Cleaning method and device of cleaning equipment, storage medium and electronic device

Abstract

The invention discloses a cleaning method and device of cleaning equipment, a storage medium and an electronic device.The cleaning method of the cleaning equipment comprises the steps that in the process that the cleaning equipment conducts cleaning on a to-be-cleaned area, whether the cleaning equipment conducts edge cleaning or not is determined; under the condition that it is determined that the cleaning equipment executes edge cleaning, the cleaning equipment is controlled to rotate by at least one circle at least once in the edge cleaning process, so that a cleaning range formed by a rag assembly of the cleaning equipment is closer to the edge corresponding to edge cleaning; and controlling the cleaning equipment to complete cleaning of the to-be-cleaned area, and through the above embodiment, the problem that the edge of the to-be-cleaned area is missed to be mopped due to the fact that a rag assembly of the cleaning equipment cannot touch the outermost edge in the related technology is solved.

Description

[Technical field]

[0001] The present invention relates to the field of intelligent cleaning, and in particular to a cleaning method and device for cleaning equipment, a storage medium and an electronic device. [Background technology]

[0002] A rag assembly may be provided on the rear side of the bottom of the cleaning device. When the cleaning device is cleaning along the edge of the cleaning area, the rag assembly may not be able to touch the area near the wall, resulting in missed mopping. After long-term and multiple mopping, very obvious marks may be left. [Summary of the invention]

[0003] The embodiments of the present invention provide a cleaning method and device, a storage medium and an electronic device for a cleaning device, so as to at least solve the problem in the prior art that the edge of the area to be cleaned is missed because the rag component of the cleaning device cannot touch the outermost edge.

[0004] According to an embodiment of the present invention, there is provided a cleaning method for a cleaning device, comprising: determining whether the cleaning device performs edge cleaning during a process in which the cleaning device performs edge cleaning on an area to be cleaned; when it is determined that the cleaning device performs edge cleaning, controlling the cleaning device to rotate at least one circle at least once during the edge cleaning process so that a cleaning range formed by a rag assembly of the cleaning device is closer to an edge corresponding to the edge cleaning; and controlling the cleaning device to complete cleaning of the area to be cleaned.

[0005] In an exemplary embodiment, controlling the cleaning device to rotate at least one circle at least once during the edge-adjacent process includes: controlling the cleaning device to rotate at least one circle at every preset distance during the edge-adjacent process; or, controlling the cleaning device to rotate at least one circle at every preset time duration during the edge-adjacent process; or, randomly controlling the cleaning device to rotate at least one circle during the edge-adjacent process.

[0006] In an exemplary embodiment, the method further comprises: controlling the rag assembly to extend out of the area covered by the cleaning device during the process of controlling the cleaning device to rotate at least one circle.

[0007] In an exemplary embodiment, controlling the cleaning device to rotate at least one circle at least once during the edge-adjacent process includes: controlling the rag assembly to extend out of the area covered by the cleaning device, and then controlling the cleaning device to rotate at least one circle.

[0008] In an exemplary embodiment, the rag assembly includes two side-by-side rotating rags, and controlling the rag assembly to extend out of the area covered by the cleaning device includes: controlling one of the rotating rags to extend out of the area covered by the cleaning device; or controlling the two rotating rags to extend out of the area covered by the cleaning device in different directions.

[0009] In an exemplary embodiment, controlling the cleaning device to rotate at least one circle at least once during the edge-adjacent process includes: after the cleaning device stops moving, controlling the cleaning device to rotate at least one circle in situ around the axis of the cleaning device.

[0010] In an exemplary embodiment, controlling the cleaning device to rotate at least one circle at least once during the edge-adjacent process includes: controlling the cleaning device to rotate at least one circle around the axis of the cleaning device on the basis of the cleaning device keeping moving forward.

[0011] In an exemplary embodiment, the wipe assembly includes two rotating wipes located side by side at the rear bottom of the cleaning device.

[0012] According to another aspect of an embodiment of the present invention, a cleaning method for a cleaning device is also provided, including: controlling the cleaning device to clean an area to be cleaned in a bow shape; when the cleaning device moves forward and touches the edge of the area to be cleaned, controlling the cleaning device to rotate at least one circle so that the cleaning range formed by the rag assembly of the cleaning device is closer to the edge; after controlling the cleaning device to rotate at least one circle, controlling the cleaning device to continue cleaning the area to be cleaned.

[0013] In an exemplary embodiment, controlling the cleaning device to rotate at least one circle includes: controlling the rag assembly to extend out of the area covered by the cleaning device, and then controlling the cleaning device to rotate at least one circle.

[0014] In an exemplary embodiment, controlling the cleaning device to rotate at least one circle includes: in the process of controlling the cleaning device to rotate at least one circle, controlling the rag assembly to extend out of the area covered by the cleaning device.

[0015] In an exemplary embodiment, the rag assembly includes two side-by-side rotating rags, and controlling the rag assembly to extend out of the area covered by the cleaning device includes: controlling one of the rotating rags to extend out of the area covered by the cleaning device; or controlling the two rotating rags to extend out of the area covered by the cleaning device in different directions.

[0016] In an exemplary embodiment, the wipe assembly includes two rotating wipes located side by side at the rear bottom of the cleaning device.

[0017] According to another aspect of an embodiment of the present invention, a cleaning device of a cleaning equipment is also provided, comprising: a determination module, used to determine whether the cleaning equipment performs edge cleaning during the cleaning process of the cleaning equipment on an area to be cleaned; a first control module, used to control the cleaning equipment to rotate at least one circle at least once during the edge process when it is determined that the cleaning equipment performs edge cleaning, so that the cleaning range formed by the rag assembly of the cleaning equipment is closer to the edge corresponding to the edge cleaning; and a second control module, used to control the cleaning equipment to complete the cleaning of the area to be cleaned.

[0018] According to another aspect of an embodiment of the present invention, a cleaning device of a cleaning equipment is also provided, including: a third control module, used to control the cleaning equipment to clean the area to be cleaned in a bow shape; a fourth control module, used to control the cleaning equipment to rotate at least one circle when the cleaning equipment moves forward and touches the edge of the area to be cleaned, so that the cleaning range formed by the rag assembly of the cleaning equipment is closer to the edge; a fifth control module, used to control the cleaning equipment to continue cleaning the area to be cleaned after controlling the cleaning equipment to rotate at least one circle.

