Cleaning equipment and control method, product and storage medium thereof

Abstract

The present application provides a cleaning device and a control method, product and storage medium thereof, and relates to the technical field of cleaning devices. The method comprises: in the case of performing a cleaning task, based on a heat map of the area to be cleaned, determining cleaning strategies for different partitions in the area to be cleaned; wherein the heat map is used to characterize the historical occurrence frequency of the target pet in different partitions of the area to be cleaned; and cleaning the partitions according to the cleaning strategies for different partitions in the area to be cleaned. The method of the present application can control the cleaning device to execute different cleaning strategies for different partitions, fully utilize the cleaning resources of the cleaning device, and improve the cleaning effect.

Description

Technical Field

[0001] The present application relates to the technical field of cleaning equipment, and in particular to a cleaning equipment and a control method, product and storage medium thereof. Background Art

[0002] Cleaning equipment is a kind of equipment that can automatically clean while traveling. Cleaning equipment can replace manual cleaning to a certain extent, reducing the labor intensity of manual labor and having high cleaning efficiency.

[0003] In the related art, a cleaning device may be set with a pet cleaning strategy, which may increase the cleaning intensity associated with the pet, such as increasing the vacuuming intensity, to better collect pet hair.

[0004] However, existing cleaning equipment can only fully cover the area to be cleaned when implementing pet cleaning strategies, and cannot achieve good cleaning effects. Summary of the invention

[0005] The embodiments of the present application provide a cleaning device and a control method, a product and a storage medium thereof, which are used to solve the problem that the existing cleaning device can only fully cover the area to be cleaned when executing the pet cleaning strategy and cannot achieve a good cleaning effect.

[0006] In a first aspect, the present application provides a method for controlling a cleaning device, comprising:

[0007] In the case of performing a cleaning task, based on a heat map of the area to be cleaned, a cleaning strategy for different partitions in the area to be cleaned is determined; wherein the heat map is used to characterize the historical occurrence frequency of the target pet in different partitions of the area to be cleaned;

[0008] The partitions are cleaned according to the cleaning strategies for different partitions in the area to be cleaned.

[0009] Through the above method, the area to be cleaned is divided into zones, especially the area where the target pet is active, so that the cleaning equipment can be controlled to implement different cleaning strategies for different zones, making full use of the cleaning resources of the cleaning equipment and improving the cleaning effect.

[0010] In a possible implementation, the method further includes:

[0011] Based on the historical location information of the target pet in different partitions of the area to be cleaned, a heat map of the target pet in the area to be cleaned is constructed, thereby automatically constructing a heat map based on the actual hot spot location of the target pet to improve the cleaning effect;

[0012] Alternatively, based on at least one area demarcated by the user terminal in the area to be cleaned, a heat map of the target pet in the area to be cleaned is constructed, so that the user can construct a heat map based on his or her actual needs, thereby improving the user experience;

[0013] Alternatively, based on the historical location information of the target pet in different partitions of the area to be cleaned and at least one area demarcated by the user terminal in the area to be cleaned, a heat zone map of the target pet in the area to be cleaned is constructed, thereby combining the actual usage needs of the user and the actual activity area of ​​the target pet to obtain a heat zone map that can meet both user needs and pet cleaning effects, thereby improving the intelligence level of the equipment.

[0014] In a possible implementation, constructing a heat map of the target pet in the area to be cleaned based on historical location information of the target pet in different partitions of the area to be cleaned includes:

[0015] Using the historical location information of the target pet in the area to be cleaned as a hotspot, marking it on a map including the area to be cleaned, and obtaining a hotspot map of the target pet;

[0016] Rasterizing the hotspot map to obtain a hotspot partition map of the target pet;

[0017] Based on the number of hot spots in the grid, the grid in the hot spot partition map is partitioned to obtain a hot spot map of the target pet in the area to be cleaned.

[0018] Through the above method, the automatic construction process of the heat map is realized. The constructed heat map conforms to the actual activity of the target pet in the area to be cleaned, and then the heat map is used to indirectly divide the degree of dirtiness of the area to be cleaned, so as to execute different cleaning strategies based on the partitions of the heat map, realize the effective use of cleaning resources, and improve the cleaning effect.

[0019] In a possible implementation, partitioning the grid in the hotspot partition map based on the number of hotspots in the grid includes:

[0020] Based on the number of hot spots in the grid and the range of the preset number of partitions, the grids within the same preset number of partitions are marked with the same partition identifier, such as a digital number identifier, so as to facilitate guiding the cleaning device to perform different cleaning strategies at different partition identifiers;

[0021] Alternatively, based on the number of hotspots in the grid and the range of the preset number of partitions, the grids within the same range of the preset number of partitions are marked with the same color identification, which can more intuitively show the user the activity level of the target pet in different partitions and the degree of dirtiness that may correspond to different partitions. The visualization effect of the color identification can achieve a better user experience.

[0022] In a possible implementation, before partitioning the grid in the hotspot partition map based on the number of hotspots in the grid, the method further includes:

[0023] If there are hot spots on the grid, the hot spots on the grid are merged into the number of hot spots in the grid that is the shortest distance from the hot spots, thereby avoiding the hot spots on the line from being discarded, increasing the available sampling amount of position identification data, thereby improving the identification accuracy, and further improving the cleaning effect.

[0024] In a possible implementation, the historical location information of the target pet in different partitions of the area to be cleaned includes:

[0025] The location information of the target pet in the area to be cleaned collected within a preset time period uses the time period as the basic sampling collection period, which is universal and can be applied to any type of cleaning equipment;

[0026] Alternatively, the location information of the target pet in the area to be cleaned collected within a preset number of cleaning times can be used to collect more sufficient target pet location data by utilizing the movement of the cleaning device, thereby improving recognition accuracy and further improving the cleaning effect;

[0027] Alternatively, the location information of the target pet in the area to be cleaned is collected during the triggering of a preset event, so as to adapt to the cleaning when the pet's activity area changes during special periods, thereby improving the cleaning effect.

[0028] In a possible implementation, the cleaning device is further provided with a detection device, the detection device is used to obtain the location information of the target pet in a first area, the first area includes the area to be cleaned; the historical location information of the target pet in different partitions of the area to be cleaned includes:

[0029] When the cleaning device performs a cleaning task, a cruising task and / or an idle walk, the historical position information of the target pet in different partitions of the area to be cleaned is determined based on the position information of the target pet in the first area acquired by the detection device.

[0030] This embodiment uses the detection device set on the cleaning equipment itself to collect the location information of the target pet. It can collect information on easily blocked areas such as the bottom of furniture and where the target pet is likely to hide, thereby achieving comprehensive coverage of the target pet's location in the area to be cleaned and improving the accuracy of the heat map construction.

[0031] In a possible implementation, the cleaning device is further used to obtain location information of the target pet in a second area collected by a third-party terminal, where the second area includes the area to be cleaned; the historical location information of the target pet in different partitions of the area to be cleaned includes:

[0032] Based on the location information of the target pet in the first area obtained from the third-party terminal and the location information of the target pet in the second area obtained by the detection device, the historical location information of the target pet in different partitions of the area to be cleaned is determined; the second area includes at least part of the area to be cleaned except the first area.

[0033] This embodiment utilizes a third-party terminal, such as a home camera, to collect the dynamic trajectory of the target pet throughout the house. Compared with the detection device on the cleaning equipment, it can also monitor the location information of the target pet when the cleaning equipment is not started, thereby increasing the sampling volume. The target pet location information collected by the two is combined to more accurately reflect the actual pollution situation of the area to be cleaned, improve the accuracy of the heat zone map, and then improve the accuracy of the cleaning strategy selection corresponding to the heat zone map, thereby improving the cleaning effect of the area to be cleaned.

[0034] In a possible implementation, the cleaning device is further used to obtain location information of the target pet in a second area collected by a third-party terminal, where the second area includes the area to be cleaned; the historical location information of the target pet in different partitions of the area to be cleaned includes:

[0035] Based on the location information of the target pet in the first area acquired from the third-party terminal, historical location information of the target pet in different partitions of the area to be cleaned is determined.

