Control method of cleaning electric appliance, cleaning electric appliance, cloud server and storage medium

Abstract

The invention discloses a control method of a cleaning electric appliance, the cleaning electric appliance, a cloud server and a computer readable storage medium. The control method of the cleaning electric appliance comprises the following steps: controlling the cleaning electric appliance to send a detection command to a cloud server; controlling the cloud server to analyze a cleaned map and a cleaning track of the cleaning electric appliance according to the detection command, acquiring a supplementary scanning area, and sending a supplementary scanning command to the cleaning electric appliance according to the supplementary scanning area; and controlling the cleaning electric appliance to execute a sweeping operation on the sweeping area according to the sweeping command. In the control method of the cleaning electric appliance, the cloud server can analyze the cleaned map and the cleaning track of the cleaning electric appliance according to the detection command uploaded by the cleaning electric appliance and obtain the complementary scanning area, so that the cleaning electric appliance can execute the complementary scanning operation according to the complementary scanning command, and the cloud server is higher in computing power and better in performance, so that the cleaning efficiency is improved. And the sweeping area is more easily detected, so that the cleaning efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of household appliances, and in particular to a control method of a cleaning appliance, a cleaning appliance, a cloud server and a computer-readable storage medium. Background Art

[0002] In the related art, after completing the sweeping operation, a sweeping robot may miss some areas and need to re-sweep. The main reason for this is that the sweeping robot has poor mapping effect or insufficient planning and control capabilities, which ultimately leads to the sweeping robot missing areas in the presence of obstacles and special environments. Summary of the invention

[0003] The embodiments of the present invention provide a control method of a cleaning appliance, a cleaning appliance, a cloud server and a computer-readable storage medium to solve at least one of the above-mentioned technical problems.

[0004] A control method of a cleaning appliance according to an embodiment of the present invention includes:

[0005] Controlling the cleaning appliance to send a detection command to a cloud server;

[0006] Control the cloud server to analyze the map and cleaning track of the cleaning appliance according to the detection command, obtain a supplementary scanning area, and send a supplementary scanning command to the cleaning appliance according to the supplementary scanning area;

[0007] The cleaning appliance is controlled to perform a re-sweeping operation on the re-sweeping area according to the re-sweeping command.

[0008] In the above-mentioned control method of the cleaning appliance, the cloud server can analyze the map and cleaning trajectory that have been cleaned by the cleaning appliance according to the detection command uploaded by the cleaning appliance, and obtain the re-scanning area. Then the cleaning appliance can perform the re-scanning operation according to the re-scanning command. Since the cloud server has higher computing power and better performance, the re-scanning area is easier to detect, thereby improving the cleaning efficiency.

[0009] In some embodiments, controlling the cleaning appliance to send a detection command to a cloud server includes:

[0010] The cleaning appliance is controlled to send the detection command to the cloud server before cleaning is finished.

[0011] In some embodiments, controlling the cleaning appliance to send a detection command to a cloud server includes:

[0012] Controlling the cleaning appliance to clean multiple target areas in sequence according to a cleaning plan;

[0013] After each target area is cleaned, the cleaning appliance is controlled to send the detection command to the cloud server.

[0014] In some embodiments, controlling the cleaning appliance to perform a re-scanning operation on the re-scanning area according to the re-scanning command includes at least one of the following:

[0015] After the supplementary scanning command is acquired, when the supplementary scanning area and the cleaning appliance are both located in the current target area, controlling the cleaning appliance to perform a supplementary scanning operation on the supplementary scanning area;

[0016] After obtaining the supplementary scanning command, controlling the cleaning appliance to determine whether to complete the cleaning of the current target area and then perform the supplementary scanning operation on the supplementary scanning area of ​​the previous target area, or to pause the cleaning of the current target area and move to the supplementary scanning area of ​​the previous target area to perform the supplementary scanning operation, according to the distance between the current position of the cleaning appliance and the supplementary scanning area;

[0017] After the supplementary sweep command is acquired, when the return path of the cleaning appliance to the station passes through the supplementary sweep area, the cleaning appliance is controlled to perform a supplementary sweep operation on the supplementary sweep area after leaving the station.