[0019] According to another aspect of the embodiments of the present invention, a computer-readable storage medium is provided, in which a computer program is stored, wherein the processor executes the cleaning method of the cleaning device described in any one of the above items through the computer program.

[0020] According to another aspect of an embodiment of the present invention, an electronic device is provided, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the cleaning method of the cleaning equipment described in any one of the above items through the computer program.

[0021] Through the present invention, when it is determined that the cleaning device performs edge cleaning, the cleaning device is controlled to rotate at least one circle at least once during the edge cleaning process, so that the cleaning range formed by the rag component of the cleaning device is closer to the edge corresponding to the edge cleaning; that is, the edge of the area to be cleaned is cleaned by the rag component of the cleaning device in the present invention. The above-mentioned technical solution solves the problem in the prior art that the edge of the area to be cleaned will be missed because the rag component of the cleaning device cannot touch the outermost edge, thereby achieving the effect of intelligently cleaning the edge of the area to be cleaned and improving the user experience.

Brief Description of the Drawings

[0022] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0023] Figure 1 is a hardware structure block diagram of an optional cleaning device according to an embodiment of the present invention;

[0024] Figure 2 is a flow chart of an optional cleaning method for a cleaning device according to an embodiment of the present invention;

[0025] Figure 3 is a flow chart of another optional cleaning method for a cleaning device according to an embodiment of the present invention;

[0026] Figure 4 It is a schematic diagram of the cleaning method of the cleaning equipment in the prior art (I);

[0027] Figure 5 is a schematic diagram of an optional cleaning method of a cleaning device according to an embodiment of the present invention (I);

[0028] Figure 6 is a schematic diagram of an optional cleaning method of a cleaning device according to an embodiment of the present invention (II);

[0029] Figure 7 is a schematic diagram of an optional cleaning method of a cleaning device according to an embodiment of the present invention (III);

[0030] Figure 8 is a schematic diagram of an optional cleaning method of a cleaning device according to an embodiment of the present invention (IV);

[0031] Fig. 9 It is a schematic diagram of the cleaning method of the cleaning equipment in the prior art (III);

[0032] Fig.10 It is a schematic diagram of the cleaning method of the cleaning equipment in the prior art (IV);

[0033] Fig.11 It is a schematic diagram of the cleaning method of the cleaning equipment in the prior art (V);

[0034] Fig.12 is a schematic diagram of cleaning of an optional cleaning device according to an embodiment of the present invention (V);

[0035] Fig.13 is a partially enlarged schematic diagram of an optional cleaning method of a cleaning device according to an embodiment of the present invention;

[0036] Fig.14 is a schematic diagram of an optional cleaning method of a cleaning device according to an embodiment of the present invention (VI);

[0037] Fig.15is a structural block diagram of a cleaning device of an optional cleaning device in an embodiment of the present invention;

[0038] Fig.16 It is a structural block diagram of a cleaning device of another optional cleaning equipment in an embodiment of the present invention. [Specific implementation method]

[0039] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0040] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0041] Figure 1 1 is a hardware structure diagram of an optional cleaning device according to an embodiment of the present invention. Figure 1 As shown, the cleaning device may include one or more ( Figure 1 Only one is shown in the figure) processor 102 (the processor 102 may include but is not limited to a microprocessor (Microprocessor Unit, referred to as MPU) or a programmable logic device (Programmable logic device, referred to as PLD) and a memory 104 for storing data. In an exemplary embodiment, the cleaning device may also include a transmission device 106 and an input and output device 108 for communication functions. It can be understood by those skilled in the art that Figure 1 The structure shown is only for illustration and does not limit the structure of the above-mentioned switching device. Figure 1 More or fewer components as shown, or with Figure 1 Equivalent functions or comparisons shown Figure 1 A different configuration with more features is shown.

[0042] The memory 104 can be used to store computer programs, for example, software programs and modules of application software, such as computer programs corresponding to the cleaning methods of the cleaning equipment in the embodiment of the present invention, and the processor 102 executes various functional applications and data processing by running the computer programs stored in the memory 104, that is, realizing the above method. The memory 104 may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory or other non-volatile solid-state memory. In some instances, the memory 104 may further include a memory remotely arranged relative to the processor 102, and these remote memories may be connected to the cleaning equipment via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network and a combination thereof.

[0043] The transmission device 106 is used to receive or send data via a network. The specific example of the above network may include a wireless network provided by a communication provider of the switching device. In one example, the transmission device 106 includes a network adapter (Network Interface Controller, referred to as NIC), which can be connected to other network devices through a base station so as to communicate with the Internet. In one example, the transmission device 106 can be a radio frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0044] When cleaning the area to be cleaned, the cleaning device may perform an edge cleaning path. In this embodiment, a cleaning method for the cleaning device along the edge cleaning path is provided, which is applied to the above-mentioned cleaning device. Figure 2 1 is a flow chart of a cleaning method for a cleaning device according to an embodiment of the present invention (I), the flow chart comprising the following steps:

[0045] Step S202 : during the process of the cleaning device cleaning the area to be cleaned, determining whether the cleaning device performs edge cleaning.

[0046] Determining whether the cleaning device performs edge cleaning may include: determining the distance between the cleaning device and the edge of the area to be cleaned; when the distance is greater than a preset distance, determining that the cleaning device does not perform edge cleaning; when the distance is less than a preset distance, determining that the cleaning device performs edge cleaning.

[0047] The cleaning device may be a self-propelled cleaning device, and the cleaning modes of the cleaning device may include a mopping mode, a sweeping mode, and a sweeping and mopping mode. The mopping mode means that the cleaning device uses a rag component to mop the area to be cleaned, the sweeping mode means that the cleaning device uses a sweeping component to sweep the area to be cleaned, and the sweeping and mopping mode means that the cleaning device uses a rag component and a sweeping component to sweep and mop the area to be cleaned at the same time.