[0036] This embodiment has universal applicability and can be applied to cleaning equipment that does not have a detection device installed. It can use home IoT to achieve data sharing, obtain the location information of the target pet throughout the house, and record the pet's coordinates in real time within an effective time range, thereby achieving more comprehensive and effective cleaning of the area to be cleaned.

[0037] In a possible implementation, when there are multiple target pets, constructing a heat map of the target pets in the area to be cleaned based on historical location information of the target pets in different partitions of the area to be cleaned includes:

[0038] Based on the historical location information of different target pets in different partitions of the area to be cleaned, heat map corresponding to different target pets in the area to be cleaned is constructed respectively.

[0039] By constructing corresponding heat map for different target pets, we can distinguish the different dirt caused by different target pets to the cleaning area, so as to carry out targeted cleaning and improve the cleaning effect.

[0040] In a possible implementation, the method further includes:

[0041] If the cleaning strategies of the plurality of target pets are the same, the different heat map corresponding to the target pets with the same cleaning strategy in the area to be cleaned are merged to update the heat map.

[0042] This embodiment is based on the heat map corresponding to different target pets, and the heat map that can be merged is merged, so that when the heat map overlaps, the ineffective cleaning energy loss caused by the cleaning equipment cleaning each heat map separately can be reduced.

[0043] In a possible implementation, the cleaning device includes at least one working mode, and the working mode includes multiple cleaning strategies; the cleaning strategies for different partitions in the area to be cleaned are determined based on the heat map of the area to be cleaned, including:

[0044] Based on the current working mode and the heat map of the area to be cleaned, cleaning strategies corresponding to different partitions in the area to be cleaned under the current working mode are determined.

[0045] Through the above method, the cleaning device can adopt different cleaning strategies when passing through different partitions without changing the working mode, and the cleaning effect can be improved by adjusting the cleaning strategy.

[0046] In a possible implementation, the cleaning device further comprises a suction assembly for collecting dirt and a side brush assembly for dry cleaning; the suction assembly comprises a dust suction motor;

[0047] The working mode includes a first mode, the first mode supports a first cleaning strategy and a second cleaning strategy;

[0048] The first cleaning strategy is configured such that the vacuum motor operates at a first suction force, the side brush assembly operates at a first rotational speed, and the cleaning device returns to a base station at a first frequency to clean the cleaning device;

[0049] The second cleaning strategy is configured such that the vacuum motor operates at a second suction force, the side brush assembly operates at a first rotation speed, and the cleaning device returns to the base station at a second frequency to clean the cleaning device; the second suction force is greater than the first suction force, and the second frequency is greater than the first frequency;

[0050] The area to be cleaned includes a first partition and a second partition, the historical appearance frequency of the target pet corresponding to the first partition is less than the historical appearance frequency of the target pet corresponding to the second partition; the first partition corresponds to the first cleaning strategy, and the second partition corresponds to the second cleaning strategy.

[0051] In this embodiment, under the condition of single-sweep working mode, when switching to the zone where the target pet appears frequently, the suction force of the vacuum motor is controlled to increase to ensure that pet hair and the like are cleaned up. It is also suitable for cleaning large particles that are difficult to clean, such as pet food and cat litter, and controls the cleaning equipment to increase the frequency of returning to the base station for cleaning, so as to avoid clogging of the vacuum duct and the dust box by special dirt such as hair, thereby meeting the high-frequency pet hair dust collection needs.

[0052] In a possible implementation, the suction assembly further includes a dust box, which is connected to the dust motor; and the second cleaning strategy is further configured such that the dust motor sucks the dust box to compress the hair in the dust box.

[0053] Based on the above embodiments, this embodiment adds a compression function to the dust box, thereby reducing the possibility of clogging by pet hair, and making it easier for the dust box to accommodate more hair, reducing the frequency of returning to the base station to clean the dust box, saving cleaning time, and improving cleaning efficiency.

[0054] In a possible implementation, the method further includes:

[0055] When the season information of the cleaning device is a preset season, different cleaning strategies corresponding to the hair type are determined based on the hair type of the target pet.

[0056] In a possible implementation manner, the first mode further supports a third cleaning strategy and a fourth cleaning strategy; and determining different cleaning strategies corresponding to the hair types based on the hair types obtained from the user terminal includes:

[0057] In the case where the hair type is medium hair, the hair type corresponds to a first cleaning strategy;

[0058] In the case where the hair type is long hair, the hair type corresponds to a third cleaning strategy; the third cleaning strategy is configured such that the side brush assembly runs at a second rotation speed, and the dust cleaning motor runs at a first suction force; the second rotation speed is less than the first rotation speed;

[0059] When the hair type is short hair, the hair type corresponds to the fourth cleaning strategy; the fourth cleaning strategy is configured such that the side brush assembly operates at a third rotational speed and the vacuum motor operates at a first suction force; the third rotational speed is greater than the first rotational speed.

[0060] This embodiment configures targeted cleaning strategies for different target pets' hair lengths, thereby improving the cleaning effect of the cleaning device on hair of different lengths, while reducing the adverse effects of hair length on the cleaning process of the cleaning device itself, thereby improving cleaning efficiency.

[0061] In one possible embodiment, the cleaning device further includes a side brush assembly for dry cleaning and a wet cleaning assembly for wet cleaning;

[0062] The working mode includes a second mode, wherein the second mode supports a fifth cleaning strategy and a sixth cleaning strategy;

[0063] The fifth cleaning strategy is configured such that the wet cleaning assembly operates at a first water volume, the side brush assembly operates at a first rotation speed, and the cleaning device returns to a base station at a first frequency to clean the cleaning device;

[0064] The sixth cleaning strategy is configured such that the wet cleaning component operates with a second water volume, and the cleaning device returns to the base station at a third frequency to clean the cleaning device; the second water volume is less than the first water volume, and the third frequency is determined based on the completion time of the cleaning task of the current partition;

[0065] The area to be cleaned includes a first partition and a second partition, the target pet historical appearance frequency corresponding to the first partition is less than the target pet historical appearance frequency corresponding to the second partition; the first partition corresponds to the fifth cleaning strategy, and the second partition corresponds to the sixth cleaning strategy.

[0066] In this embodiment, under the condition of single-mop working mode, when switching to the zone where the target pet appears frequently, the water volume of wet cleaning is controlled to be reduced to reduce the adverse effect of the wet ground on the target pet, and the cleaning equipment is controlled to return to the base station for cleaning according to the zone cleaning. After each zone is cleaned, it is immediately backwashed, thereby increasing the cleaning frequency of the mop, reducing cross-contamination of pet dirt, and improving the cleaning effect of the cleaning equipment.

[0067] In a possible implementation, the cleaning device is further provided with a cleaning liquid box for containing cleaning agent, and the cleaning liquid box is connected to the wet cleaning component; the sixth cleaning strategy is further configured such that the cleaning liquid box is opened to add cleaning agent to the wet cleaning component.

[0068] Based on the above embodiments, this embodiment adds a pet-specific cleaning agent for cleaning the pet activity area, which helps to achieve the deodorization function of the area to be cleaned and improves the cleaning effect.

[0069] In a possible implementation manner, the sixth cleaning strategy further includes a first sub-cleaning strategy and a second sub-cleaning strategy;

[0070] The amount of liquid detergent added in the first sub-cleaning strategy is less than the amount of liquid detergent added in the second sub-cleaning strategy;

[0071] The second partition includes a first sub-partition and a second sub-partition, the target pet historical appearance frequency corresponding to the first sub-partition is less than the target pet historical appearance frequency corresponding to the second sub-partition; the first sub-partition corresponds to the first sub-cleaning strategy, and the second partition corresponds to the second sub-cleaning strategy.

[0072] The cleaning strategy configuration of this embodiment can achieve different cleaning intensities according to the same cleaning components under the premise of the existence of target pets, based on the different activity levels of target pets determined based on the heat zone map, that is, the cleaning intensity of the zone where the pet is active is high, and the cleaning intensity of the zone where the pet is not active but passes by is low, so that cleaning resources can be used rationally, saving cleaning resources while improving the cleaning effect.

