second aspects.

[0068] Fifthly, this application provides a computer program product, including a computer program that, when executed by a processor, implements the method as described in any one of the second aspects.

[0069] In summary, this application provides a cleaning device and its control method, electronic device, storage medium, and program product. By switching between the required cleaning states for different types of objects to be cleaned, the cleaning device can clean the objects based on the cleaning state suitable for cleaning. Different cleaning states correspond to different cleaning components for cleaning the objects. In this way, the cleaning method of the cleaning device can be flexibly switched based on the type of object to be cleaned, thereby improving the cleaning device's ability to handle different types of dirt and improving the cleaning effect. Attached Figure Description

[0070] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0071] Figure 1 This is a schematic diagram of an application scenario provided by an embodiment of this application;

[0072] Figure 2 A schematic diagram of an optional cleaning device provided in an embodiment of this application;

[0073] Figure 3 This is a structural diagram of a portion of a cleaning device provided in an embodiment of this application;

[0074] Figure 4 This application provides a schematic diagram of the state of a cleaning component corresponding to a switching of working states.

[0075] Figure 5 This application provides a schematic diagram of the state of a linkage assembly corresponding to a switching of working states.

[0076] Figure 6 This is a bottom schematic diagram of a partial structure of a cleaning device provided in an embodiment of this application;

[0077] Figure 7 A flowchart illustrating an optional control method for a cleaning device provided in an embodiment of this application;

[0078] Figure 8 This is a schematic diagram of the structure of a control device in a cleaning equipment provided in an embodiment of this application;

[0079] Figure 9 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application.

[0080] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments.

[0081] Explanation of reference numerals in the attached figures:

[0082] 100 - Cleaning equipment; 200 - Cleaning equipment base station; 110 - Cleaning device; 120 - Cleaning components;

[0083] 130 - Switching device; 140 - Dust collection box; 150 - Control device; 160 - Sensing device;

[0084] 112 - Main body of the cleaning device; 113 - Cavity; 114 - Drive device;

[0085] 121-Roller brush assembly; 122-Suction port assembly; 1221-Retractable channel; 1222-Suction port;

[0086] 1223 - Suction nozzle strip; 131 - First connecting rod; 132 - Second connecting rod; 133 - First pivot;

[0087] 134 - Second rotating shaft; 135 - Third rotating shaft; 151 - Identification module; 152 - Controller;

[0088] 901 - Processor; 902 - Memory; 903 - Bus. Detailed Implementation

[0089] To facilitate a clear description of the technical solutions in the embodiments of this application, the terms "first" and "second" are used in the embodiments of this application to distinguish identical or similar items with essentially the same function and purpose. For example, "first device" and "second device" are merely used to distinguish different devices and do not limit their order of execution. Those skilled in the art will understand that the terms "first" and "second" do not limit the quantity or execution order, and that "first" and "second" do not necessarily imply that they are different.

[0090] It should be noted that, in this application, the terms "exemplary" or "for example" are used to indicate that something is being described as an example, illustration, or illustration. Any embodiment or design described as "exemplary" or "for example" in this application should not be construed as being more preferred or advantageous than other embodiments or design solutions. Specifically, the use of terms such as "exemplary" or "for example" is intended to present the relevant concepts in a concrete manner.

[0091] In this application, "at least one" means one or more, and "more than one" means two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can mean: A alone, A and B simultaneously, or B alone, where A and B can be singular or plural. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship. "At least one of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one of a, b, or c can mean: a, b, c, ab, ac, bc, or abc, where a, b, and c can be single or multiple.

[0092] There are two main methods for cleaning equipment to handle dust particles on the ground. One is the roller brush dust collection method, which uses the bristles on the front roller brush to lift up the dust and particles, and then uses the strong suction of the fan to suck the dust and particles into the dust collection box. The other is the suction port dust collection method, which uses soft rubber near the suction port to ensure the sealing of the area where dust and particles enter the suction port, and then uses the built-in fan to create negative pressure to draw the dust and particles into the internal dust collection box.

[0093] However, the fixed nature of these two cleaning methods results in poor cleaning effectiveness.

[0094] For example, cleaning equipment with roller brushes has a common drawback: it cannot effectively remove hair or dirt adhering to the surface being cleaned, especially long hair, which can cause the roller brush to get tangled, requiring users to clean it regularly, making it inconvenient to use. While suction-type dust collectors can pick up dirt with hair-like properties without the tangling problem, they are not as effective at removing dirt that requires the roller brush to beat and disperse the dust. The cleaning effect is lower than that of cleaning equipment with roller brushes, affecting the user experience and satisfaction.

[0095] To address the aforementioned issues, this application provides a cleaning device that can switch between different cleaning states for different types of objects to be cleaned. The cleaning device can then clean the objects based on the appropriate cleaning state, with different cleaning components corresponding to different cleaning states. This allows for flexible switching of the cleaning method based on the type of object, thereby improving the device's ability to handle different types of dirt and enhancing the cleaning effect.

[0096] For example, the cleaning modes of suction port dust collection and roller brush dust collection can be used alternately. That is, when cleaning objects with entanglement characteristics such as hair, switch to the cleaning mode of suction port dust collection, and when cleaning objects without entanglement characteristics, switch to the cleaning mode of roller brush dust collection, thereby solving the problem of hair entanglement when using roller brush dust collection for cleaning equipment.

[0097] For example, Figure 1 This is a schematic diagram of an application scenario provided in an embodiment of this application, such as... Figure 1 As shown, taking a cleaning device in a home setting as an example, this application scenario includes a cleaning device 100 and a cleaning device base station 200.

[0098] In the living room, the cleaning device 100 can clean the surfaces to be cleaned. The cleaning device 100's common cleaning mode or default cleaning mode corresponds to the cleaning state of the roller brush dust collection. At this time, the roller brush assembly cleans the dirt on the surface to be cleaned. When the cleaning device 100 determines that the surface to be cleaned may have dirt such as hair entangled in the roller brush, it can switch to the cleaning state of suction port dust collection to deal with the dirt, so as to reduce the problem of hair entanglement in the roller brush of the cleaning device.