[0048] It should be noted that the distance between the cleaning device and the edge of the area to be cleaned can be determined by a distance sensor on the cleaning device. When the distance sensor is located at the center of the cleaning device, the distance indicates the distance between the center point of the cleaning device and the edge of the area to be cleaned; when the distance sensor is located at the edge of the cleaning device, the distance indicates the distance between the edge of the cleaning device and the edge of the area to be cleaned.

[0049] The above distance sensors include but are not limited to: laser ranging detectors, ultrasonic sensors, infrared sensors, radars, visual sensors, etc.

[0050] When the distance sensor is a laser ranging detector, the distance between the edge and the cleaning equipment is calculated by using a laser beam; when the distance sensor is an ultrasonic sensor, ultrasonic waves are sent and then the reflected signals are received and processed to calculate the distance between the edge and the cleaning equipment; when the distance sensor is an infrared sensor, the distance between the edge and the cleaning equipment is detected by infrared rays; when the distance sensor is a radar, a short-time high-frequency pulse signal is emitted, and after receiving the electromagnetic pulse bounced back from the edge, the radar determines the distance between the edge and the cleaning equipment based on the bounced electromagnetic pulse; when the distance sensor is a visual sensor, the distance between the edge and the cleaning equipment is determined based on the collected first image information.

[0051] It can be understood that when the distance is less than the preset distance, it means that the distance between the cleaning device and the edge is relatively close, and the edge of the area to be cleaned needs to be cleaned. Therefore, controlling the rag assembly of the cleaning device to rotate at least one circle can increase the cleaning range of the rag assembly so that the rag assembly cleans the edge of the area to be cleaned; when the distance is greater than or equal to the preset distance, it means that the distance between the cleaning device and the edge is relatively far, and the edge of the area to be cleaned does not need to be cleaned.

[0052] It should be noted that the preset distance varies with the distance indication information. For example, when the distance indication is the distance between the center point of the cleaning device and the edge of the target area, the corresponding preset distance will be relatively large; when the distance indication is the distance between the edge of the cleaning device and the edge of the target area, the corresponding preset distance will be relatively small.

[0053] For example, when the distance indicates the distance between the center point of the cleaning device and the edge of the target area, the preset distance may be 13 cm; when the distance indicates the distance between the edge of the cleaning device and the edge of the target area, the preset distance may be 3 cm, and so on.

[0054] Step S204, when it is determined that the cleaning device performs edge cleaning, control the cleaning device to rotate at least one circle at least once during the edge cleaning process so that the cleaning range formed by the rag assembly of the cleaning device is closer to the edge corresponding to the edge cleaning.

[0055] It should be noted that the number of rotations of the cleaning device includes but is not limited to: one circle, two circles.

[0056] like Figure 4 As shown, cleaning equipment (i.e. Figure 4 The rag assembly of the sweeping machine in the example can be located at the rear of the cleaning device, and a side brush can be provided at the front of the cleaning device. The cleaning device cleans along the wall surface, and the cleaning device moves along the driving path. The area passed by the rag assembly forms the mopped area. Since the area covered by the rag assembly is limited, there may be unmopped areas at the edge of the wall when cleaning along the edge.

[0057] When the cleaning device rotates around its axis, the rag assembly rotates with the cleaning device, thereby increasing the cleaning range of the rag assembly. On the basis of the cleaning device having a larger cleaning range, the cleaning range formed is closer to the edge corresponding to the edge cleaning than when the cleaning device does not rotate.

[0058] Step S206, controlling the cleaning device to complete cleaning of the area to be cleaned.

[0059] Through the above steps, when it is determined that the cleaning device performs edge cleaning, the cleaning device is controlled to rotate at least one circle at least once in the edge cleaning process so that the cleaning range formed by the rag component of the cleaning device is closer to the edge of the area to be cleaned; that is, the edge of the area to be cleaned is cleaned by the rag component of the cleaning device in the present invention. The above technical solution solves the problem in the prior art that the edge of the area to be cleaned will be missed because the rag component of the cleaning device cannot touch the outermost edge, thereby achieving the effect of intelligently cleaning the edge of the area to be cleaned and improving the user experience.

[0060] Optionally, there may be multiple implementations of step S204. Two implementations are provided in the embodiment of the present invention:

[0061] Method 1: After the cleaning device stops moving, controlling the cleaning device to rotate at least one circle in situ around the axis of the cleaning device;

[0062] Mode 2: On the basis of the cleaning device maintaining forward movement, the cleaning device is controlled to rotate at least one circle around the axis of the cleaning device.

[0063] In the above-mentioned method 1, the cleaning device is controlled to stop by braking, and then the cleaning device is controlled to rotate at least one circle at the braking position; in the above-mentioned method 2, the cleaning device is controlled to rotate while driving, and no braking operation is required.

[0064] The cleaning device rotates in situ around the axis of the cleaning device for one circle. Figure 5 When cleaning along the edge, after the cleaning device stops, it can rotate counterclockwise or clockwise around its own axis for one circle (360 degrees), and then the cleaning device continues to perform cleaning along the edge at the original position according to the original driving path. Figure 5 As shown, when the cleaning device rotates 45 degrees counterclockwise around its own axis, the cleaning range formed by the rag assembly approaches the wall surface to clean the area near the wall surface. After the cleaning device rotates one circle counterclockwise, the rag assembly effectively cleans the area near the wall surface, reducing the range of missed mopping of the edge area.

[0065] Through the above embodiment, the rag component of the cleaning device is controlled to rotate at least one circle at the current position, and the edge of the area to be cleaned is cleaned during the rotation of the rag component, thereby solving the problem in the prior art that the edge of the area to be cleaned cannot be mopped because the rag component of the cleaning device cannot touch the outermost edge, thereby achieving the effect of intelligently cleaning the edge of the area to be cleaned and improving user experience.

[0066] It should be noted that, in the embodiment of the present invention, the cleaning device can be triggered by a built-in program to control the cleaning device to rotate at least one circle at least once during the process of following the edge; the cleaning device can also be triggered by an external trigger to control the cleaning device to rotate at least one circle at least once during the process of following the edge.

[0067] Specifically, the cleaning device is triggered by a built-in program to control the cleaning device to rotate at least one circle at least once during the edge-adjacent process, including:

[0068] Method 1: If Figure 7 As shown, during the edge-adjacent process, the cleaning device is controlled to rotate at least one circle every preset distance.