[0018] In some embodiments, controlling the cloud server to analyze the map and cleaning track of the cleaning appliance according to the detection command, obtaining a supplementary scanning area, and sending a supplementary scanning command to the cleaning appliance according to the supplementary scanning area includes:

[0019] Control the cloud server to obtain the missed cleaning area according to the map and the cleaning trajectory;

[0020] The cloud server is controlled to obtain the supplementary scanning area according to the missed scanning area and the actual size of the cleaning appliance, and a supplementary scanning command is sent to the cleaning appliance according to the supplementary scanning area.

[0021] In some embodiments, controlling the cloud server to obtain the missed cleaning area according to the map and the cleaning trajectory includes:

[0022] Controlling the cloud server to calculate track coverage according to the map and the cleaning track;

[0023] The cloud server is controlled to obtain the missed scanning area according to the track coverage rate.

[0024] In some embodiments, controlling the cleaning appliance to perform a re-sweeping operation on the re-sweeping area according to the re-sweeping command includes:

[0025] Controlling the cleaning appliance to parse the supplementary scanning command to obtain the supplementary scanning area, and sending the supplementary scanning area to the connection terminal so that the connection terminal displays the supplementary scanning area;

[0026] The cleaning appliance is controlled to perform a supplementary scanning operation on the supplementary scanning area according to the execution instruction sent by the connection terminal.

[0027] In some embodiments, the control method further comprises:

[0028] After the supplementary scanning operation is completed or the supplementary scanning operation fails, controlling the cleaning appliance to generate and send a missed scanning log to the cloud server;

[0029] Control the cloud server to store the missed scanning log.

[0030] A control method for a cleaning appliance according to an embodiment of the present invention is used for the cleaning appliance, and the control method comprises:

[0031] Controlling the cleaning appliance to send a detection command to a cloud server;

[0032] The cleaning appliance is controlled to perform a supplementary scanning operation on the supplementary scanning area according to the supplementary scanning command sent by the cloud server, wherein the supplementary scanning command is generated by the cloud server by analyzing the map and cleaning track that have been cleaned by the cleaning appliance according to the detection command.

[0033] In some embodiments, controlling the cleaning appliance to send a detection command to a cloud server includes:

[0034] The cleaning appliance is controlled to send the detection command to the cloud server before cleaning is finished.

[0035] In some embodiments, controlling the cleaning appliance to send a detection command to a cloud server includes:

[0036] Controlling the cleaning appliance to clean multiple target areas in sequence according to a cleaning plan;

[0037] After each target area is cleaned, the cleaning appliance is controlled to send the detection command to the cloud server.

[0038] In some embodiments, controlling the cleaning appliance to perform a re-scanning operation on the re-scanning area according to the re-scanning command sent by the cloud server includes at least one of the following:

[0039] After the supplementary scanning command is acquired, when the supplementary scanning area and the cleaning appliance are both located in the current target area, controlling the cleaning appliance to perform a supplementary scanning operation on the supplementary scanning area;

[0040] After the re-scanning command is obtained, the control determines whether to complete the cleaning of the current target area and then perform the re-scanning operation on the re-scanning area of ​​the previous target area, or to pause the cleaning of the current target area and move to the re-scanning area of ​​the previous target area to perform the re-scanning operation, according to the distance between the current position of the cleaning appliance and the re-scanning area;

[0041] After the supplementary sweep command is acquired, when the return path of the cleaning appliance to the station passes through the supplementary sweep area, the cleaning appliance is controlled to perform a supplementary sweep operation on the supplementary sweep area after leaving the station.

[0042] In some embodiments, controlling the cleaning appliance to perform a re-scanning operation on the re-scanning area according to the re-scanning command sent by the cloud server includes:

[0043] Controlling the cleaning appliance to parse the supplementary scanning command to obtain the supplementary scanning area, and sending the supplementary scanning area to the connection terminal so that the connection terminal displays the supplementary scanning area;

[0044] The cleaning appliance is controlled to perform a supplementary scanning operation on the supplementary scanning area according to the execution instruction sent by the connection terminal.

[0045] A control method for a cleaning appliance according to an embodiment of the present invention is used in a cloud server, and the control method includes:

[0046] Control the cloud server to analyze the map and cleaning track of the cleaning appliance according to the detection command sent by the cleaning appliance, and obtain the supplementary cleaning area;

[0047] The cloud server is controlled to send a supplementary scanning command to the cleaning appliance according to the supplementary scanning area, so that the cleaning appliance performs a supplementary scanning operation on the supplementary scanning area according to the supplementary scanning command.