[0099] Optionally, after the cleaning device 100 has finished cleaning the floor dirt that may have gotten tangled in the roller brush in the cleaning state based on the suction port dust collection, the cleaning device 100 can also switch back to the roller brush dust collection cleaning state to continue cleaning the surfaces to be cleaned in the living room.

[0100] Optionally, the cleaning equipment base station 200 can charge the cleaning equipment 100.

[0101] It should be noted that the cleaning equipment 100 can also be applied to shopping malls, schools, and offices. This application does not limit the specific application scenarios of the cleaning equipment; the above are merely illustrative examples.

[0102] To make the above-mentioned objectives, features, and advantages of the embodiments of this application more apparent and understandable, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0103] Figure 2 A schematic diagram of an optional cleaning device provided in an embodiment of this application; Figure 3 This is a structural diagram of a portion of a cleaning device provided in an embodiment of this application; Figure 4 This application provides a schematic diagram of the state of a cleaning component corresponding to a switching of working states. Figure 5 This application provides a schematic diagram of the state of a linkage assembly corresponding to a switching of working states. Figure 6 This is a bottom schematic diagram of a partial structure of a cleaning device provided in an embodiment of this application; Figure 7A flowchart illustrating an optional control method for a cleaning device provided in an embodiment of this application; Figure 8 This is a schematic diagram of the structure of a control device in a cleaning equipment provided in an embodiment of this application.

[0104] Please refer to Figures 2 to 8 As shown, this application embodiment provides a cleaning device 100, which may be, for example, a cleaning robot. For example, the cleaning device 100 includes a cleaning apparatus 110, which includes a plurality of cleaning components 120.

[0105] The switching device 130 is connected to the cleaning device 110 and is used to switch between the working state of the first cleaning component and the working state of the second cleaning component among the multiple cleaning components 120; when the first cleaning component is in the working state, it cleans the first type of object to be removed; when the second cleaning component is in the working state, it cleans the second type of object to be removed.

[0106] In this embodiment, the working state of the first cleaning component refers to one cleaning method or sweeping state of the cleaning equipment, and the working state of the second cleaning component refers to another cleaning method or sweeping state of the cleaning equipment. For example, the first cleaning component is in the sweeping state of dust collection by the roller brush, and the second cleaning component is in the sweeping state of dust collection by the suction port. This embodiment does not specifically limit the sweeping state corresponding to the working state.

[0107] It should be noted that the first and second cleaning components also include non-working states, such as idle states and charging states. For example, when the first cleaning component is in working state, the second cleaning component switches to idle state. After the first cleaning component finishes processing its corresponding type of object to be cleaned, the second and first cleaning components change positions to bring the second cleaning component into working state to clean its corresponding type of object to be cleaned. The first cleaning component then switches to idle state. During the entire whole-house cleaning process, the first and second cleaning components can alternate and repeat cleaning multiple times to achieve thorough cleaning. This application does not specifically limit the non-working states of the first and second cleaning components.

[0108] Optionally, the working states include, but are not limited to, the cleaning state of the roller brush dust collection and the cleaning state of the suction port dust collection; the cleaning state of the roller brush dust collection requires the roller brush assembly and the suction port assembly to work simultaneously, while the cleaning state of the suction port dust collection only requires the suction port assembly to work.

[0109] Optionally, the second type of object to be removed may refer to dirt with entanglement characteristics and / or particulate dirt, such as hair, thread bundles, fabrics, large particles of dirt, etc. For large particles of dirt, due to their large mass, they are not easy to be directly rolled into the dust collection box by the roller brush. For this type of dirt, the working power of the motor can be increased to improve the suction and achieve the goal of sucking into the dust collection box. The first type of object to be removed may refer to dirt without entanglement characteristics, such as dust, especially dirt on soft materials that need to be shaken up, such as dirt on carpets, small particles of dirt, etc. The embodiments of this application do not limit the specific objects to be removed corresponding to the second type of object to be removed and the first type of object to be removed.

[0110] It should be noted that for different types of objects to be removed, there are cleaning components and cleaning states adapted to the specific objects. For example, for the first type of object to be removed, the corresponding cleaning component is a roller brush component, and the cleaning state is roller brush dust collection; for the second type of object to be removed, the corresponding cleaning component is a suction port component, and the cleaning state is suction port dust collection.

[0111] In some embodiments, when the cleaning device 100 performs a cleaning task, it cleans the first type of object to be removed based on the working state of the first cleaning component. When the cleaning device 100 determines that the type of object to be removed has changed, that is, from the first type of object to be removed to the second type of object to be removed, the cleaning device 100 switches its working state to a working state suitable for cleaning the second type of object to be removed. At this time, in the working state of the second cleaning component, the cleaning device 100 cleans the second type of object to be removed based on the second cleaning component.

[0112] For example, the cleaning device 100 cleans dust and dirt based on the roller brush assembly in the dust collection state. When the cleaning device 100 determines that the dirt has changed, that is, it has turned into hair dirt, the cleaning device 100 switches the working state, that is, switches to the suction assembly, and cleans hair dirt in the dust collection state.

[0113] Optionally, after cleaning hair and other dirt using the suction nozzle assembly in the dust collection state, the cleaning device 100 can switch to the roller brush assembly to clean dust and other dirt in the dust collection state.

[0114] It should be noted that the cleaning device 100 may also include other types of cleaning components besides the roller brush assembly and the suction port assembly, as well as other cleaning states corresponding to them. This application embodiment does not specifically limit this, and the above is only an example.

[0115] Therefore, this application provides a cleaning device that can switch to the corresponding cleaning state for different types of objects to be removed, and use appropriate cleaning components to clean the objects in a targeted manner, thus enriching the cleaning methods and improving the flexibility and effectiveness of cleaning.

[0116] Optional, please refer to Figure 3 The cleaning device 110 also includes: a cleaning device body 112, which forms a cavity 113 for accommodating a plurality of cleaning components;

[0117] The cavity 113 has a reserved space for switching between multiple cleaning components 120.

[0118] In this embodiment, the preset space is a space pre-set by the cleaning device for multiple cleaning components to switch positions. This embodiment does not limit the specific size of the preset space. It can be set based on the size of each cleaning component in the cleaning device or user needs. Its size can accommodate multiple cleaning components to switch positions.