[0069] The cleaning device is controlled to rotate at least one circle every preset distance. For example, the cleaning device may be fixed to rotate after moving 10 cm.

[0070] Method 2: If Figure 7 As shown, during the edge cleaning process, the cleaning device is controlled to rotate at least one circle every preset time period.

[0071] The cleaning device is controlled to rotate at least one circle every preset time period. For example, the cleaning device can be fixed to rotate after moving for 5 seconds.

[0072] Method 3: During the edge-adjusting process, the cleaning device is randomly controlled to rotate at least one circle. Figure 6 As shown, when the cleaning device is cleaning along the edge, it is triggered for the first time after 3 seconds, and the cleaning device rotates one circle; it is triggered for the second time after 5 seconds, and the cleaning device rotates one circle; after 11 seconds, it is triggered for the third time, and the cleaning device rotates one circle.

[0073] Optionally, the cleaning device can be randomly controlled to rotate at least one circle in one of the following ways: randomly controlling the cleaning device to rotate at least one circle at any time within a preset time period; randomly controlling the cleaning device to rotate at least one circle at any position within a preset driving distance.

[0074] For example, the cleaning device is controlled to rotate at least one circle at any second within 5 seconds. For example, the cleaning device can rotate at least one circle after moving for 3 seconds, and the cleaning device can also rotate at least one circle after moving for 4 seconds; the cleaning device is randomly controlled to rotate at least one circle at any position within 10 cm of the cleaning device's movement. For example, the cleaning device can rotate at least one circle after moving 5 cm, and the cleaning device can also rotate at least one circle after moving 7 cm, that is, the cleaning device can rotate at any moving distance within 10 cm.

[0075] Optionally, the cleaning device can be randomly controlled to rotate at least one circle in the following manner: randomly determine a first rotation position set of the cleaning device; when the cleaning device is in any position in the first rotation position set, control the cleaning device to rotate at least one circle at any position in the first rotation position set; determine a second rotation position set of the cleaning device, and control the cleaning device to rotate at least one circle at any position in the second rotation position set, wherein the second rotation position set does not include any position in the first rotation position set.

[0076] That is, a rotation position set of the cleaning device is randomly determined, and the cleaning device rotates at any position in the rotation position set until the cleaning device rotates at all rotation positions in the rotation position set.

[0077] Specifically, triggering the rag assembly of the cleaning device to rotate at least one circle by external triggering includes at least one of the following:

[0078] Method 1: If Figure 8 As shown, when the cleaning device detects that there is an object to be cleaned at the edge of the area to be cleaned, the cleaning device is controlled to rotate at least one circle.

[0079] Optionally, the cleaning device detects whether there is an object to be cleaned at the edge of the area to be cleaned in the following manner: a visual sensor on the cleaning device collects second image information, and determines whether there is an object to be cleaned at the edge of the area to be cleaned based on the second image information.

[0080] Mode 2: When the cleaning device receives a control instruction sent by a control device, the cleaning device is controlled to rotate at least one circle.

[0081] The control instructions sent by the above-mentioned control device can be understood as the target object triggering the button on the control device to cause the control device to send control instructions to the cleaning device. For example, the target object's operation of the button on the mobile phone client for controlling the rotation of the cleaning device is received, so that the mobile phone sends control instructions to the cleaning device.

[0082] Method three: when the cleaning device receives a voice command sent by a target object, the cleaning device is controlled to rotate at least one circle.

[0083] For example, the target subject issues a voice command such as "rotate" to the cleaning device.

[0084] Mode 4: When the cleaning device receives a gesture command sent by a target object, the cleaning device is controlled to rotate at least one circle.

[0085] For example, the target object triggers a button on the control device to cause the control device to send a control instruction to the cleaning device. For example, the target object operates a button on a mobile client for controlling the rotation of the cleaning device to cause the mobile phone to send a control instruction to the cleaning device.

[0086] Optionally, controlling the cleaning device to rotate at least one circle during the edge-adjacent process comprises:

[0087] During the process of controlling the cleaning device to rotate at least one circle, the rag assembly is controlled to extend out of the area covered by the cleaning device; or after controlling the rag assembly to extend out of the area covered by the cleaning device, the cleaning device is controlled to rotate at least one circle.

[0088] In the embodiment of the present invention, the cleaning device can be controlled to extend the rag assembly during the rotation process; or the rag assembly can be controlled to extend first, and then the cleaning device can be controlled to rotate.

[0089] It should be noted that, when the rag assembly of the cleaning device is allowed to extend to the outside of the cleaning device and the distance between the cleaning device and the edge is less than a preset distance, the rag assembly is controlled to extend and move outward, and then during the movement of the cleaning device, the cleaning device is controlled to rotate to clean the edge of the area to be cleaned; when the rag assembly of the cleaning device is not allowed to extend to the outside of the cleaning device and the distance between the cleaning device and the edge is less than a preset distance, the cleaning device is controlled to rotate to clean the edge of the area to be cleaned.

[0090] It can be understood that when the rag assembly of the cleaning device is allowed to extend to the outside of the cleaning device and the distance between the cleaning device and the edge is less than a preset distance, the rag assembly is controlled to extend and move outward to approach the edge, thereby cleaning the edge of the area to be cleaned during the movement of the cleaning device.

[0091] Alternatively, if Figure 4 As shown, the rag assembly includes rotating rags located side by side at the bottom of the rear side of the cleaning device, and controlling the rag assembly to extend out of the area covered by the cleaning device includes: controlling one of the rotating rags to extend out of the area covered by the cleaning device; or controlling two of the rotating rags to extend out of the area covered by the cleaning device in different directions.

[0092] Through the above embodiments, when controlling the rotating rags to extend out of the area covered by the cleaning device, two rotating rags can be controlled to extend out of the area covered by the cleaning device at the same time, or only one of the rags can be controlled to extend out of the area covered by the cleaning device, thereby solving the problem in the prior art that the edge of the area to be cleaned cannot be missed due to the rag component of the cleaning device being unable to touch the outermost edge, thereby achieving the effect of intelligently cleaning the edge of the area to be cleaned and improving the user experience.