[0073] In a possible implementation, the cleaning device is also connected to a base station, and the base station includes a sterilization device; the sixth cleaning strategy is also configured for the cleaning device to return to the base station and send a sterilization instruction to the base station so that the base station sterilizes the wet cleaning component.

[0074] In a possible implementation, the sixth cleaning strategy further includes a third sub-cleaning strategy and a fourth sub-cleaning strategy;

[0075] The sterilization time in the third sub-cleaning strategy is shorter than the sterilization time in the fourth sub-cleaning strategy;

[0076] The second partition includes a first sub-partition and a second sub-partition, the target pet historical appearance frequency corresponding to the first sub-partition is less than the target pet historical appearance frequency corresponding to the second sub-partition; the first sub-partition corresponds to the third sub-cleaning strategy, and the second partition corresponds to the fourth sub-cleaning strategy.

[0077] The cleaning strategy configuration of this embodiment is set based on the base station, and the cleaning device triggers the base station to execute a cleaning method suitable for pet cleaning conditions, thereby improving the cleaning effect.

[0078] In a possible implementation, the cleaning device further comprises a suction assembly for collecting dirt and a side brush assembly for dry cleaning; the suction assembly comprises a dust suction motor;

[0079] The working mode includes a third mode, and the third mode supports a seventh cleaning strategy and an eighth cleaning strategy;

[0080] The seventh cleaning strategy is configured such that the cleaning device moves along the edge of the obstacle, and the dust suction motor operates at a first suction force;

[0081] The eighth cleaning strategy is configured as follows: the cleaning device moves along the edge at a preset distance from the target obstacle, and the dust suction motor operates at a third suction force; the third suction force is greater than the first suction force;

[0082] The obstacle corresponds to the seventh cleaning strategy, and the target obstacle corresponds to the eighth cleaning strategy; the target obstacle is an obstacle related to pet products in the area to be cleaned.

[0083] This embodiment limits the edge cleaning working mode of the cleaning equipment. When it comes to edge cleaning related to pet products, since this area is usually seriously dirty and will soon be made dirty again by the pet, it is difficult to clean thoroughly. Therefore, this area is usually enlarged, that is, the edge distance is enlarged, so as to reduce secondary pollution to other areas and improve the overall cleaning efficiency and cleaning effect of the whole house.

[0084] In a possible implementation, when the pet product is a pet urine pad, the method further includes:

[0085] The cleaning device is controlled to perform obstacle avoidance processing on the pet urine pad.

[0086] This embodiment specifically limits pet urine pads among pet products. Obstacle avoidance processing can reduce the possibility of cleaning equipment being contaminated, and also reduce the secondary contamination of other areas to be cleaned by the cleaning equipment after being contaminated, thereby increasing the workload and difficulty of cleaning tasks, and indirectly improving cleaning efficiency.

[0087] In a second aspect, the present application provides a cleaning device, comprising: a body and an electronic device, wherein the electronic device comprises at least one processor and a memory connected to the processor, and the processor is used to execute the control method of the above-mentioned cleaning device.

[0088] In a third aspect, the present application provides an electronic device, comprising: a processor, and a memory communicatively connected to the processor;

[0089] The memory stores computer-executable instructions;

[0090] The processor executes the computer-executable instructions stored in the memory to implement the control method of the cleaning device.

[0091] In a fourth aspect, the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer-executable instructions, and when the computer-executable instructions are executed by a processor, they are used to implement the control method of the above-mentioned cleaning device.

[0092] In a fifth aspect, the present application provides a computer program product, including a computer program, which implements the control method of the above-mentioned cleaning device when executed by a processor.

[0093] The cleaning equipment and its control method, product and storage medium provided by the present application determine the cleaning strategies for different partitions in the area to be cleaned based on the heat map of the area to be cleaned when performing a cleaning task, and clean the partitions according to the cleaning strategies for different partitions in the area to be cleaned. Compared with the defects in the prior art, the present application performs partition cleaning based on the heat map, fully utilizes the cleaning resources of the cleaning equipment, improves the cleaning effect, and enhances the user's satisfaction. BRIEF DESCRIPTION OF THE DRAWINGS

[0094] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0095] Figure 1 A schematic diagram of an application scenario of a control method for a cleaning device provided in an embodiment of the present application;

[0096] Figure 2 A schematic flow chart of a control method for a cleaning device provided in an embodiment of the present application;

[0097] Figure 3 A map displayed on a user terminal and a schematic diagram of the user zone status;

[0098] Figure 4 A schematic diagram of a control method for constructing a heat map according to an embodiment of the present application;

[0099] Figure 5 A map including a heat map displayed on a user terminal;

[0100] Figure 6 A schematic diagram of a combination of hotspots and grids provided in an embodiment of the present application;

[0101] Figure 7 A schematic diagram of the hardware structure of an electronic device provided in an embodiment of the present application.

[0102] The above drawings have shown clear embodiments of the present application, which will be described in more detail later. These drawings and text descriptions are not intended to limit the scope of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0103] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0104] During the cleaning process, the cleaning device mainly relies on the movement of the body to carry the cleaning components arranged on the body to the area to be cleaned, thereby cleaning the area to be cleaned.

[0105] The fuselage may be circular, square or other shapes, such as a special shape formed by combining a part of a circle and a part of a square. The fuselage may rotate during movement, and the center point around which the rotation is made may be a center point selected from the fuselage. For example, when the shape of the fuselage is circular, the center point may include the center of the circle. For another example, when the shape of the fuselage is square, the center point may include the center point of the square. For another example, when the fuselage is provided with two driving wheels, the center point may include the center point of the line connecting the two driving wheels or the center point of the line connecting the rotation centers of the two driving wheels.

[0106] The cleaning assembly may include at least one cleaning assembly such as a side brush assembly, a roller brush assembly (also known as a floor brush assembly), a rag plate assembly (also known as a mop plate assembly), etc. The side brush assembly, the roller brush assembly and / or the rag plate assembly can clean the dirt on the surface to be cleaned by rotating.

[0107] It should be understood that the different rotation speeds of the side brush assembly, the roller brush assembly and / or the rag disc assembly have different cleaning capabilities for the dirt on the cleaning surface. Generally speaking, the higher the rotation speed, the stronger the corresponding cleaning capability. However, for long strips of dirt on the cleaning surface, the higher the rotation speed, the greater the risk of downtime caused by the dirt entanglement of the cleaning assembly.

[0108] In some embodiments, all of the above-mentioned cleaning components of the cleaning device may be configured to be able to swing.

[0109] Alternatively, a portion of the cleaning components of the cleaning device may be configured to be able to swing, and another portion of the cleaning components may be configured not to swing, thereby reducing the structural complexity of the cleaning device and lowering the manufacturing cost.

[0110] For example, the cleaning device is divided into a left side and a right side with a straight line passing through the center point of the cleaning device and parallel to the front-rear travel direction of the fuselage as the center line. When two cleaning components are provided, and the two cleaning components are symmetrically arranged on the left and right sides of the cleaning device, the two cleaning devices can be arranged to both realize the swing function or at least one can realize the swing function. Under the condition that the two cleaning components are arranged to be able to swing, the two cleaning components can swing in the same direction, so that the two cleaning components can be closely connected during the swinging process to avoid the generation of gaps, thereby avoiding omissions during cleaning. Alternatively, the cleaning component located on the right side of the center line can be arranged to be able to swing, and the cleaning component located on the left side of the center line can be arranged not to be able to swing, so that the cleaning component on the right side can be used to perform edge cleaning.

[0111] The cleaning component may also include a suction component, which may include a dust suction motor and a dust suction box. The cleaning component is provided with a dust suction port, which is connected to the dust suction box. The dust suction motor can suck dirt near the dust suction port into the dust suction box under electric drive.

[0112] It should be understood that the greater the suction power of the vacuum cleaner motor, the stronger its ability to remove dirt from the surface to be cleaned, but it will also consume more energy.

[0113] For autonomously moving cleaning equipment, self-cleaning is also necessary. Therefore, a base station matching the cleaning equipment can also be set up. The base station is used to clean the cleaning equipment, including but not limited to cleaning the side brush assembly, roller brush assembly and / or rag disc assembly of the cleaning equipment, and the dust box, and powering the cleaning equipment.