[0119] In some embodiments, when the cleaning device 100 switches working states, such as switching from the cleaning state of roller brush dust collection to the cleaning state of suction port dust collection, the positions of the roller brush assembly 121 and the suction port assembly 122 can be changed within the cavity 113. For example, the position of the roller brush assembly 121 can be raised so that the roller brush assembly 121 is away from the surface to be cleaned, and the position of the suction port assembly 122 can be changed so that the suction port assembly 122 contacts the surface to be cleaned, and the surface to be cleaned is cleaned.

[0120] It should be noted that the embodiments of this application do not specifically limit how to change the position of the suction nozzle assembly 122. For example, the suction nozzle assembly 122 can be stretched to make it contact the surface to be cleaned.

[0121] Therefore, the cleaning device provided in this application includes a cavity that can accommodate multiple cleaning components for switching, providing sufficient space for switching between the multiple cleaning components, ensuring that the cleaning components can be flexibly switched, thereby expanding the applicability of the cleaning equipment.

[0122] Optionally, the multiple cleaning components 120 include: a suction port assembly 122 and / or a roller brush assembly 121, wherein the roller brush assembly 121 is used to clean a first type of object to be removed; and the suction port assembly 122 is used to clean a second type of object to be removed.

[0123] Optionally, the cleaning device 100 may include multiple suction port assemblies 122. When a suction port assembly 122 malfunctions, the suction port assembly 122 can be switched. Alternatively, multiple suction port assemblies 122 can be controlled to work, increasing the cleaning range and improving the cleaning effect.

[0124] Optionally, the cleaning device 100 may include multiple roller brush assemblies 121. When a roller brush assembly 121 malfunctions, the roller brush assembly 121 can be switched. Alternatively, multiple roller brush assemblies 121 can be controlled to work, increasing the cleaning range and improving the cleaning effect.

[0125] Optionally, the cleaning device 100 may include at least one roller brush assembly 121 and at least one suction port assembly 122. Taking one roller brush assembly 121 and one suction port assembly 122 as an example, when the cleaning device 100 cleans the first type of object to be cleaned, it uses the roller brush assembly 121. When it is determined that the first type of object to be cleaned has become the second type of object to be cleaned, it switches to the suction port assembly 122 for cleaning.

[0126] Optionally, the cleaning device 100 may also include other types of cleaning components, such as side brush components, cloth components, etc. Other types of cleaning components can be arbitrarily combined with suction port components 122 and / or roller brush components 121. This application embodiment does not specifically limit this.

[0127] Therefore, the embodiments of this application can effectively achieve flexible switching between the two cleaning components: the roller brush assembly and the suction nozzle assembly.

[0128] Optional, please refer to Figure 3 and Figure 4 Multiple cleaning components 120 include a suction port assembly 122 and a roller brush assembly 121. The suction port assembly includes a retractable channel 1221, one end of which is connected to a dust collection box 140, and the other end forms a suction port 1222 for sucking up the object to be cleaned.

[0129] like Figure 4 As shown in Figure A, when the roller brush assembly 121 of the cleaning device 100 is in operation, the retractable channel 1221 is compressed, increasing the distance between the suction port 1222 and the surface to be cleaned. The roller brush assembly 121 moves to a position between the suction port 1222 and the surface to be cleaned. The first type of debris is detached from the surface under the action of the roller brush assembly 121 and then sucked into the dust collection box 140 through the suction port 1222; and / or,

[0130] like Figure 4 As shown in Figure B, when the suction port assembly 122 of the cleaning device 100 is in operation, the roller brush assembly 121 is lifted, thereby increasing the distance between the roller brush assembly 121 and the surface to be cleaned; the telescopic channel 1221 is extended to suck in the second type of object to be removed from the surface to be cleaned through the suction port 1222.

[0131] When the roller brush assembly 121 is in working condition, the roller brush assembly 121 can be located in the middle position of all modules of the cleaning device 100, and the suction port assembly 122 is placed behind the roller brush assembly 121.

[0132] When the suction nozzle assembly 122 is in operation, the roller brush assembly 121 is raised in the cavity 113, providing space for the partial structural stretching of the suction nozzle assembly 122, so that the retractable channel 1221 of the suction nozzle assembly 122 is extended, and the suction nozzle 1222 contacts the surface to be cleaned, thereby cleaning the second type of object to be removed.

[0133] In this way, the suction port assembly and the roller brush assembly can be used to clean the first type of object to be removed and the second type of object to be removed, respectively, which can be applied to different application scenarios and improve the flexibility of the application.

[0134] Optional, please refer to Figure 6 When the suction port assembly 122 of the cleaning device 100 is in working condition, the suction port 1222, the suction port strip 1223 and the surface to be cleaned form a sealed space.

[0135] In this way, when the suction port assembly 122 of the cleaning equipment is in working condition to clean the second type of object to be removed, the periphery of the suction port 122, the lower rubber strip, and the surface to be cleaned form a relatively sealed space. With the operation of the fan, the internal negative pressure is increased, resulting in greater suction and better cleaning effect.

[0136] Optionally, the cleaning device 100 also includes a bottom scraper and roller brush strips.

[0137] It should be noted that the brush bristles are connected to the brush assembly 121. When the suction assembly 122 of the cleaning device 100 is in operation, the brush bristles are also lifted when the brush assembly 121 is lifted.

[0138] Optionally, the retractable channel 1221 is a silicone channel or a channel with folding characteristics.

[0139] It should be noted that the retractable channel 1221 is made of a soft material that can be stretched and compressed. This application embodiment does not limit the specific material of the retractable channel.

[0140] In some embodiments, since the retractable channel 1221 is a channel with folding characteristics, when the cleaning device 100 switches from the working state of the roller brush assembly 121 to the working state of the suction assembly 122, the retractable channel 1221 can be stretched accordingly, and when the cleaning device 100 switches from the working state of the suction assembly 122 to the working state of the roller brush assembly 121, the retractable channel 1221 can be compressed accordingly.

[0141] In this way, when switching working states, the movement of the cleaning components can be reduced. Simply lift or lower the roller brush assembly 121 to leave enough space for the retractable channel to stretch or compress, and the working state can be switched, saving costs and space.

[0142] Optionally, the switching device 130 includes at least one of a linkage assembly, a cam assembly, and a gear and rack assembly.