[0093] In an embodiment of the present invention, controlling the rotating rag to extend out of the area covered by the cleaning device includes: determining the rotating rag closest to the edge, and controlling the rotating rag closest to the edge to extend out of the area covered by the cleaning device.

[0094] Furthermore, when the cleaning device cleans the area to be cleaned, it can perform cleaning along a bow-shaped path. In this embodiment, a cleaning method when the cleaning device performs a bow-shaped path is also provided, which is applied to the above-mentioned cleaning device. Figure 3 1 is a flow chart of a cleaning method for a cleaning device according to an embodiment of the present invention (II), the flow chart comprising the following steps:

[0095] Step S302, controlling the cleaning device to clean the area to be cleaned in a bow shape;

[0096] Step S304, when the cleaning device moves forward and hits the edge of the area to be cleaned, controlling the cleaning device to rotate at least one circle so that the cleaning range formed by the rag assembly of the cleaning device is closer to the edge;

[0097] Step S306, after controlling the cleaning device to rotate at least one circle, controlling the cleaning device to continue cleaning the area to be cleaned.

[0098] Through the above steps, the cleaning device is controlled to clean the area to be cleaned in a bow shape; when the cleaning device moves forward and touches the edge of the area to be cleaned, the cleaning device is controlled to rotate at least one circle to make the cleaning range formed by the rag component of the cleaning device closer to the edge of the area to be cleaned; that is, the edge of the area to be cleaned is cleaned by the rag component of the cleaning device in the present invention. The above technical solution solves the problem in the prior art that the edge of the area to be cleaned will be missed because the rag component of the cleaning device cannot touch the outermost edge, thereby achieving the effect of intelligently cleaning the edge of the area to be cleaned and improving the user experience.

[0099] Optionally, controlling the cleaning device to rotate at least one circle includes: controlling the cleaning device to rotate at least one circle after controlling the rag assembly to extend out of the area covered by the cleaning device.

[0100] Optionally, controlling the cleaning device to rotate at least one circle includes: in the process of controlling the cleaning device to rotate at least one circle, controlling the rag assembly to extend out of the area covered by the cleaning device.

[0101] In the embodiment of the present invention, the cleaning device can be controlled to extend the rag assembly during the rotation process; or the rag assembly can be controlled to extend first, and then the cleaning device can be controlled to rotate.

[0102] It should be noted that the rag assembly of the cleaning device is allowed to extend to the outside of the cleaning device. When the rag assembly of the cleaning device is allowed to extend to the outside of the cleaning device and the distance between the cleaning device and the edge is less than a preset distance, the rag assembly is controlled to extend and move outward, and then during the movement of the cleaning device, the cleaning device is controlled to rotate to clean the edge of the area to be cleaned.

[0103] Optionally, when the rag assembly of the cleaning device is allowed to extend to the outside of the cleaning device and the distance between the cleaning device and the edge is less than a preset distance, the rag assembly is controlled to extend and move outward to approach the edge, thereby cleaning the edge of the area to be cleaned during the movement of the cleaning device.

[0104] Optionally, the rag assembly includes two side-by-side rotating rags, and controlling the rag assembly to extend out of the area covered by the cleaning device includes: controlling one of the rotating rags to extend out of the area covered by the cleaning device; or controlling the two rotating rags to extend out of the area covered by the cleaning device in different directions.

[0105] Through the above embodiments, when controlling the rotating rags to extend out of the area covered by the cleaning device, two rotating rags can be controlled to extend out of the area covered by the cleaning device at the same time, or only one of the rags can be controlled to extend out of the area covered by the cleaning device, thereby solving the problem in the prior art that the edge of the area to be cleaned cannot be missed due to the rag component of the cleaning device being unable to touch the outermost edge, thereby achieving the effect of intelligently cleaning the edge of the area to be cleaned and improving the user experience.

[0106] Optionally, controlling the rotating rag to extend out of the area covered by the cleaning device includes: determining the rotating rag closest to the edge, and controlling the rotating rag closest to the edge to extend out of the area covered by the cleaning device.

[0107] Optionally, the rag assembly includes two rotating rags located side by side at the rear bottom of the cleaning device.

[0108] like Figure 4 As shown, the sweeping machine (equivalent to the cleaning equipment in the above embodiment) includes: a side brush and a rag plate (equivalent to the rag assembly in the above embodiment); during the normal forward cleaning process of the current sweeping machine, the rag plate cannot touch the outermost edge, resulting in obvious stains on the edge of the outermost area to be cleaned. After long-term and multiple mopping, obvious stains will appear on the edge of the outermost area to be cleaned.

[0109] like Figure 9-12 As shown, in the prior art, when a sweeping machine performs a bow-shaped cleaning path in a target area, the sweeping machine cleans the target area along the edge to determine the cleaning area corresponding to the target area (such as Fig.10 The cleaning area is cleaned in a bow-shaped path. When the sweeper completes the cleaning of the cleaning area in a bow-shaped path, Fig.11 As shown in , the edge of the outermost area to be cleaned may be missed.

[0110] In order to solve the above problems, a cleaning method for a cleaning device is provided in this embodiment. Figure 5 Schematic diagram (I) of an optional cleaning method of a cleaning device according to an embodiment of the present invention, such as Figure 5 As shown, the details are as follows:

[0111] Optionally, the cleaning action includes: the sweeper brakes while cleaning along the edge; after braking, it continuously rotates 360 degrees on the spot to continue cleaning along the edge; and the above cleaning actions are performed in a cycle to complete the cleaning of the cleaning area.

[0112] Optionally, the cleaning action also includes: during the process of cleaning along the edge, the sweeper rotates 360 degrees at the current position and continues to clean along the edge; the above cleaning action is performed in a loop to complete the cleaning of the cleaning area.

[0113] Optionally, triggering the sweeper to rotate 360 ​​degrees during edge sweeping includes one of the following: Figure 6 As shown, the sweeper is randomly triggered to rotate 360 ​​degrees (for example, it is triggered once every 5 seconds, but it can be triggered at any second in 5 seconds; it is triggered once every 10 cm, but it can be triggered at any position in 10 cm); Figure 7 As shown, when the sweeper moves a fixed distance, the sweeper is triggered to rotate 360 ​​degrees; Figure 7 As shown, when the sweeper moves for a fixed time, the sweeper is triggered to rotate 360 ​​degrees; Figure 8 As shown, when the sweeping machine detects the object to be cleaned, the sweeping machine is triggered to rotate 360 ​​degrees.