[0114] The cleaning equipment provided in this application includes but is not limited to: a sweeping robot, a floor washing robot, a robot that combines sweeping and mopping, a cleaning robot, etc.

[0115] The cleaning device can clean by sweeping first and mopping second, or by sweeping and mopping separately, wherein the sweeping and mopping separately method includes a single sweeping method, a single mopping method, or an alternating sweeping and mopping method.

[0116] For example, the sweep-before-mop method can sweep and mop at the same time, which can improve the cleaning efficiency. The sweep-and-mop separation method can sweep the floor first and then mop the floor after sweeping, which can also improve the cleaning effect.

[0117] It should be understood that the cleaning equipment provided in the present application can be an autonomous robot, and the working area includes the area to be cleaned that can be covered by the autonomous robot. The autonomous robot can move autonomously in the working area and complete the cleaning task of the area to be cleaned without external human information input and control.

[0118] The above-mentioned working area may include indoor area and / or outdoor area. The indoor area may include a family room, an office, a shopping mall, a factory workshop, etc. The outdoor area may include a square, a road, etc. The cleaning task may include washing the floor, mopping the floor, sweeping the floor, etc.

[0119] Existing cleaning devices can set a pet cleaning strategy, which will increase the cleaning intensity related to pets, such as increasing the vacuuming intensity to better collect pet hair. However, when executing the pet cleaning strategy, existing cleaning devices can only fully cover the area to be cleaned. For example, after the pet cleaning strategy is manually or automatically triggered, the cleaning device will clean all the areas it passes through with the pet cleaning strategy. This cannot achieve a good cleaning effect for areas where pets are not present.

[0120] Based on the above technical problems, the inventive concept of the present application is to divide the area to be cleaned into small areas with different activity levels based on historical statistical pet location information, so as to perform cleaning tasks of different degrees on the small areas according to the activity levels of the pets, aiming to solve the above technical problems of the prior art.

[0121] The specific application scenarios of this application are as follows:

[0122] Figure 1 Schematic diagram of the application scenario of the control method of the cleaning equipment provided in the embodiment of the present application. Figure 1 As shown, in a home environment 10 , there are a pet 20 and an autonomously movable cleaning device 30 .

[0123] In a possible embodiment, the pet 20 likes to move around in the living room C and the bedroom B. Therefore, the cleaning strategy implemented by the cleaning device 30 in the living room C and the bedroom B is different from that in the bedroom A, the kitchen D and the bathroom E, so as to improve the cleaning effect.

[0124] Furthermore, the route that the pet 20 often takes in the bedroom B is only from the door of the bedroom B to the bed in the bedroom B. Therefore, the cleaning strategy for this area where the pet 20 often walks is different from that for other areas, thereby improving the cleaning effect.

[0125] The cleaning device executes different cleaning strategies through the processor. The processor is used to control the operation of the cleaning device and respond to user operations through software control programs.

[0126] For example, a processor may include one or more circuits or chips having control functions.

[0127] The software control program may be stored in a storage component, and the processor and the storage component may be disposed inside the cleaning device.

[0128] Optionally, the storage component may be integrated with the processor, or may be two independent components of the processor.

[0129] The storage component is used to store data, for example, various software control programs, some modes, strategies and / or parameters of the cleaning device, etc. Specifically, the program may include program codes, and the program codes include computer operation instructions.

[0130] The execution subject of the embodiment of the present application can be a processor in the cleaning device, or a server corresponding to the cleaning device. The server is located in the cloud, connected to the cleaning device through the network, and issues control instructions to the cleaning device, or forwards the control instructions sent by the user through the terminal device to the cleaning device.

[0131] The following is an example of a processor in a cleaning device as the execution subject, and a specific embodiment describes in detail the technical solution of the present application and how the technical solution of the present application solves the above technical problems. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0132] Figure 2 A schematic diagram of a control method for a cleaning device provided in an embodiment of the present application. Figure 2 As shown, the method includes:

[0133] S21 . When executing a cleaning task, determine cleaning strategies for different partitions in the area to be cleaned based on a heat map of the area to be cleaned.

[0134] The heat map is used to characterize the historical occurrence frequency of the target pet in different partitions of the area to be cleaned.

[0135] Exemplarily, the heat map may be constructed based on the historical location information of the target pet in different partitions of the area to be cleaned, or may be based on user's independent definition, or may be a combination of the historical location information of the target pet and the user's definition.

[0136] For example, the cleaning device is connected to the user terminal for communication. The user may define a closed area on the map of the cleaning device through the user terminal based on the user's understanding of the target pet's movement trajectory or based on the user's requirements for the cleanliness of some environments through which the pet passes, and the device may configure a pet cleaning strategy corresponding to the closed area. The cleaning strategy for this closed area may be different from that for other undefined areas. The two areas may together constitute a heat map, which is used to guide the cleaning device to use corresponding cleaning strategies in different partitions.

[0137] For another example, the cleaning device has constructed a heat map based on the historical location information of the target pet. The heat map can be sent to the user terminal. Based on the heat map and the user's requirements for the cleanliness of some environments passed by the pet, the user can adjust the strategies of some or all partitions on the heat map through the user terminal, or merge or delete some partitions to obtain a new heat map for guiding the cleaning device to use corresponding cleaning strategies in different updated partitions. Figure 3 A map displayed on a user terminal and a user zone status diagram. Figure 3 As shown, the user can mark any area on the map as a partition, so that the cleaning device executes the cleaning strategy set by the user within the partition.

[0138] It should be understood that user-defined hotspots are always present on the map used for daily cleaning, and automatically identified and constructed hotspots only exist in one analysis record generated for each analysis. In the case of user-defined hotspots on the map, after new hotspots are automatically identified and constructed through historical location information, users can be advised to update the map hotspots based on the new hotspots through message push, but the user-defined hotspots will not be automatically replaced to ensure that the user's subjective settings are not affected and to improve the user's experience.

[0139] S22: Clean different partitions in the area to be cleaned according to the cleaning strategies for the different partitions.

[0140] The above heat zone map includes at least two partitions, such as a general cleaning partition and a pet cleaning partition. For the general cleaning partition, the cleaning device is controlled to execute relevant strategies for general cleaning, while for the pet cleaning partition, relevant strategies for pet cleaning are executed, such as increasing the suction force and avoiding wet cleaning as much as possible.

[0141] The general cleaning partition and the pet cleaning partition may further include multiple sub-partitions respectively. The cleaning strategies in the same sub-partition are the same. If the dirtiness of different sub-partitions is different, different cleaning strategies are set.

[0142] It should be understood that the cleaning strategies corresponding to the partitions and sub-partitions can be in a progressive relationship of superior and subordinate, that is, the cleaning strategies of the sub-partitions under the same partition are further refined relative to the cleaning strategies of the partition; the cleaning strategies corresponding to the partitions and sub-partitions can also be in a parallel relationship, that is, the cleaning strategy of the sub-partition under a partition can be the same as the cleaning strategy of another partition. When the cleaning device specifically executes the cleaning strategy, it can pre-specify whether to execute the cleaning strategy of the partition or the cleaning strategy of the sub-partition, or it can execute the cleaning strategies of the partition and the sub-partition at the same time.

[0143] The method provided in this embodiment divides the area to be cleaned into zones, especially divides the area where the target pet is active, so that the cleaning device can be controlled to execute different cleaning strategies for different zones, thereby making full use of the cleaning resources of the cleaning device and improving the cleaning effect.

[0144] Based on the above embodiment, a control method for constructing a heat map of the area to be cleaned based on the historical position information of the target pet in different partitions of the area to be cleaned is described in detail.

[0145] Figure 4 This is a schematic diagram of the control method for constructing a heat map provided in an embodiment of the present application. Figure 4 As shown, the method includes:

[0146] S41, taking the historical location information of the target pet in the area to be cleaned as a hotspot, marking it on a map including the area to be cleaned, and obtaining a hotspot map of the target pet.

[0147] The historical location information of the target pet in the area to be cleaned may be obtained by the cleaning device itself, or may be obtained by the cleaning device through information collected by a third-party terminal device of the Internet of Things.