[0143] Optionally, the switching device 130 may also include a combination of a linear drive component and a fixed-axis rotation component. The specific component configuration of the switching device 130 is not limited in the embodiments of this application.

[0144] It should be noted that any component or mechanism that can realize the change of transmission direction and position is in line with the setting of the switching device 130. For example, the switching device 130 can be a combination of a connecting rod assembly and a cam assembly, a combination of a cam assembly and a gear and rack assembly, etc. This application embodiment does not specifically limit this.

[0145] Thus, the diverse structures of the switching devices allow for greater flexibility in the configuration of cleaning equipment, making it suitable for different application scenarios and user needs.

[0146] Optionally, when the structure of a certain type of switching device needs to be replaced, there are multiple options available for replacement, greatly improving the flexibility of cleaning equipment applications.

[0147] Optional, please see Figure 5 The linkage assembly includes multiple links and multiple pivots; the multiple links include a first link 131 and a second link 132; the multiple pivots include a first pivot 133, a second pivot 134 and a third pivot 135;

[0148] One end of the first connecting rod 131 is connected to the suction port assembly 122 via the first rotating shaft 133; the other end of the first connecting rod 131 is connected to one end of the second connecting rod 132 via the second rotating shaft 134; the other end of the second connecting rod 132 is connected to the roller brush assembly 121 via the third rotating shaft 135.

[0149] Optionally, the number of multiple connecting rods and multiple rotating shafts is related, that is, the multiple connecting rods and multiple rotating shafts can realize the switching between the suction port assembly 122 and the roller brush assembly 121. This application embodiment does not specifically limit the number of connecting rods and rotating shafts.

[0150] In this way, by connecting the two connecting rods, three rotating shafts, the suction port assembly, and the roller brush assembly, the suction port assembly and the roller brush assembly can be switched, simplifying the connection structure.

[0151] Optional, please refer to Figure 5 The cleaning device 110 also includes a drive device 114; such as Figure 5As shown in Figures A to B, when the cleaning device 100 transitions from the working state of the roller brush assembly 121 to the working state of the suction assembly 122, the drive device 114 drives the first connecting rod 131 and the second connecting rod 132 to rotate, causing the first rotating shaft 133, the second rotating shaft 134, and the third rotating shaft 135 to change positions, so that the roller brush assembly 121 rotates upward and the suction assembly 122 rotates downward, thus achieving the transition of the working state; and / or,

[0152] like Figure 5 As shown in sections B to A, when the cleaning device 100 switches from the working state of the suction assembly 122 to the working state of the roller brush assembly 121, the drive device 114 drives the first connecting rod 131 and the second connecting rod 132 to rotate, and the first rotating shaft 133, the second rotating shaft 134 and the third rotating shaft 135 change positions so that the roller brush assembly 121 rotates downward and the suction assembly 122 rotates upward, thereby realizing the switch of working state.

[0153] When the drive device 114 is activated, it can drive the rotating linkage, causing the roller brush assembly 121 to disengage from the rotating shaft and move forward and upward. The suction port assembly 122 rotates downward based on the bottom rotating shaft, reducing the distance to the surface to be cleaned, thus realizing the conversion of the working state of the roller brush assembly 121 to the working state of the suction port assembly 122. The conversion process of the working state of the suction port assembly 122 to the working state of the roller brush assembly 121 is similar and will not be described in detail here.

[0154] Thus, based on the rotation of the first and second links, the first, second, and third rotating shafts change positions, which can drive the cleaning equipment to switch between the working state of the roller brush assembly 121 and the working state of the suction assembly 122. The structure and logic are relatively simple and suitable for the promotion of cleaning equipment.

[0155] Optionally, the switching device 130 is specifically used to switch the working state by changing the position of the first cleaning component and the second cleaning component among the multiple cleaning components 120.

[0156] In some embodiments, when the first cleaning component is in working state, the first cleaning component corresponds to the first position and the second cleaning component corresponds to the second position. When the cleaning device 100 needs to switch working states, the first cleaning component can switch to the third position and the second cleaning component can switch to the first position. The specific positions corresponding to the first position, the second position and the third position are not limited in the embodiments of this application.

[0157] Optionally, when the cleaning device 100 needs to switch working states, the first cleaning component can be switched to the third position, and some components of the second cleaning component can be switched to the first position.

[0158] Optionally, when the cleaning device 100 needs to switch working states, the first cleaning component can switch from the third position back to the first position, and the second cleaning component can switch from the first position back to the second position.

[0159] Therefore, the present application embodiment can switch the cleaning state by switching the position of the cleaning component, simplifying the switching logic and improving the practicality of the cleaning equipment.

[0160] Optional, the cleaning equipment also includes:

[0161] The control device 150 is used to determine the corresponding target object to be removed according to the type of object to be removed on the surface to be cleaned during the cleaning process of the cleaning equipment 100, and to control the switching device 130 to switch to the working state of the cleaning components required to clean the target object to be removed.

[0162] In this embodiment of the application, the target object to be removed can be either a first type of object to be removed or a second type of object to be removed; the second type of object to be removed is an object to be removed with a target feature, which is a feature with entanglement characteristics and / or a particulate feature, such as hair, fabric, large particles, etc.; the first type of object to be removed is an object to be removed with other features, which is a feature with non-entanglement characteristics, such as dust, etc.

[0163] In this step, during the cleaning process of the cleaning equipment 100, the type of the object to be removed on the surface to be cleaned can be identified in advance, thereby determining whether it belongs to the first type or the second type of object to be removed. Furthermore, the cleaning equipment 100 can be switched in advance to the cleaning state required to clean the corresponding type of object to be removed, such as controlling the switch to the cleaning state of the roller brush dust collection corresponding to the first type of object to be removed, or controlling the switch to the cleaning state of the suction port dust collection corresponding to the second type of object to be removed.

[0164] Therefore, the embodiments of this application can determine the working state of the cleaning component according to the type of the object to be removed on the surface to be cleaned, and then control the cleaning component to switch to the cleaning state required to clean the corresponding type of object in advance, thereby improving the intelligence of component switching.

[0165] Optionally, the cleaning equipment also includes: a sensing device 160, used to collect sensing information corresponding to the current object to be cleaned and send it to the control device 150;

[0166] The control device 150 is specifically used to: determine the corresponding target object to be removed based on the sensor information, and control the switching device 130 to switch to the working state of the cleaning components required to clean the target object.