[0114] Optionally, an embodiment of the present invention further provides a cleaning method for a cleaning device, Fig.12 is a schematic diagram of an optional cleaning method of a cleaning device according to an embodiment of the present invention (V); Fig.13 is a partially enlarged schematic diagram of an optional cleaning method of a cleaning device according to an embodiment of the present invention; it should be noted that, Fig.13 yes Fig.12 The corresponding enlarged image when the sweeper reaches the edge of the area to be cleaned; Fig.14 6 is a schematic diagram of an optional cleaning method of a cleaning device according to an embodiment of the present invention; Fig.12 As shown, the details are as follows:

[0115] Cleaning action: During the bow-shaped path cleaning process, the vehicle stops after reaching the end of the bow, rotates 180 degrees continuously on the spot, and then moves to the left front until it returns to the bow-shaped path and continues to clean the bow-shaped path; the above cleaning action is repeated to complete the cleaning of the target area.

[0116] It should be noted that the bow character can be horizontal or vertical, and can be controlled to be horizontal once and vertical once, or it can be random.

[0117] Through the above embodiments, during the process of the cleaning device cleaning the area to be cleaned, it is determined whether the cleaning device performs edge cleaning; when it is determined that the cleaning device performs edge cleaning, the cleaning device is controlled to rotate at least one circle at least once during the edge cleaning process so that the cleaning range formed by the rag assembly of the cleaning device is closer to the edge corresponding to the edge cleaning; the cleaning device is controlled to complete the cleaning of the area to be cleaned. The above technical solution is adopted to solve the problem in the prior art that when cleaning the edge of the cleaning area, the hardware cost of the smart sweeper is easily increased or the user experience is reduced, thereby achieving the effect of intelligently cleaning the edge of the area to be cleaned and improving the user experience.

[0118] Through the description of the above implementation methods, those skilled in the art can clearly understand that the method according to the above embodiment can be implemented by means of software plus a necessary general hardware platform, and of course can also be implemented by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, a magnetic disk, or an optical disk), and includes a number of instructions for enabling a terminal device (which can be a mobile phone, a computer, a server, or a network device, etc.) to execute the methods described in each embodiment of the present invention.

[0119] In the present embodiment, a cleaning device for cleaning equipment is also provided, and the device is used to realize the above-described embodiment and preferred implementation mode, and the description thereof is omitted. As used below, the term "module" can realize the combination of software and / or hardware of a predetermined function. Although the equipment described in the following embodiments is preferably realized with software, the realization of hardware, or the combination of software and hardware is also possible and contemplated.

[0120] In an exemplary embodiment, a cleaning device of a cleaning device is also provided. Fig.15 1 is a structural block diagram of a cleaning device of an optional cleaning device in an embodiment of the present invention (I), the device comprising:

[0121] A determination module 1502 is used to determine whether the cleaning device performs edge cleaning during the cleaning process of the cleaning device on the area to be cleaned;

[0122] The first control module 1504 is used to control the cleaning device to rotate at least one circle at least once during the edge cleaning process when it is determined that the cleaning device performs edge cleaning, so that the cleaning range formed by the rag assembly of the cleaning device is closer to the edge corresponding to the edge cleaning;

[0123] The second control module 1506 is used to control the cleaning device to complete cleaning of the area to be cleaned.

[0124] Through the above device, during the cleaning process of the cleaning device on the area to be cleaned, it is determined whether the cleaning device performs edge cleaning; when it is determined that the cleaning device performs edge cleaning, the cleaning device is controlled to rotate at least one circle at least once during the edge cleaning process, so that the cleaning range formed by the rag component of the cleaning device is closer to the edge corresponding to the edge cleaning; the cleaning device is controlled to complete the cleaning of the area to be cleaned. That is, the edge of the area to be cleaned is cleaned by the rag component of the cleaning device in the present invention, and the above technical solution is adopted to solve the problem that the edge of the area to be cleaned is missed because the rag component of the cleaning device cannot touch the outermost edge in the prior art, thereby achieving the effect of intelligently cleaning the edge of the area to be cleaned and improving the user experience.

[0125] In an exemplary embodiment, the first control module 1504 is used to control the cleaning device to rotate at least one circle every preset distance during the edge-moving process; or, during the edge-moving process, control the cleaning device to rotate at least one circle every preset time duration; or, during the edge-moving process, randomly control the cleaning device to rotate at least one circle.

[0126] In an exemplary embodiment, the first control module 1504 is used to control the rag assembly to extend out of the area covered by the cleaning device during the process of controlling the cleaning device to rotate at least one circle.

[0127] In an exemplary embodiment, the first control module 1504 is used to control the cleaning device to rotate at least one circle after the rag assembly extends out of the area covered by the cleaning device.

[0128] In an exemplary embodiment, the rag assembly includes two side-by-side rotating rags, and the first control module 1504 is used to control one of the rotating rags to extend out of the area covered by the cleaning device; or, control the two rotating rags to extend out of the area covered by the cleaning device in different directions.

[0129] In an exemplary embodiment, the first control module 1504 is used to control the cleaning device to rotate at least one circle in situ around the axis of the cleaning device after the cleaning device stops moving.

[0130] In an exemplary embodiment, the first control module 1504 is used to control the cleaning device to rotate at least one circle around the axis of the cleaning device on the basis that the cleaning device keeps moving forward.

[0131] In an exemplary embodiment, the wipe assembly includes two rotating wipes located side by side at the rear bottom of the cleaning device.

[0132] According to another aspect of an embodiment of the present invention, a cleaning device for a cleaning device is provided. Fig.16 2 is a structural block diagram of a cleaning device of an optional cleaning device in an embodiment of the present invention, the device comprising:

[0133] The third control module 1602 is used to control the cleaning device to clean the area to be cleaned in a bow shape;

[0134] The fourth control module 1604 is used to control the cleaning device to rotate at least one circle when the cleaning device moves forward and touches the edge of the area to be cleaned, so that the cleaning range formed by the rag assembly of the cleaning device is closer to the edge;

[0135] The fifth control module 1606 is used to control the cleaning device to continue cleaning the area to be cleaned after controlling the cleaning device to rotate at least one circle.