[0148] For example, the cleaning device is provided with a detection device, which may be one or more combinations of an infrared sensor, an optical flow sensor, an ultrasonic sensor, a laser sensor, or a camera. The detection device is used to obtain the location information of the target pet in the first area, where the first area includes the area to be cleaned; the cleaning device determines the location information of the target pet in the history of different partitions in the area to be cleaned based on the location information of the target pet in the first area acquired by the detection device.

[0149] For another example, the cleaning device may also obtain the location information of the target pet in the second area collected by the third-party terminal, and the second area includes the area to be cleaned; the acquisition method may be to obtain from the cloud or server using the communication module of the cleaning device, and the communication module may be a Bluetooth module, a wifi module, etc. Based on the acquired location information of the target pet in the first area, the cleaning device determines the historical location information of the target pet in different partitions of the area to be cleaned.

[0150] For example, a detection device is provided on the cleaning device, and the cleaning device determines the historical location information of the target pet in different partitions of the area to be cleaned based on the location information of the target pet in the first area obtained by a third-party terminal and the location information of the target pet in the second area obtained by the detection device; the second area includes at least part of the area to be cleaned except the first area.

[0151] The time period of historical location information can be selected within a preset time period. For example, the location information collected within a week of cumulative working time of the cleaning device is counted; another example is the location information collected within two weeks of the Gregorian calendar starting from the activation of the pet cleaning strategy by the cleaning device; another example is the location information collected within a time period preset by the user.

[0152] The time period of historical location information can also be selected within a preset cleaning number. For example, each time the cleaning device performs a whole-house cleaning task, it is recorded as one time. After the number of whole-house cleaning tasks performed reaches the preset cleaning number, all collected location information is counted.

[0153] The time period selection of historical location information can also be during the period of preset event triggering. The preset event is the period during which a special event predefined by the user occurs. For example, the preset event is defined as the period during which a stranger visits. The preset event can be triggered by interactive control methods, or by identifying a stranger. The cleaning device starts to obtain the location information of the target pet in the area to be cleaned based on the triggering of the preset event.

[0154] When the cleaning device uses the detection device to collect the location information of the target pet in the area to be cleaned, it can be when the cleaning device is performing a cleaning task, when the cleaning device is performing a cruising task, or when the cleaning device is walking empty.

[0155] S42: rasterize the hotspot map to obtain a hotspot partition map of the target pet.

[0156] Specifically, the hotspot zoning map is a map with historical location information superimposed on it with a grid added, and both grid lines and hotspots exist in the map.

[0157] S43, based on the number of hot spots in the grid, partition the grid in the hot spot partition map to obtain a hot spot map of the target pet in the area to be cleaned.

[0158] Exemplarily, the same partition can be an area formed by combining grids with the same number of hotspots, for example, grids with 1 hotspot are merged into one partition; the same partition can also be an area formed by combining grids with the same range of hotspot numbers, for example, grids with 3-5 hotspots are merged into one partition.

[0159] In some embodiments, the number of partitions can be determined based on the habits of the target pet and the gear adjustment range of the cleaning device. For example, after the number of hot spots in a single grid is counted, they are sorted from large to small. If the cleaning device has five gears, five thresholds are preset to cover all the hot spots. The five thresholds are the first threshold, the second threshold, the third threshold, the fourth threshold, and the fifth threshold from large to small, and the partition rules are as follows:

[0160] If the number of hot spots in the grid is greater than or equal to the first threshold, the grid is counted as a first hot zone;

[0161] If the number of hot spots in the grid is greater than or equal to the second threshold and less than the first threshold, the grid is counted as a second hot zone;

[0162] If the number of hot spots in the grid is greater than or equal to the third threshold and less than the second threshold, the grid is counted as a third hot zone;

[0163] If the number of hot spots in the grid is greater than or equal to the fourth threshold and less than the third threshold, the grid is counted as a fourth hot zone;

[0164] If the number of hot spots in the grid is greater than or equal to the fifth threshold and less than the fourth threshold, the grid is counted as the fifth hot zone;

[0165] If the number of hot spots in the grid is less than the fifth threshold, or there are no hot spots at all, or the grid cannot be divided into any of the above hot zones, the grid is discarded.

[0166] It should be understood that the grid division size is not further limited here, and can be a preset size, such as 1m*1m; or a size adjusted by the user, such as 2m*2m; the corresponding hot zone can be an irregular area formed by stacking the squares after the grid is merged; or it can be a regular area formed by expanding the irregular area formed by stacking the squares after the grid is merged, such as a circle or square or a blurred figure, or it can be a single room area formed by expanding the irregular area formed by stacking the squares after the grid is merged, so as to facilitate the path planning of the cleaning equipment.

[0167] Among them, the heat map can be displayed to the user on the map through the user terminal. Figure 5 A map containing a heat map displayed on a user terminal. Figure 5 As shown, the darker the area, the more frequently the target pet passes by. Conversely, the darker the area, the more rarely the target pet stays.

[0168] Of course, there are many ways to display the heat map, including but not limited to identification and color distinction. For example:

[0169] In some embodiments, based on the number of hot spots in the grid and the preset partition number range, grids within the same preset partition number range are marked as having the same partition identifier.

[0170] In other embodiments, based on the number of hotspots in the grid and the range of preset partition numbers, the grids within the same range of preset partition numbers are marked with the same color logo. Generally speaking, the more hotspots there are, the darker and more eye-catching the color of the logo is, such as red, and the fewer hotspots there are, the lighter the color of the logo is, such as light yellow.

[0171] Since the rasterization of the map and the marking of hotspots are two independent processes, in the process of partitioning based on the number of hotspots in the grid, it is very likely that the marked hotspot position will coincide with the rasterized boundary line. In this case, the hotspot on the grid can be merged into the number of hotspots in the grid that is the shortest distance from the hotspot.

[0172] For example, Figure 6 This is a schematic diagram of the hotspot and grid combination provided in the embodiment of the present application. Figure 6 As shown, hotspot A is located on the grid line, and the distance from hotspot A to grid B on the left side of the grid line is smaller than the distance to grid C on the right side of the grid line. Therefore, hotspot A is determined to belong to the number of hotspots in grid B.

[0173] Optionally, in a multi-pet scenario, due to the differences in the activity trajectories of different pets, and the different degrees and types of dirt caused by different pets, targeted cleaning is required to achieve a better cleaning effect. Therefore, multiple target pets can be set, and based on the historical location information of different target pets in different partitions of the area to be cleaned, heat maps corresponding to different target pets in the area to be cleaned can be constructed respectively, so that different cleaning strategies can be implemented for different pets to further improve the cleaning effect.

[0174] For example, the same home environment contains a short-haired cat D, a long-haired cat E and a dog F, and the types of dirt generated by the three are different. When processing the collected image data, the recognition algorithm can be used to identify the three, and based on the short-haired cat D, the long-haired cat E and the dog F, the corresponding heat map D, the heat map E and the heat map F can be constructed respectively, so as to set the corresponding cleaning strategies in a targeted manner.

[0175] In some embodiments, if the cleaning strategies of multiple target pets are the same, the different heat map corresponding to the target pets with the same cleaning strategy in the area to be cleaned are merged to update the heat map. This update allows the same area to be cleaned only once, reducing ineffective repeated cleaning tasks, and can also connect areas with the same cleaning strategy that are interrupted by different pets, facilitating the continuous movement of the cleaning equipment and improving cleaning efficiency.

[0176] Multiple pets may have the same type of dirt. For example, two cats D and G of the same breed produce the same type of dirt, and the only difference is that their activity areas are different. The detection device or third-party terminal device will identify them as two different target pets, and then construct two heat map, such as heat map D and heat map G. Obviously, when the cleaning device cleans according to heat map D and heat map G in sequence, if there is an overlap between heat map D and heat map G, the cleaning device will clean the overlap twice. At this time, the intersection of the activities of the two pets can be merged and cleaned by merging the heat maps, so that the cleaning device can complete the cleaning task of the area to be cleaned at one time, reducing cleaning energy consumption.

[0177] The cleaning strategy executed by the cleaning device of the present application based on the heat map is described in detail below in conjunction with several specific embodiments.