[0048] In some embodiments, controlling the cloud server to analyze the map and cleaning track of the cleaning appliance according to the detection command sent by the cleaning appliance to obtain the re-scanning area includes:

[0049] Control the cloud server to obtain the missed cleaning area according to the map and the cleaning trajectory;

[0050] The cloud server is controlled to obtain the supplementary scanning area according to the missed scanning area and the actual size of the cleaning appliance.

[0051] In some embodiments, controlling the cloud server to obtain the missed cleaning area according to the map and the cleaning trajectory includes:

[0052] Controlling the cloud server to calculate track coverage according to the map and the cleaning track;

[0053] The cloud server is controlled to obtain the missed scanning area according to the track coverage rate.

[0054] In some embodiments, the control method further comprises:

[0055] The cloud server is controlled to store a missed scanning log, where the missed scanning log is generated by the cleaning appliance and sent to the cloud server after the cleaning appliance completes the make-up scanning operation or the make-up scanning operation fails.

[0056] A cleaning appliance according to an embodiment of the present invention comprises:

[0057] a first processor, and;

[0058] A first memory, wherein the first memory stores a computer program, and when the computer program is executed by the first processor, the steps of the control method for a cleaning appliance in any of the above embodiments are implemented.

[0059] A cloud server according to an embodiment of the present invention includes:

[0060] a second processor, and;

[0061] A second memory, wherein the second memory stores a computer program, and when the computer program is executed by the second processor, the steps of the control method for the cloud server of any of the above-mentioned embodiments are implemented.

[0062] An embodiment of the present invention provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the steps of the control method of any of the above embodiments are implemented.

[0063] In the above-mentioned cleaning appliance, cloud server and computer-readable storage medium, the cloud server can analyze the map and cleaning trajectory that have been cleaned by the cleaning appliance according to the detection command uploaded by the cleaning appliance, and obtain the re-scanning area. Then, the cleaning appliance can perform the re-scanning operation according to the re-scanning command. Since the cloud server has higher computing power and better performance, the re-scanning area is easier to detect, thereby improving the cleaning efficiency.

[0064] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0065] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0066] Figure 1 is a flow chart of a control method of a cleaning appliance according to an embodiment of the present invention;

[0067] Figure 2 is a schematic diagram of the interaction between the cleaning appliance, the cloud server and the connection terminal according to an embodiment of the present invention;

[0068] Figure 3 is a flow chart of a control method of a cleaning appliance according to an embodiment of the present invention;

[0069] Figure 4 is a schematic diagram of the locations of the cleaning appliance and the supplementary cleaning area according to an embodiment of the present invention;

[0070] Figures 5 to 10 It is a flowchart of a control method of a cleaning appliance according to an embodiment of the present invention.

[0071] Description of main component reference numerals:

[0072] Cleaning appliance 100, first processor 12, first memory 14;

[0073] Cloud server 200, second processor 22, second memory 24;

[0074] The terminal 300 is connected. DETAILED DESCRIPTION

[0075] The embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0076] In the description of the present invention, "plurality" means two or more than two, unless otherwise clearly and specifically defined. In the description of the present invention, it should be noted that, unless otherwise clearly specified and defined, the terms "installed", "connected", and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection. It can be a mechanical connection or an electrical connection. It can be directly connected or indirectly connected through an intermediate medium. It can be the internal connection of two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances.

[0077] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0078] The disclosure herein provides many different embodiments or examples for realizing different structures of the present invention. In order to simplify the disclosure of the present invention, the components and settings of specific examples are described herein. Of course, they are merely examples, and the purpose is not to limit the present invention. In addition, the present invention may repeat reference numerals and / or reference letters in different examples, and such repetition is for the purpose of simplification and clarity, and does not itself indicate the relationship between the various embodiments and / or settings discussed. In addition, the present invention provides various specific examples of processes and materials, but those of ordinary skill in the art may appreciate the application of other processes and / or the use of other materials.

[0079] Please refer to Figure 1 and Figure 2 , a control method of a cleaning appliance 100 according to an embodiment of the present invention includes:

[0080] Step 101, controlling the cleaning appliance 100 to send a detection command to the cloud server 200;

[0081] Step 103, controlling the cloud server 200 to analyze the map and cleaning track of the cleaning appliance 100 according to the detection command, obtain the supplementary scanning area, and send a supplementary scanning command to the cleaning appliance 100 according to the supplementary scanning area;

[0082] Step 105 , controlling the cleaning appliance 100 to perform a supplementary scanning operation on the supplementary scanning area according to the supplementary scanning command.