[0136] Through the above device, the cleaning device is controlled to clean the area to be cleaned in a bow shape; when the cleaning device moves forward and touches the edge of the area to be cleaned, the cleaning device is controlled to rotate at least one circle so that the cleaning range formed by the rag component of the cleaning device is closer to the edge; after controlling the cleaning device to rotate at least one circle, the cleaning device is controlled to continue cleaning the area to be cleaned. That is, the edge of the area to be cleaned is cleaned by the rag component of the cleaning device in the present invention. The above technical solution solves the problem that the edge of the area to be cleaned is missed because the rag component of the cleaning device cannot touch the outermost edge in the prior art, thereby achieving the effect of intelligently cleaning the edge of the area to be cleaned and improving the user experience.

[0137] In an exemplary embodiment, the fourth control module 1604 is used to control the cleaning device to rotate at least one circle after the rag assembly extends out of the area covered by the cleaning device.

[0138] In an exemplary embodiment, the fourth control module 1604 is used to control the rag assembly to extend out of the area covered by the cleaning device during the process of controlling the cleaning device to rotate at least one circle.

[0139] In an exemplary embodiment, the rag assembly includes two side-by-side rotating rags, and the fourth control module 1604 is used to control one of the rotating rags to extend out of the area covered by the cleaning device; or, control the two rotating rags to extend out of the area covered by the cleaning device in different directions.

[0140] In an exemplary embodiment, the wipe assembly includes two rotating wipes located side by side at the rear bottom of the cleaning device.

[0141] For specific embodiments, reference may be made to the examples shown in the cleaning method of the above-mentioned cleaning device, which will not be described in detail in this example.

[0142] Optionally, in this embodiment, the electronic device may be located in at least one network device among a plurality of network devices of a computer network.

[0143] Optionally, in this embodiment, the processor may be configured to perform the following steps through a computer program:

[0144] S1, during a process in which a cleaning device performs cleaning on an area to be cleaned, determining whether the cleaning device performs edge cleaning;

[0145] S2, when it is determined that the cleaning device performs edge cleaning, controlling the cleaning device to rotate at least one circle at least once during the edge cleaning process, so that the cleaning range formed by the rag assembly of the cleaning device is closer to the edge corresponding to the edge cleaning;

[0146] S3, controlling the cleaning device to complete cleaning of the area to be cleaned.

[0147] Optionally, in this embodiment, the processor may also be configured to perform the following steps through a computer program:

[0148] S4, controlling the cleaning equipment to clean the area to be cleaned in a bow shape;

[0149] S5, when the cleaning device moves forward and hits the edge of the area to be cleaned, controlling the cleaning device to rotate at least one circle so that the cleaning range formed by the rag assembly of the cleaning device is closer to the edge;

[0150] S6, after controlling the cleaning device to rotate at least one circle, controlling the cleaning device to continue cleaning the area to be cleaned.

[0151] In one embodiment, the terminal device or server may be a node in a distributed system, wherein the distributed system may be a blockchain system, and the blockchain system may be a distributed system formed by connecting the multiple nodes through network communication. Among them, the nodes may form a peer-to-peer (P2P) network, and any form of computing device, such as a server, terminal or other electronic device, may become a node in the blockchain system by joining the peer-to-peer network.

[0152] According to one aspect of the present invention, a computer program product is provided, the computer program product comprising a computer program / instruction, the computer program / instruction comprising a program code for executing the method shown in the flow chart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication part, and / or installed from a removable medium. When the computer program is executed by a central processing unit, various functions provided by the embodiment of the present invention are executed.

[0153] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0154] It should be noted that the computer system of the electronic device is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present invention.

[0155] The computer system includes a central processing unit (CPU), which can perform various appropriate actions and processes according to the program stored in the read-only memory (ROM) or the program loaded from the storage part to the random access memory (RAM). In the random access memory, various programs and data required for system operation are also stored. The central processing unit, the read-only memory and the random access memory are connected to each other through a bus. The input / output interface (I / O interface) is also connected to the bus.

[0156] The following components are connected to the input / output interface: an input part including a keyboard, a mouse, etc.; an output part including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker; a storage part including a hard disk, etc.; and a communication part including a network interface card such as a local area network card, a modem, etc. The communication part performs communication processing via a network such as the Internet. A drive is also connected to the input / output interface as needed. Removable media, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., are installed on the drive as needed so that the computer program read therefrom is installed into the storage part as needed.

[0157] In particular, according to an embodiment of the present invention, the processes described in the various method flow charts can be implemented as computer software programs. For example, an embodiment of the present invention includes a computer program product, which includes a computer program carried on a computer readable medium, and the computer program contains program code for executing the method shown in the flow chart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication part, and / or installed from a removable medium. When the computer program is executed by a central processing unit, various functions defined in the system of the present invention are executed.

[0158] According to one aspect of the present invention, a computer-readable storage medium is provided, and a processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes the methods provided in the above-mentioned various optional implementations.

[0159] Optionally, in this embodiment, the computer-readable storage medium may be configured to store a computer program for performing the following steps:

[0160] S1, during a cleaning process in which a cleaning device performs cleaning on an area to be cleaned, determining whether the cleaning device performs edge cleaning;

[0161] S2, when it is determined that the cleaning device performs edge cleaning, controlling the cleaning device to rotate at least one circle at least once during the edge cleaning process, so that the cleaning range formed by the rag assembly of the cleaning device is closer to the edge corresponding to the edge cleaning;

[0162] S3, controlling the cleaning device to complete cleaning of the area to be cleaned.

[0163] Optionally, in this embodiment, the computer-readable storage medium may be configured to store a computer program for performing the following steps:

[0164] S4, controlling the cleaning equipment to clean the area to be cleaned in a bow shape;

[0165] S5, when the cleaning device moves forward and hits the edge of the area to be cleaned, controlling the cleaning device to rotate at least one circle so that the cleaning range formed by the rag assembly of the cleaning device is closer to the edge;

[0166] S6, after controlling the cleaning device to rotate at least one circle, controlling the cleaning device to continue cleaning the area to be cleaned.