[0167] In this embodiment of the application, the sensing information includes, but is not limited to, image information, point cloud data, etc., and the specific content corresponding to the sensing information is not limited in this embodiment of the application.

[0168] In some embodiments, the sensing device 160 may be disposed at the front end of the cleaning device 100 and connected to the control device 150. In this way, the sensing device 160 can be used to detect the location of the cleaning device 100 or the sensing information in the area in front of it, so that the control device 150 can determine the type of object to be removed in advance based on the sensing information, thereby switching the working state in advance. This can prevent the problem of not being able to clean different types of objects in time due to the failure to switch the suction assembly 122 and the roller brush assembly 121 in time.

[0169] For example, when the sensor 160 collects the image information corresponding to the object to be removed and sends it to the control device 150, the control device 150 can control the switching device 130 to switch from the first cleaning component to the second cleaning component in advance, so that the suction component 122 of the cleaning device 100 can clean the second type of object to be removed in the working state.

[0170] For example, when the control device 150 determines that the target to be removed is hair based on the sensor information, if the cleaning device 100 is in the cleaning state of roller brush dust collection at this time, the control switching device 130 switches from the cleaning state of roller brush dust collection to the cleaning state of suction port dust collection in advance; if the cleaning device 100 is in the cleaning state of suction port dust collection at this time, the cleaning device 100 continues to clean the hair based on the cleaning state of suction port dust collection.

[0171] Optionally, after the hair has been removed and it is determined that the surface to be cleaned does not need to be cleaned in the cleaning state based on the suction port dust collection, the cleaning equipment 100 can control the switching device 130 to switch to the cleaning state of the roller brush dust collection in advance to clean the surface to be cleaned, because the cleaning effect of the roller brush dust collection state is better.

[0172] Therefore, the embodiments of this application can determine the target object to be removed based on the sensing information collected by the sensing device, and then switch the working state of the cleaning components required to clean the target object in advance, solving the problem of not being able to clean different types of objects in time due to the untimely switching of working states. Furthermore, the cleaning state can be intelligently switched according to the environment of the cleaning equipment and the type of object to be removed, improving the convenience of the cleaning equipment application.

[0173] Optional, please refer to Figure 8 ,like Figure 8 As shown, the control device 150 includes:

[0174] The identification module 151 is used to output identification results based on the sensing information collected by the sensing device; the identification results are used to indicate the target features corresponding to the second type of object to be removed.

[0175] The controller 152 is used to output a corresponding switching command based on the target characteristics and send it to the drive device 114 so that the drive device 114 drives the switching device 130 to switch the working state based on the switching command.

[0176] Optionally, the identification result is also used to indicate the non-target features corresponding to the first type of object to be removed; further, the controller 152 outputs the corresponding switching command according to the non-target features and sends it to the drive device 114, so that the drive device 114 drives the switching device 130 to switch the working state of the second cleaning component to the working state of the first cleaning component in advance based on the switching command.

[0177] In some embodiments, the sensing information can be processed using a predefined model or a predetermined algorithm to identify target features in the sensing information. The target features can be features with entanglement characteristics and / or granular features. This application does not specifically limit this.

[0178] The predefined model can refer to a machine algorithm model based on deep learning, such as a machine algorithm model based on convolutional neural networks, a machine algorithm model based on recurrent neural networks, a machine algorithm model based on deep belief networks, a machine algorithm model based on deep autoencoders, etc. This application does not limit the specific algorithm model corresponding to the predefined model, as long as it can perform feature recognition.

[0179] For example, the predefined model can be an artificial intelligence (AI) model. The cleaning device 100 uses AI recognition to input sensor information into the AI ​​model and obtain recognition results including the target features corresponding to the second type of object to be cleaned.

[0180] It should be noted that the functions of the predefined algorithm and the predefined model are similar. They can perform feature recognition. For example, if the predefined algorithm is an image recognition algorithm, the embodiments of this application do not specifically limit the predefined algorithm. It can refer to existing algorithms or redefine new algorithms.

[0181] Therefore, the embodiments of this application can determine the corresponding cleaning state as the working state of the second cleaning component in a timely manner based on the identification results including target features output by the identification module, and then generate a switching command to switch the working state in advance, solving the problem of not having enough time to clean the second type of object to be removed due to the untimely switching of the working state, and improving the accuracy and timeliness of the switching of the working state.

[0182] Optionally, the recognition module 151 is specifically used for:

[0183] The sensor information is input into the artificial intelligence (AI) model, and the recognition result is output; the target features are features with entanglement characteristics and / or granular features.

[0184] For example, such as Figure 7 As shown, when the cleaning equipment performs a cleaning task based on the common cleaning mode (the first cleaning component of the cleaning equipment is in working state), it can simultaneously perform AI recognition, that is, input the collected sensor information into the AI ​​model to determine whether the sensor information has entanglement characteristics and / or particulate characteristics. If so, the recognition module provides signal feedback, and the signal is processed by the controller to generate a switching command and send it to the switching device, so that the switching device switches the working state of the first cleaning component to the working state of the second cleaning component in advance; if not, the cleaning task continues to be performed based on the common cleaning mode.

[0185] Among them, the common cleaning mode corresponds to the cleaning state of the roller brush dust collection, that is, the working state of the first cleaning component; the sensing information is the image information or point cloud data corresponding to the object to be cleaned.

[0186] Therefore, the cleaning equipment provided in this application embodiment can combine AI to intelligently identify objects to be removed, including target features, so as to switch working states in advance, reduce problems caused by untimely switching of working states, and enable the cleaning equipment to accurately predict the switching of working states, thereby improving the working efficiency of the cleaning equipment.

[0187] Optionally, the sensing device 160 includes: an image sensor and / or radar.

[0188] Image sensors can refer to functional devices that use the photoelectric conversion function of photoelectric devices to convert the light image on the photosensitive surface into an electrical signal that is proportional to the light image. Such devices may include cameras, webcams, etc. Radar refers to a device that uses radio waves to detect targets and determine their spatial positions. Such devices may include line lidar, etc. This application does not specifically limit the image sensors and radar.