[0083] In the control method of the above-mentioned cleaning appliance 100, the cloud server 200 can analyze the map and cleaning trajectory that have been cleaned by the cleaning appliance 100 according to the detection command uploaded by the cleaning appliance 100, and obtain the re-scanning area, and then the cleaning appliance 100 can perform the re-scanning operation according to the re-scanning command. Since the cloud server 200 has higher computing power and better performance, the re-scanning area is easier to detect, thereby improving the cleaning efficiency.

[0084] Specifically, a cleaning system provided in an embodiment of the present invention may include a cleaning appliance 100 and a cloud server 200. In the above steps 101 to 105, as well as the steps of subsequent embodiments, the cleaning appliance 100 and the cloud server 200 may be controlled by a processor of the cleaning system, or by a control / computing element in the cleaning system. The control / computing element may be the cleaning appliance 100, the cloud server 200, or an independent control / computing device (for example, a processor in a terminal), etc.

[0085] In one embodiment, the cloud server 200 may be an AIOT (AI+IoT, artificial intelligence Internet of Things) server, which can intelligently analyze the re-scanning area through the AIOT server to improve the cleaning efficiency, and can get rid of the traditional algorithm dependence on the chip of the cleaning appliance 100, distribute the algorithm to the AIOT server, effectively use the computing power of the cloud server 200, and reduce the cost of the cleaning appliance 100. It can be understood that the cloud server 200 is not limited to the AIOT server, but can also be other types of cloud servers, and the present invention is not specifically limited.

[0086] The cleaning appliance 100 includes but is not limited to sweepers, mops, sweepers and mops all in one, and the cleaning appliance 100 can clean indoor and outdoor environments. The indoor environment includes but is not limited to living rooms, bedrooms, kitchens, bathrooms and the like, and the outdoor environment includes but is not limited to balconies, patios, roofs and the like.

[0087] The cleaning appliance 100 can be wirelessly connected to a base station, and the base station can be set at a fixed position in an indoor environment or an outdoor environment. The base station can charge, change water, and drain water for the cleaning appliance 100.

[0088] The cleaning appliance 100 can also communicate with the connection terminal 300 (such as wireless or wired), and the connection terminal 300 includes but is not limited to a mobile phone, a tablet computer, a wearable smart device (such as a smart phone, smart glasses, a smart helmet, etc.). In one embodiment, the cleaning appliance 100 has a direct connection function, that is, the connection terminal 300 can directly communicate with the cleaning appliance 100. For example, the cleaning appliance 100 turns on a wireless hotspot (such as a WIFI hotspot), and the connection terminal 300 can directly connect to the wireless hotspot of the cleaning appliance 100. In one embodiment, the connection terminal 300 can also communicate with the cleaning appliance 100 through a router.

[0089] In the case where the cloud server 200 is required to analyze the re-scanning area, the cleaning appliance 100 may send a detection command to the cloud server 200. The detection command may include a cleaned map and a cleaning track on the cleaned map. After receiving the detection command, the cloud server 200 parses the detection command, obtains the cleaned map and cleaning track of the cleaning appliance 100, analyzes the cleaned map and cleaning track, obtains the re-scanning area, and sends a re-scanning command to the cleaning appliance 100, and the re-scanning command may include the re-scanning area.

[0090] After receiving the supplementary scanning command, the cleaning appliance 100 parses the supplementary scanning command, obtains the supplementary scanning area, and can automatically perform the supplementary scanning operation on the supplementary scanning area.

[0091] In some embodiments, step 101 includes:

[0092] The cleaning appliance 100 is controlled to send a detection command to the cloud server 200 before cleaning is finished.

[0093] In this way, the detection command is sent at an appropriate time.