[0167] Optionally, in this embodiment, a person of ordinary skill in the art may understand that all or part of the steps in the various methods of the above embodiments may be completed by instructing hardware related to the terminal device through a program, and the program may be stored in a computer-readable storage medium, and the storage medium may include: a flash drive, a read-only memory (ROM), a random access memory (RAM), a disk or an optical disk, etc.

[0168] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0169] If the integrated units in the above embodiments are implemented in the form of software functional units and sold or used as independent products, they can be stored in the above computer-readable storage medium. Based on such understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for enabling one or more computer devices (which can be personal computers, servers or network devices, etc.) to perform all or part of the steps of the methods of various embodiments of the present invention.

[0170] In the above embodiments of the present invention, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0171] In the several embodiments provided by the present invention, it should be understood that the disclosed client can be implemented in other ways. Among them, the device embodiments described above are only schematic. For example, the division of the above units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0172] The units described above as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0173] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0174] The above are only preferred embodiments of the present invention. It should be pointed out that, for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A cleaning method for a cleaning device, characterized in that: include: During the cleaning process of the cleaning device cleaning the area to be cleaned, determining whether the cleaning device performs edge cleaning; When it is determined that the cleaning device performs edge cleaning, the cleaning device is controlled to rotate at least one circle at least once during the edge cleaning process, so that the cleaning range formed by the rag assembly of the cleaning device is closer to the edge corresponding to the edge cleaning; The cleaning device is controlled to complete cleaning of the area to be cleaned.

2. The method according to claim 1, characterized in that The step of controlling the cleaning device to rotate at least one circle at least once during the edge-adjacent process comprises: During the edge-adjacent process, the cleaning device is controlled to rotate at least one circle at every preset distance; Or, during the edge cleaning process, the cleaning device is controlled to rotate at least one circle every preset time period; Or, during the edge-adjacent process, the cleaning device is randomly controlled to rotate at least one circle.

3. The method according to claim 1 or 2, characterized in that The method further comprises: In the process of controlling the cleaning device to rotate at least one circle, the rag assembly is controlled to extend out of the area covered by the cleaning device.

4. The method according to claim 1 or 2, characterized in that: Controlling the cleaning device to rotate at least one circle at least once during the edge-adjacent process comprises: After the rag assembly is controlled to extend out of the area covered by the cleaning device, the cleaning device is controlled to rotate at least one circle.

5. The method according to claim 3 or 4, characterized in that The rag assembly includes two rotating rags arranged side by side, and the method of controlling the rag assembly to extend out of the area covered by the cleaning device includes: Controlling a rotating cloth to extend out of the area covered by the cleaning device; or, The two rotating cloths are controlled to extend in different directions from the area covered by the cleaning device.

6. The method according to any one of claims 1 to 5, characterized in that Controlling the cleaning device to rotate at least one circle at least once during the edge-adjacent process comprises: After the cleaning device stops moving, the cleaning device is controlled to rotate at least one circle in situ around the axis of the cleaning device.

7. The method according to any one of claims 1 to 5, characterized in that Controlling the cleaning device to rotate at least one circle at least once during the edge-adjacent process comprises: On the basis that the cleaning device keeps moving forward, the cleaning device is controlled to rotate at least one circle around the axis of the cleaning device.

8. The method according to any one of claims 1 to 7, characterized in that The rag assembly includes two rotating rags located side by side at the rear bottom of the cleaning device.

9. A cleaning method for a cleaning device, characterized in that: include: Control the cleaning equipment to clean the area to be cleaned in a bow shape; When the cleaning device moves forward and hits the edge of the area to be cleaned, the cleaning device is controlled to rotate at least one circle so that the cleaning range formed by the rag assembly of the cleaning device is closer to the edge; After controlling the cleaning device to rotate at least one circle, controlling the cleaning device to continue cleaning the area to be cleaned.

10. The method according to claim 9, characterized in that The controlling the cleaning device to rotate at least one circle comprises: After the rag assembly is controlled to extend out of the area covered by the cleaning device, the cleaning device is controlled to rotate at least one circle.

11. The method according to claim 9, characterized in that The controlling the cleaning device to rotate at least one circle comprises: In the process of controlling the cleaning device to rotate at least one circle, the rag assembly is controlled to extend out of the area covered by the cleaning device.

12. The method according to claim 10 or 11, characterized in that The rag assembly includes two rotating rags arranged side by side, and the method of controlling the rag assembly to extend out of the area covered by the cleaning device includes: Controlling one of the rotating rags to extend out of the area covered by the cleaning device; or, The two rotating cloths are controlled to extend in different directions from the area covered by the cleaning device.

13. The method according to claim 10 or 11, characterized in that: The rag assembly includes two rotating rags located side by side at the rear bottom of the cleaning device.

14. A cleaning device for a cleaning equipment, characterized in that: include: A determination module, used to determine whether the cleaning device performs edge cleaning during the cleaning process of the cleaning device on the area to be cleaned; A first control module is used to control the cleaning device to rotate at least one circle at least once during the edge cleaning process when it is determined that the cleaning device performs edge cleaning, so that the cleaning range formed by the rag assembly of the cleaning device is closer to the edge corresponding to the edge cleaning; The second control module is used to control the cleaning device to complete cleaning of the area to be cleaned.

15. A cleaning device for a cleaning equipment, characterized in that: include: The third control module is used to control the cleaning device to clean the area to be cleaned in a bow shape; A fourth control module is used to control the cleaning device to rotate at least one circle when the cleaning device moves forward and touches the edge of the area to be cleaned, so that the cleaning range formed by the rag assembly of the cleaning device is closer to the edge; The fifth control module is used to control the cleaning device to continue cleaning the area to be cleaned after controlling the cleaning device to rotate at least one circle.

16. A computer-readable storage medium, characterized in that: The storage medium stores a computer program, wherein the computer program is configured to execute the method described in any one of claims 1 to 8 or the method described in any one of claims 9 to 13 when executed.

17. An electronic device comprising a memory and a processor, characterized in that: A computer program is stored in the memory, and the processor is configured to run the computer program to perform the method described in any one of claims 1 to 8, or the method described in any one of claims 9 to 13.

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