[0178] The cleaning device determines the cleaning strategies corresponding to different partitions in the area to be cleaned under the current working mode based on the current working mode and the heat map of the area to be cleaned. The cleaning device includes at least one working mode, and the working mode includes multiple cleaning strategies.

[0179] Exemplarily, the working modes include a first mode, a second mode and a third mode. The first mode supports the first cleaning strategy, the second cleaning strategy, the third cleaning strategy and the fourth cleaning strategy; the second mode supports the fifth cleaning strategy and the sixth cleaning strategy; and the third mode supports the seventh cleaning strategy and the eighth cleaning strategy.

[0180] Among them, each cleaning strategy is executed in each working mode. The cleaning strategies cannot be combined with each other, but the working modes can be combined with each other.

[0181] For example, the first mode is a single sweep mode, the second mode is a single drag mode, and the third mode is an edge mode. When performing a cleaning task, in addition to being able to execute any working mode independently, the cleaning device can also be controlled to execute the first mode, the second mode, and the third mode in sequence, or the first mode and the second mode can be executed alternately within a certain period of time, or the third mode can be executed first, and then the first mode and the second mode can be executed alternately, and many other implementation methods are not listed here one by one.

[0182] Specifically, the area to be cleaned includes a first partition and a second partition, and the historical appearance frequency of the target pet corresponding to the first partition is less than the historical appearance frequency of the target pet corresponding to the second partition.

[0183] In the first execution mode, the first partition corresponds to the first cleaning strategy, and the second partition corresponds to the second cleaning strategy.

[0184] The first cleaning strategy is configured such that the vacuum motor operates at a first suction force, the side brush assembly operates at a first rotation speed, and the cleaning device returns to the base station at a first frequency to clean the cleaning device.

[0185] The second cleaning strategy is configured so that the vacuum motor operates at a second suction force, the side brush assembly operates at a first rotation speed, and the cleaning device returns to the base station at a second frequency to clean the cleaning device; the second suction force is greater than the first suction force, and the second frequency is greater than the first frequency.

[0186] For example, when executing the single-sweep working mode, the cleaning device executes the single-sweep working mode in different partitions, but the specific cleaning strategies in different partitions are different. In the partition where pets appear frequently, the suction force needs to be increased to increase the vacuuming intensity of pet hair and dirt such as pet food and cat litter. The cleaning frequency of returning to the base station can also be increased to avoid excessive hair collection causing blockage in the suction pipe or dust box, so as to meet the high-frequency pet hair dust collection needs.

[0187] Optionally, the suction component also includes a dust box, which is connected to the dust motor; the second cleaning strategy is also configured that the dust motor sucks the dust box to compress the hair in the dust box, thereby reducing the possibility of pet hair clogging the dust box, improving the cleaning effect, reducing the frequency of the cleaning equipment returning to the base station to clean the dust box, and improving cleaning efficiency.

[0188] In some embodiments, since most pets shed hair, and the hair shedding period is usually related to the season, and hair cleaning is only applicable to the dry cleaning working mode, therefore, when the season information of the cleaning device is a preset season, based on the hair type of the target pet, different cleaning strategies corresponding to the hair type are determined, thereby better meeting the actual cleaning needs in the home environment and improving the cleaning effect.

[0189] Exemplarily, when the hair type is medium hair, the hair type corresponds to the first cleaning strategy;

[0190] In the case where the hair type is long hair, the hair type corresponds to a third cleaning strategy; the third cleaning strategy is configured such that the side brush assembly runs at a second rotation speed, and the dust collecting motor runs at a first suction force; the second rotation speed is less than the first rotation speed;

[0191] When the hair type is short hair, the hair type corresponds to the fourth cleaning strategy; the fourth cleaning strategy is configured such that the side brush assembly runs at a third rotational speed and the vacuum motor runs at a first suction force; the third rotational speed is greater than the first rotational speed.

[0192] For example, cats and dogs are the main pets that shed the most hair in spring and autumn. We can obtain the seasonal information of the area where the vacuum cleaner is located, make predictions based on the seasonal information, and push the user to select the pet hair type. This way, when performing cleaning tasks, the corresponding cleaning strategies can be used:

[0193] When the hair is long, the vacuum motor will use strong suction and the side brush assembly will rotate at a reduced speed;

[0194] For medium and long hair, the vacuum motor will use strong suction and the side brush assembly will rotate;

[0195] For short hair, the vacuum motor will use super strong suction and the side brush assembly will rotate.

[0196] When executing the second mode, the first partition corresponds to the fifth cleaning strategy, and the second partition corresponds to the sixth cleaning strategy.

[0197] The fifth cleaning strategy is configured such that the wet cleaning component operates with a first water volume, the side brush component operates with a first rotation speed, and the cleaning device returns to the base station at a first frequency to clean the cleaning device.

[0198] The sixth cleaning strategy is configured that the wet cleaning component operates with a second water volume, and the cleaning device returns to the base station at a third frequency to clean the cleaning device; the second water volume is less than the first water volume, and the third frequency is determined based on the cleaning task completion time of the current partition.

[0199] For example, when executing the single-mopping working mode, the cleaning equipment executes the single-mopping working mode in different partitions, but the specific cleaning strategies in different partitions are different. In the partitions where pets appear frequently, the mop humidity uses low water volume to prevent pet skin diseases caused by wet ground.

[0200] Since the dirt in the pet activity area is different from the dirt in the ordinary home environment, in order to improve the cleaning effect and be more suitable for the health needs of pets, pet detergent can also be used during the wet cleaning process to help pets deodorize. In some embodiments, if the cleaning device is also provided with a cleaning liquid box for accommodating cleaning agent, and the cleaning liquid box is connected to the wet cleaning component, the sixth cleaning strategy is also configured that the cleaning liquid box is opened to add cleaning agent to the wet cleaning component.

[0201] In other embodiments, if the cleaning device is also connected to a base station, and the base station includes a sterilization device, the sixth cleaning strategy is also configured for the cleaning device to return to the base station and send a sterilization instruction to the base station so that the base station sterilizes the wet cleaning component.

[0202] Among them, the backwashing frequency of returning to the base station can be executed according to the partition of the heat map, that is, after completing the cleaning task of each partition, it returns to the base station for cleaning once, so as to increase the cleaning frequency and thus reduce the cross-contamination of dirt in different areas.

[0203] It should be understood that when a base station equipped with a sterilization device performs daily cleaning tasks in non-pet areas on the cleaning equipment, the sterilization device can be turned on, but it can also be turned off. From the perspective of energy conservation, it is usually not turned on. However, the cleaning requirements of the cleaning tasks in the pet area are higher, so the thermal map can be used to divide the area into zones to determine whether to turn it on, thereby improving the cleaning effect.

[0204] Based on the heat map, it can be determined that the intensity of the pet cleaning strategy in the area where the pet cleaning strategy is implemented can be further subdivided according to the frequency of appearance of the target pet. Taking the second partition as the area where the pet appears as an example, the second partition includes the first sub-partition and the second sub-partition, and the historical frequency of appearance of the target pet corresponding to the first sub-partition is less than the historical frequency of appearance of the target pet corresponding to the second sub-partition; the sixth cleaning strategy also includes the first sub-cleaning strategy and the second sub-cleaning strategy, the third sub-cleaning strategy and the fourth sub-cleaning strategy; the first sub-partition corresponds to the first sub-cleaning strategy and / or the third sub-cleaning strategy, and the second partition corresponds to the second sub-cleaning strategy and / or the fourth sub-cleaning strategy.

[0205] Exemplarily, the sterilization device may include a drying device and / or an ultraviolet lamp, and the drying device and / or the ultraviolet lamp both improve the sterilization effect by controlling the start-up time.

[0206] The amount of detergent added in the first sub-cleaning strategy is less than the amount of detergent added in the second sub-cleaning strategy; the sterilization time in the third sub-cleaning strategy is less than the sterilization time in the fourth sub-cleaning strategy, thereby further improving the cleaning effect.

[0207] When executing the third mode, the obstacle corresponds to the seventh cleaning strategy, and the target obstacle corresponds to the eighth cleaning strategy; the target obstacle is an obstacle related to pet products in the area to be cleaned.