[0189] In some embodiments, image information corresponding to the object to be removed can be acquired based on an image sensor, and the corresponding target object to be removed can be determined based on the image information.

[0190] In other embodiments, point cloud data corresponding to the object to be cleared can be collected by radar, and the corresponding target object to be cleared can be determined based on the point cloud data. For example, point cloud data with continuous linear features can be determined as target features, that is, there are continuous point cloud data and features that can constitute linear characteristics.

[0191] In some other embodiments, image information corresponding to the object to be removed can be collected by an image sensor, and point cloud data corresponding to the object to be removed can be collected by radar. The corresponding target object to be removed can then be determined based on the image information and the point cloud data.

[0192] It should be noted that the sensing device 160 may also include other types of devices. Different types of devices can be combined with each other to obtain sensing information. This application embodiment does not specifically limit this. For example, the sensing device 160 may also include a scanner.

[0193] In this way, various types of sensing devices and data acquisition methods can be used to determine the target object to be removed, improving the flexibility and accuracy of the determination of the target object.

[0194] Optionally, the radar uses point cloud data to identify target features; the identification module 151 is specifically used for:

[0195] The collected image information corresponding to the object to be removed is input into the artificial intelligence (AI) model to identify the target features in the image information;

[0196] Determine whether the target features identified by the AI ​​model are correct based on point cloud data.

[0197] In some embodiments, after the identification module 151 identifies the target features based on image information, it can also verify the accuracy of the identified target features based on point cloud data to determine whether the identified target features are accurate. In this way, the radar-assisted image sensor collects sensing information to perform dual identification of target features, thereby improving the accuracy of identifying target features.

[0198] It is understandable that after the recognition module 151 recognizes the target features based on point cloud data, it can also verify the accuracy of the recognized target features based on image information.

[0199] Optionally, to determine whether the target features identified by the identification module 151 are accurate, other types of devices can be used to collect sensor information for verification. In this embodiment, the number of devices for assisting in collecting sensor information is not specifically limited. For example, multiple image sensors and / or multiple radars, or even other devices capable of collecting sensor information, can be used to collect sensor information.

[0200] In this way, by re-verifying the target features, the accuracy of identifying the target features can be improved and identification errors can be prevented.

[0201] Optionally, the radar is used to determine the distance between the cleaning equipment 100 and the object to be cleaned; the identification module 151 is specifically used for:

[0202] When the distance is less than a preset threshold, extract the image features from the image information corresponding to the current object to be removed;

[0203] Image features are input into an artificial intelligence (AI) model for identification to determine whether the target features exist in the image features.

[0204] In this embodiment of the application, the preset threshold may refer to the maximum distance preset in advance for identifying objects to be removed. This embodiment of the application does not specifically limit the value corresponding to the preset threshold.

[0205] For example, when the cleaning equipment is performing cleaning work, if it detects that there is an object to be removed in front, it will extract the image features from the image information corresponding to the object to be removed when it moves to a distance less than a preset threshold. The image features will be input into the AI ​​model for recognition to determine whether there are target features in the image features. If so, the switching device will be controlled to switch to the working state of the second cleaning component in advance to clean the object to be removed.

[0206] Optionally, when the object is moved to a distance less than a preset threshold, the point cloud data corresponding to the object to be removed can be extracted and the presence of continuous linear features in the point cloud data can be identified to determine whether target features exist and whether to switch working states.

[0207] It should be noted that this distance can also be preset by the user, and this application does not impose specific limitations on it. The preset threshold can be set to different values ​​for different application scenarios; that is, the preset threshold can be the same or different in different application scenarios.

[0208] Therefore, the embodiments of this application can determine whether target features exist by pre-collecting image information, so as to control the cleaning equipment to switch its working state in advance to clean the objects to be removed, thereby solving the problem of not being able to clean different types of objects to be removed in time due to untimely switching of working states, and ensuring the timeliness of cleaning.

[0209] For example, this application also provides a control method for a cleaning device, the cleaning device including a cleaning apparatus and a switching apparatus, the cleaning apparatus including multiple cleaning components; the method includes:

[0210] To enable switching between the working states of the first cleaning component and the second cleaning component among multiple cleaning components;

[0211] The first cleaning component is in operation and cleans the first type of object to be removed; the second cleaning component is in operation and cleans the second type of object to be removed.

[0212] Optionally, switching between the working states of the first cleaning component and the second cleaning component among multiple cleaning components includes:

[0213] The working state can be switched by changing the positions of the first cleaning component and the second cleaning component among multiple cleaning components.

[0214] Optionally, the multiple cleaning components include a suction port assembly and a roller brush assembly. The suction port assembly includes a retractable channel, one end of which is connected to a dust collection box, and the other end forming a suction port for sucking up the object to be cleaned. The method further includes:

[0215] When switching to the roller brush assembly mode, the retractable channel is compressed to increase the distance between the suction port and the surface to be cleaned. The roller brush assembly moves to a position between the suction port and the surface. The first type of debris is detached from the surface by the roller brush assembly and then sucked into the dust collection box through the suction port; and / or...

[0216] When it is necessary to switch to the working state of the suction port assembly, the roller brush assembly is raised to increase the distance between the roller brush assembly and the surface to be cleaned, and the telescopic channel is extended to suck in the second type of debris to be removed from the surface to be cleaned through the suction port.

[0217] Optionally, the method also includes:

[0218] During the cleaning process of the cleaning equipment, the corresponding target to be removed is determined according to the type of object to be removed on the surface to be cleaned, and the switching device is controlled to switch to the working state of the cleaning component required to clean the target to be removed.

[0219] Optionally, based on the type of material to be removed from the surface to be cleaned, the corresponding target material to be removed is determined, and the switching device is controlled to switch to the working state of the cleaning components required to clean the target material, including:

[0220] Collect sensor information corresponding to the current object to be removed;

[0221] Based on the sensor information, the corresponding target object to be removed is determined, and the switching device is controlled to switch to the working state of the cleaning components required to clean the target object.

[0222] Optionally, based on sensor information, the corresponding target object to be removed is determined, and the switching device is controlled to switch to the working state of the cleaning components required to clean the target object, including:

[0223] The identification result is output based on the sensing information collected by the sensing device; the identification result is used to indicate the target features corresponding to the second type of object to be removed.