[0208] Among them, the seventh cleaning strategy is configured as the cleaning device moving along the edge of the obstacle, and the dust suction motor operates with the first suction force.

[0209] The eighth cleaning strategy is configured as the cleaning device moving along the edge at a preset distance from the target obstacle, and the dust suction motor operates with a third suction force; the third suction force is greater than the first suction force.

[0210] For example, when encountering target obstacles such as pet kennels, pet food containers, pet litter boxes, etc., the suction force is immediately increased to strong, and the current cleaning strategy is used to clean along the edges according to the expanded interval of 0.5m.

[0211] Optionally, since pet urine pads are particularly dirty and can easily contaminate cleaning equipment and then the walking path behind the cleaning equipment, when the pet product is a pet urine pad, the cleaning equipment is controlled to perform obstacle avoidance on the pet urine pad, thereby avoiding secondary contamination of the cleaning area by the cleaning equipment, increasing the cleaning workload of the cleaning equipment, and indirectly improving the cleaning efficiency.

[0212] In some embodiments, there are user-defined hot zones in the hot zone map. The cleaning strategy of the hot zone is unrelated to the hot zone cleaning strategy automatically identified by the cleaning device. The cleaning device preferentially executes the preset cleaning strategy corresponding to the user-defined hot zone, and only uses the above-mentioned multiple cleaning strategies in other hot zones that are not user-defined.

[0213] This embodiment also provides a control device for a cleaning device, which can execute the control method for the cleaning device of the above embodiment. Its implementation principle and technical effect are similar, and will not be described in detail in this embodiment.

[0214] The embodiment of the present invention can divide the electronic device or the main control device into functional modules according to the above method example. For example, each functional module can be divided according to each function, or two or more functions can be integrated into one processing unit. The above integrated unit can be implemented in the form of hardware or in the form of software functional modules. It should be noted that the division of modules in the embodiment of the present invention is schematic and is only a logical function division. There may be other division methods in actual implementation.

[0215] In the specific implementation of the aforementioned control device for the cleaning device, each module may be implemented as a processor, and the processor may execute computer-executable instructions stored in the memory, so that the processor executes the aforementioned control method for the cleaning device.

[0216] Figure 7 The hardware structure diagram of the electronic device provided in the embodiment of the present application is shown in FIG. Figure 7 As shown, the electronic device includes:

[0217] At least one processor 701 and a memory 702 .

[0218] The electronic device further comprises a communication component 703 .

[0219] The processor 701 , the memory 702 and the communication component 703 are connected via a bus 704 .

[0220] In a specific implementation process, at least one processor 701 executes the computer-executable instructions stored in the memory 702, so that at least one processor 701 executes the control method of the cleaning device as executed above.

[0221] The specific implementation process of the processor 701 can be found in the above method embodiment, and its implementation principle and technical effect are similar, so this embodiment will not be repeated here.

[0222] In the above embodiments, it should be understood that the processor may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), etc. A general-purpose processor may be a microprocessor or any conventional processor. The steps of the method disclosed in the invention may be directly implemented as being executed by a hardware processor, or may be executed by a combination of hardware and software modules in the processor.

[0223] The memory may include a high-speed RAM memory, and may also include a non-volatile storage NVM, such as at least one disk storage.

[0224] The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, the bus in the drawings of the present application is not limited to only one bus or one type of bus.

[0225] The above describes the solutions provided by the embodiments of the present invention with respect to the functions implemented by the electronic device and the main control device.

[0226] It is understandable that, in order to realize the above functions, the electronic device or the main control device includes the corresponding hardware structure and / or software module for executing each function.

[0227] In combination with the units and algorithm steps of each example described in the embodiment disclosed in the embodiment of the present invention, the embodiment of the present invention can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is executed in the form of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the technical solution of the embodiment of the present invention.

[0228] The present application also provides a computer program product, including a computer program, which implements a control method for a cleaning device when executed by a processor.

[0229] The computer program product provided in this embodiment can execute the control method of the cleaning device in the above-mentioned embodiment. Its implementation principle and technical effect are similar, and this embodiment will not be repeated here.

[0230] The present application also provides a computer-readable storage medium, in which computer-executable instructions are stored. When a processor executes the computer-executable instructions, the control method of the cleaning device as described above is implemented.

[0231] The computer-readable storage medium provided in this embodiment can execute the control method of the cleaning device in the above-mentioned embodiment, and its implementation principle and technical effect are similar, so this embodiment will not be repeated here.

[0232] The computer-readable storage medium mentioned above can be implemented by 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 memory, flash memory, magnetic disk or optical disk. The readable storage medium can be any available medium that can be accessed by a general or special-purpose computer.

[0233] An exemplary readable storage medium is coupled to a processor so that the processor can read information from the readable storage medium and write information to the readable storage medium. Of course, the readable storage medium can also be a component of the processor. The processor and the readable storage medium can be located in an application specific integrated circuit (Application Specific Integrated Circuits, referred to as: ASIC). Of course, the processor and the readable storage medium can also exist as discrete components in an electronic device or a main control device.

[0234] Those skilled in the art can understand that all or part of the steps of implementing the above-mentioned method embodiments can be completed by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, the steps of the above-mentioned method embodiments are executed; and the aforementioned storage medium includes: ROM, RAM, disk or optical disk and other media that can store program codes.

[0235] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant laws, regulations and standards, and provide corresponding operation entrances for users to choose to authorize or refuse.

[0236] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein by equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for controlling a cleaning device, characterized in that: The method comprises: In the case of performing a cleaning task, based on a heat map of the area to be cleaned, a cleaning strategy for different partitions in the area to be cleaned is determined; wherein the heat map is used to characterize the historical occurrence frequency of the target pet in different partitions of the area to be cleaned; The partitions are cleaned according to the cleaning strategies for different partitions in the area to be cleaned.

2. The method according to claim 1, characterized in that The method further comprises: Based on the historical location information of the target pet in different partitions of the area to be cleaned, construct a heat map of the target pet in the area to be cleaned; Alternatively, based on at least one area demarcated by the user terminal in the area to be cleaned, a heat map of the target pet in the area to be cleaned is constructed; Alternatively, a heat map of the target pet in the area to be cleaned is constructed based on the historical location information of the target pet in different partitions of the area to be cleaned and at least one area demarcated by the user terminal in the area to be cleaned.

3. The method according to claim 2, characterized in that The step of constructing a heat map of the target pet in the area to be cleaned based on the historical location information of the target pet in different partitions of the area to be cleaned includes: Using the historical location information of the target pet in the area to be cleaned as a hotspot, marking it on a map including the area to be cleaned, and obtaining a hotspot map of the target pet; Rasterizing the hotspot map to obtain a hotspot partition map of the target pet; Based on the number of hot spots in the grid, the grid in the hot spot partition map is partitioned to obtain a hot spot map of the target pet in the area to be cleaned.

4. The method according to claim 3, characterized in that The partitioning of the grid in the hotspot partition map based on the number of hotspots in the grid includes: Based on the number of hot spots in the grid and the range of the number of preset partitions, the grids within the same range of the number of preset partitions are marked as the same partition identifier; Alternatively, based on the number of hot spots in the grid and the preset partition number range, grids within the same preset partition number range are marked with the same color identification.

5. The method according to claim 3, characterized in that: Before partitioning the grid in the hotspot partition map based on the number of hotspots in the grid, the method further includes: If there are hot spots on the grid, the hot spots on the grid are merged into the number of hot spots in the grid with the shortest distance from the hot spots.

6. The method according to any one of claims 2 to 5, characterized in that: The historical location information of the target pet in different partitions of the area to be cleaned includes: The location information of the target pet in the area to be cleaned collected within a preset time period; Alternatively, the location information of the target pet in the area to be cleaned collected within a preset number of cleaning times; Alternatively, the location information of the target pet in the area to be cleaned is collected during the triggering of a preset event.

7. The method according to claim 6, characterized in that The cleaning device is also provided with a detection device, and the detection device is used to obtain the position information of the target pet in a first area, and the first area includes the area to be cleaned; The historical location information of the target pet in different partitions of the area to be cleaned includes: When the cleaning device performs a cleaning task, a cruising task and / or an idle walk, the historical position information of the target pet in different partitions of the area to be cleaned is determined based on the position information of the target pet in the first area acquired by the detection device.