[0224] The corresponding switching command is output based on the target characteristics and sent to the drive device so that the drive device can drive the switching device to switch the working state based on the switching command.

[0225] Optionally, the recognition result can be output based on the sensor information, including:

[0226] The sensor information is input into the artificial intelligence (AI) model, and the recognition result is output; the target features are features with entanglement characteristics and / or granular features.

[0227] Optionally, the sensing information includes image information and point cloud data; the sensing information is input into an artificial intelligence (AI) model, and the output recognition results include:

[0228] The collected image information corresponding to the object to be removed is input into the artificial intelligence (AI) model to identify the target features in the image information;

[0229] Determine whether the target features identified by the AI ​​model are correct based on point cloud data.

[0230] Optionally, the recognition result can be output based on the sensor information, including:

[0231] When the distance is less than a preset threshold, the image features are extracted from the image information corresponding to the current object to be removed; this distance is the distance between the cleaning equipment and the object to be removed as determined by the radar.

[0232] Image features are input into an artificial intelligence (AI) model for identification to determine whether the target features exist in the image features.

[0233] It should be noted that the specific implementation principle and effect of the control method of the cleaning equipment provided in the above embodiments can be found in the relevant description and effect of the cleaning equipment in the above embodiments, and will not be elaborated further here.

[0234] This application also provides a schematic diagram of the structure of an electronic device. Figure 9 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application, such as... Figure 9 As shown, the electronic device may include: a processor 901 and a memory 902 communicatively connected to the processor; the memory 902 stores a computer program; the processor 901 executes the computer program stored in the memory 902, causing the processor 901 to perform the method described in any of the above embodiments.

[0235] The memory 902 and the processor 901 can be connected via bus 903.

[0236] This application also provides a computer-readable storage medium storing computer program execution instructions, which, when executed by a processor, are used to implement the methods described in any of the foregoing embodiments of this application.

[0237] This application also provides a chip for executing instructions, which is used to perform the methods described in any of the foregoing embodiments executed by an electronic device as described in any of the foregoing embodiments of this application.

[0238] This application also provides a computer program product, which includes a computer program that, when executed by a processor, can implement the methods described in any of the foregoing embodiments executed by an electronic device as described in any of the foregoing embodiments of this application.

[0239] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of modules is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple modules or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or modules may be electrical, mechanical, or other forms.

[0240] The modules described as separate components may or may not be physically separate. The components shown as modules may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to implement the solution of this embodiment according to actual needs.

[0241] Furthermore, the functional modules in the various embodiments of this application can be integrated into one processing unit, or each module can exist physically separately, or two or more modules can be integrated into one unit. The unit composed of the above modules can be implemented in hardware or in the form of hardware plus software functional units.

[0242] The integrated modules implemented as software functional modules described above can be stored in a computer-readable storage medium. These software functional modules, stored in a storage medium, include several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) or processor to execute some steps of the methods described in the various embodiments of this application.

[0243] It should be understood that the aforementioned processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), etc. A general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in the application can be directly manifested as being executed by a hardware processor, or executed by a combination of hardware and software modules within the processor.

[0244] The memory may include high-speed random access memory (RAM) or non-volatile memory (NVM), such as at least one disk storage device, and may also be a USB flash drive, external hard drive, read-only memory, disk or optical disc, etc.

[0245] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be categorized as address buses, data buses, control buses, etc. For ease of illustration, the buses shown in the accompanying drawings are not limited to a single bus or a single type of bus.

[0246] The aforementioned storage media can be implemented from any type of volatile or non-volatile storage device or a combination thereof, such as Static Random-Access Memory (SRAM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Erasable Programmable Read-Only Memory (EPROM), Programmable Read-Only Memory (PROM), Read-Only Memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. The storage media can be any available medium accessible to general-purpose or special-purpose computers.

[0247] An exemplary storage medium is coupled to a processor, enabling the processor to read information from and write information to the storage medium. Alternatively, the storage medium can be an integral part of the processor. Both the processor and the storage medium can reside in an Application Specific Integrated Circuit (ASIC). Alternatively, the processor and storage medium can exist as discrete components in an electronic device or host device.

[0248] The above description is merely a specific implementation of the embodiments of this application, but the protection scope of the embodiments of this application is not limited thereto. Any changes or substitutions within the technical scope disclosed in the embodiments of this application should be covered within the protection scope of the embodiments of this application. Therefore, the protection scope of the embodiments of this application should be determined by the protection scope of the claims.

Claims

1. A cleaning device, characterized in that, The cleaning equipment (100) includes: The cleaning device (110) includes multiple cleaning components (120). A switching device (130), connected to the cleaning device (110), is used to switch between the working state of the first cleaning component and the working state of the second cleaning component among the plurality of cleaning components (120); when the first cleaning component is in the working state, it cleans the first type of object to be removed; when the second cleaning component is in the working state, it cleans the second type of object to be removed. The plurality of cleaning components (120) include a suction port assembly (122) and a roller brush assembly (121). The suction port assembly includes a retractable channel (1221), one end of which is connected to a dust collection box (140), and the other end forms a suction port (1222) for sucking up the object to be cleaned. When the roller brush assembly (121) of the cleaning device (100) is in operation, the retractable channel (1221) is compressed to increase the distance between the suction port (1222) and the surface to be cleaned. The roller brush assembly (121) moves to a position between the suction port (1222) and the surface to be cleaned. The first type of debris to be removed is detached from the surface under the action of the roller brush assembly (121) and then sucked into the dust collection box (140) through the suction port (1222); and / or, When the suction port assembly (122) of the cleaning device (100) is in operation, the roller brush assembly (121) is lifted, thereby increasing the distance between the roller brush assembly (121) and the surface to be cleaned; the telescopic channel (1221) is extended to suck in a second type of object to be removed from the surface to be cleaned through the suction port (1222).

2. The cleaning equipment according to claim 1, characterized in that, The cleaning device (110) further includes a cleaning device body (112), which forms a cavity (113) for accommodating the plurality of cleaning components. The cavity (113) has a reserved space for switching between the multiple cleaning components (120).

3. The cleaning equipment according to claim 1, characterized in that, The plurality of cleaning components (120) include: a suction port assembly (122) and / or a roller brush assembly (121), wherein the roller brush assembly (121) is used to clean a first type of object to be removed; and the suction port assembly (122) is used to clean a second type of object to be removed.

4. The cleaning equipment according to claim 1, characterized in that, When the suction port assembly (122) of the cleaning device (100) is in working condition, the suction port (1222), the suction port strip (1223) and the surface to be cleaned form a sealed space.

5. The cleaning equipment according to claim 1 or 4, characterized in that, The retractable channel (1221) is a silicone channel or a channel with folding properties.

6. The cleaning equipment according to claim 1, characterized in that, The switching device (130) includes at least one of a linkage assembly, a cam assembly, and a gear and rack assembly.

7. The cleaning equipment according to claim 6, characterized in that, The linkage assembly includes multiple links and multiple pivots; the multiple links include a first link (131) and a second link (132); the multiple pivots include a first pivot (133), a second pivot (134), and a third pivot (135). One end of the first connecting rod (131) is connected to the suction port assembly (122) via the first rotating shaft (133); the other end of the first connecting rod (131) is connected to one end of the second connecting rod (132) via the second rotating shaft (134); the other end of the second connecting rod (132) is connected to the roller brush assembly (121) via the third rotating shaft (135).

8. The cleaning equipment according to claim 7, characterized in that, The cleaning device (110) further includes a drive device (114); when the cleaning device (100) switches from the working state of the roller brush assembly (121) to the working state of the suction assembly (122), the drive device (114) drives the first connecting rod (131) and the second connecting rod (132) to rotate, and the first rotating shaft (133), the second rotating shaft (134) and the third rotating shaft (135) change position, so that the roller brush assembly (121) rotates upward and the suction assembly (122) rotates downward, thereby realizing the switching of the working state; and / or, When the cleaning device (100) switches from the working state of the suction assembly (122) to the working state of the roller brush assembly (121), the driving device (114) drives the first connecting rod (131) and the second connecting rod (132) to rotate, and the first rotating shaft (133), the second rotating shaft (134) and the third rotating shaft (135) change position so that the roller brush assembly (121) rotates downward and the suction assembly (122) rotates upward, thereby realizing the switching of the working state.

9. The cleaning equipment according to claim 1, characterized in that, The switching device (130) is specifically used to switch the working state by changing the position of the first cleaning component and the second cleaning component among the plurality of cleaning components (120).

10. The cleaning equipment according to claim 1, characterized in that, The cleaning equipment also includes: The control device (150) is used to determine the corresponding target object to be removed according to the type of object to be removed on the surface to be cleaned during the cleaning process of the cleaning equipment (100), and to control the switching device (130) to switch to the working state of the cleaning components required to clean the target object to be removed.

11. The cleaning equipment according to claim 10, characterized in that, The cleaning equipment further includes: a sensing device (160) for collecting sensing information corresponding to the current object to be cleaned and sending it to the control device (150). The control device (150) is specifically used to: determine the corresponding target object to be removed based on the sensing information, and control the switching device (130) to switch to the working state of the cleaning components required to clean the target object.

12. The cleaning equipment according to claim 11, characterized in that, The control device (150) includes: The identification module (151) is used to output an identification result based on the sensing information collected by the sensing device (160); the identification result is used to indicate the target features corresponding to the second type of object to be removed. The controller (152) is used to output a corresponding switching command according to the target feature and send it to the drive device (114) so ​​that the drive device (114) drives the switching device (130) to switch the working state based on the switching command.

13. The cleaning equipment according to claim 12, characterized in that, The identification module (151) is specifically used for: The sensing information is input into an artificial intelligence (AI) model, and the recognition result is output; the target feature is a feature with entanglement characteristics and / or a granular feature.

14. The cleaning equipment according to claim 12, characterized in that, The sensing device (160) includes: an image sensor and / or radar.

15. The cleaning equipment according to claim 14, characterized in that, The radar is used to identify point cloud data of the target features; the identification module (151) is specifically used for: The collected image information corresponding to the current object to be removed is input into the artificial intelligence (AI) model to identify the target features in the image information; Based on the point cloud data, determine whether the target features identified by the AI ​​model are correct.

16. The cleaning equipment according to claim 14, characterized in that, The radar is used to determine the distance between the cleaning equipment (100) and the object to be cleaned; the identification module (151) is specifically used for: When the distance is less than a preset threshold, image features are extracted from the image information corresponding to the currently collected object to be removed; The image features are input into an artificial intelligence (AI) model for identification to determine whether the target features exist in the image features.

17. A control method for a cleaning device, characterized in that, The cleaning equipment includes a cleaning device and a switching device, the cleaning device including multiple cleaning components; the method includes: To achieve the switching between the working states of the first cleaning component and the second cleaning component among the plurality of cleaning components; In this configuration, the first cleaning component is in operation and cleans the first type of debris to be removed; the second cleaning component is in operation and cleans the second type of debris to be removed. The plurality of cleaning components include a suction port assembly and a roller brush assembly. The suction port assembly includes a retractable channel, one end of which is connected to a dust collection box, and the other end forms a suction port for sucking up the object to be cleaned. The method further includes: When switching to the roller brush assembly's operating state is required, the retractable channel is compressed to increase the distance between the suction port and the surface to be cleaned. The roller brush assembly moves to a position between the suction port and the surface to be cleaned. The first type of debris to be removed is detached from the surface by the roller brush assembly and then sucked into the dust collection box through the suction port; and / or... When it is necessary to switch to the working state of the suction port assembly, the roller brush assembly is raised to increase the distance between the roller brush assembly and the surface to be cleaned, and the retractable channel is extended to suck in the second type of debris to be removed from the surface to be cleaned through the suction port.

18. The method according to claim 17, characterized in that, The method of switching between the working states of the first cleaning component and the second cleaning component among the plurality of cleaning components includes: The working state can be switched by changing the positions of the first cleaning component and the second cleaning component among the plurality of cleaning components.

19. An electronic device, characterized in that, include: A processor, and a memory communicatively connected to the processor; The memory stores computer-executed instructions; The processor executes computer execution instructions stored in the memory to implement the method as described in any one of claims 17-18.

20. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, are used to implement the method as described in any one of claims 17-18.

21. A computer program product, characterized in that, Includes a computer program that, when executed by a processor, implements the method as described in any one of claims 17-18.

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