8. The method according to claim 7, characterized in that The cleaning device is further used to obtain location information of the target pet in a second area collected by a third-party terminal, where the second area includes the area to be cleaned; The historical location information of the target pet in different partitions of the area to be cleaned includes: Based on the location information of the target pet in the first area obtained from the third-party terminal and the location information of the target pet in the second area obtained by the detection device, the historical location information of the target pet in different partitions of the area to be cleaned is determined; the second area includes at least part of the area to be cleaned except the first area.

9. The method according to any one of claims 2 to 5, characterized in that: The cleaning device is further used to obtain location information of the target pet in a second area collected by a third-party terminal, where the second area includes the area to be cleaned; The historical location information of the target pet in different partitions of the area to be cleaned includes: Based on the location information of the target pet in the first area acquired from the third-party terminal, historical location information of the target pet in different partitions of the area to be cleaned is determined.

10. The method according to any one of claims 2 to 5, characterized in that: When there are multiple target pets, constructing a heat map of the target pets in the area to be cleaned based on historical location information of the target pets in different partitions of the area to be cleaned includes: Based on the historical location information of different target pets in different partitions of the area to be cleaned, heat map corresponding to different target pets in the area to be cleaned is constructed respectively.

11. The method according to claim 10, characterized in that The method further comprises: If the cleaning strategies of the plurality of target pets are the same, the different heat map corresponding to the target pets with the same cleaning strategy in the area to be cleaned are merged to update the heat map.

12. The method according to claim 1, characterized in that The cleaning device includes at least one working mode, and the working mode includes multiple cleaning strategies; Determining cleaning strategies for different partitions in the area to be cleaned based on the heat map of the area to be cleaned includes: Based on the current working mode and the heat map of the area to be cleaned, cleaning strategies corresponding to different partitions in the area to be cleaned under the current working mode are determined.

13. The method according to claim 12, characterized in that The cleaning device also includes a suction assembly for collecting dirt and a side brush assembly for dry cleaning; the suction assembly includes a dust suction motor; The working mode includes a first mode, the first mode supports a first cleaning strategy and a second cleaning strategy; The first cleaning strategy is configured such that the vacuum motor operates at a first suction force, the side brush assembly operates at a first rotational speed, and the cleaning device returns to a base station at a first frequency to clean the cleaning device; The second cleaning strategy is configured such that the vacuum motor operates at a second suction force, the side brush assembly operates at a first rotational speed, and the cleaning device returns to the base station at a second frequency to clean the cleaning device; The second suction force is greater than the first suction force, and the second frequency is greater than the first frequency; The area to be cleaned includes a first partition and a second partition, the historical appearance frequency of the target pet corresponding to the first partition is less than the historical appearance frequency of the target pet corresponding to the second partition; the first partition corresponds to the first cleaning strategy, and the second partition corresponds to the second cleaning strategy.

14. The method according to claim 13, characterized in that The suction assembly also includes a dust box, which is connected to the dust motor; the second cleaning strategy is also configured that the dust motor sucks the dust box to compress the hair in the dust box.

15. The method according to claim 14, characterized in that The method further comprises: When the season information of the cleaning device is a preset season, different cleaning strategies corresponding to the hair type are determined based on the hair type of the target pet.

16. The method according to claim 15, characterized in that The first mode further supports a third cleaning strategy and a fourth cleaning strategy; the determining, based on the hair type obtained from the user terminal, different cleaning strategies corresponding to the hair type includes: In the case where the hair type is medium hair, the hair type corresponds to a first cleaning strategy; In the case where the hair type is long hair, the hair type corresponds to a third cleaning strategy; the third cleaning strategy is configured such that the side brush assembly runs at a second rotation speed, and the dust cleaning motor runs at a first suction force; the second rotation speed is less than the first rotation speed; When the hair type is short hair, the hair type corresponds to the fourth cleaning strategy; the fourth cleaning strategy is configured such that the side brush assembly operates at a third rotational speed and the vacuum motor operates at a first suction force; the third rotational speed is greater than the first rotational speed.

17. The method according to claim 12, characterized in that The cleaning device also includes a side brush assembly for dry cleaning and a wet cleaning assembly for wet cleaning; The working mode includes a second mode, and the second mode supports a fifth cleaning strategy and a sixth cleaning strategy; The fifth cleaning strategy is configured such that the wet cleaning assembly operates at a first water volume, the side brush assembly operates at a first rotation speed, and the cleaning device returns to a base station at a first frequency to clean the cleaning device; The sixth cleaning strategy is configured such that the wet cleaning component operates with a second water volume, and the cleaning device returns to the base station at a third frequency to clean the cleaning device; The second water volume is less than the first water volume, and the third frequency is determined based on the completion time of the cleaning task of the current partition; The area to be cleaned includes a first partition and a second partition, the target pet historical appearance frequency corresponding to the first partition is less than the target pet historical appearance frequency corresponding to the second partition; the first partition corresponds to the fifth cleaning strategy, and the second partition corresponds to the sixth cleaning strategy.

18. The method according to claim 17, characterized in that The cleaning device is also provided with a cleaning liquid box for containing cleaning agent, and the cleaning liquid box is connected to the wet cleaning component; the sixth cleaning strategy is also configured that the cleaning liquid box is opened to add cleaning agent to the wet cleaning component.

19. The method according to claim 18, characterized in that The sixth cleaning strategy also includes a first sub-cleaning strategy and a second sub-cleaning strategy; The amount of liquid detergent added in the first sub-cleaning strategy is less than the amount of liquid detergent added in the second sub-cleaning strategy; The second partition includes a first sub-partition and a second sub-partition, the target pet historical appearance frequency corresponding to the first sub-partition is less than the target pet historical appearance frequency corresponding to the second sub-partition; the first sub-partition corresponds to the first sub-cleaning strategy, and the second partition corresponds to the second sub-cleaning strategy.

20. The method according to claim 17, characterized in that The cleaning device is also connected to a base station, and the base station includes a sterilization device; the sixth cleaning strategy is also configured for the cleaning device to return to the base station and send a sterilization instruction to the base station so that the base station sterilizes the wet cleaning component.

21. The method according to claim 18, characterized in that The sixth cleaning strategy also includes a third sub-cleaning strategy and a fourth sub-cleaning strategy; The sterilization time in the third sub-cleaning strategy is shorter than the sterilization time in the fourth sub-cleaning strategy; The second partition includes a first sub-partition and a second sub-partition, the target pet historical appearance frequency corresponding to the first sub-partition is less than the target pet historical appearance frequency corresponding to the second sub-partition; the first sub-partition corresponds to the third sub-cleaning strategy, and the second partition corresponds to the fourth sub-cleaning strategy.

22. The method according to claim 12, characterized in that The cleaning device also includes a suction assembly for collecting dirt and a side brush assembly for dry cleaning; the suction assembly includes a dust suction motor; The working mode includes a third mode, and the third mode supports a seventh cleaning strategy and an eighth cleaning strategy; The seventh cleaning strategy is configured such that the cleaning device moves along the edge of the obstacle, and the dust suction motor operates at a first suction force; The eighth cleaning strategy is configured as follows: the cleaning device moves along the edge at a preset distance from the target obstacle, and the dust suction motor operates at a third suction force; the third suction force is greater than the first suction force; The obstacle corresponds to the seventh cleaning strategy, and the target obstacle corresponds to the eighth cleaning strategy; the target obstacle is an obstacle related to pet products in the area to be cleaned.

23. The method according to claim 22, characterized in that In the case where the pet product is a pet urine pad, the method further comprises: The cleaning device is controlled to perform obstacle avoidance processing on the pet urine pad.

24. A cleaning device, characterized in that: The device comprises a body and an electronic device, wherein the electronic device comprises at least one processor and a memory connected to the processor, and the processor is used to execute the method according to any one of claims 1 to 23.

25. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, which are used to implement the method according to any one of claims 1 to 23 when executed by a processor.

26. A computer program product comprising a computer program, characterized in that When the computer program is executed by a processor, the method according to any one of claims 1 to 23 is implemented.

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