[0094] Specifically, in one embodiment, the cleaning appliance 100 can use its own sensors (such as laser radar, ultrasonic radar, camera and other sensors) to scan the environment that needs to be cleaned in advance, and then obtain an environmental map (such as a floor plan) and perform cleaning planning. The cleaning plan may include a cleaning start stage, a cleaning process stage, a detection stage, and a cleaning end stage, as well as a cleaning path during the cleaning process stage. The cleaning start stage may be a stage in which the cleaning appliance 100 performs a self-check, such as checking the power level, whether the floor sweeping is normal, whether the mop is normal, etc. The cleaning process stage may be cleaning after the cleaning appliance 100 completes the self-check and is indeed normal. For example, cleaning can be performed according to the room cleaning order and the cleaning path of each room formulated by the cleaning plan. When the cleaning tasks of all rooms in the cleaning plan are completed, the detection stage can be entered.

[0095] In the detection phase, the cleaning appliance 100 can send a detection command to the cloud server 200, and the cloud server 200 can detect the supplementary scanning area according to the detection command. In the detection phase, if the supplementary scanning command issued by the cloud server 200 is received, the cleaning appliance 100 can perform a supplementary scanning operation on the supplementary scanning area, and after the supplementary scanning is completed, it enters the cleaning end phase. In the cleaning end phase, the cleaning appliance 100 can return to the base station for operations such as charging and water change.

[0096] In the detection phase, if no re-sweep command is received from the cloud server 200, the cleaning appliance 100 may enter the cleaning end phase. The duration of the detection phase may be preset and stored in the cleaning appliance 100. In one example, the duration of the detection phase may be 3 to 5 seconds.

[0097] In certain embodiments, see Figure 3 , step 101 comprises:

[0098] Step 1011, controlling the cleaning appliance 100 to clean multiple target areas in sequence according to the cleaning plan;

[0099] Step 1013 , after each target area is cleaned, the cleaning appliance 100 is controlled to send a detection command to the cloud server 200 .

[0100] In this way, additional sweeping operations can be performed during the cleaning plan.

[0101] Specifically, before cleaning begins, the cleaning appliance 100 scans the cleaning environment to obtain an environmental map (such as a floor plan), and then can use its own stored planning algorithm to plan the cleaning of the indoor environment and obtain a cleaning plan. The cleaning plan includes the cleaning order of multiple target areas, the cleaning path planning in each target area, and the connection path planning connecting two target areas. For example, the cleaning order of one or more rooms, living rooms, dining rooms, etc., the cleaning order is living room->room A->room B. During the cleaning process, the cleaning appliance 100 can clean the living room, room A, and room B in order according to the cleaning plan.

[0102] In one embodiment, the cleaning appliance 100 may send a detection command to the cloud server 200 after each target area is cleaned, and the detection command may include a map of the cleaned target area and a cleaning track. For example, the cleaning appliance 100 may send a detection command to the cloud server 200 after the living room is cleaned. The detection command includes a map of the living room and a cleaning track on the map of the living room. The cleaning track may be the actual cleaning track of the cleaning appliance 100 during the cleaning process. The cleaning appliance 100 may use its own sensor to obtain the driving path during the cleaning process, and then form a cleaning track in the target area.

[0103] In one embodiment, the cleaning appliance 100 can synchronize basic data with the cloud server 200 in real time, and the basic data includes but is not limited to the real-time positioning data of the cleaning appliance 100. The cloud server 200 pre-stores an environmental map (such as a floor plan), and the cloud server 200 can calculate the map of the cleaned area and the cleaning trajectory through the incremental reporting of the real-time positioning data of the cleaning appliance 100 and the environmental map.

[0104] During the cleaning planning process, the cleaning appliance 100 sends a detection command to the cloud server 200, and the cloud server 200 analyzes and detects the re-scanning area of ​​the map that has completed cleaning. If there is a re-scanning area, the time required for the entire cleaning plan can be reduced, thereby improving the user experience.

[0105] In some embodiments, step 105 includes:

[0106] After obtaining the re-scan command, the cleaning appliance 100 is controlled to determine whether to complete the cleaning of the current target area and then perform a re-scan operation on the re-scan area of ​​the previous target area, or to pause the cleaning of the current target area and move to the re-scan area of ​​the previous target area to perform a re-scan operation, based on the distance between the current position of the cleaning appliance 100 and the re-scan area.

[0107] In this way, the time required to complete the cleaning plan can be reduced when there is an area that needs to be cleaned.

[0108] Specifically, the supplementary scanning command sent by the cloud server 200 includes the supplementary scanning area, and the cleaning appliance 100 parses the supplementary scanning command to obtain the supplementary scanning area.

[0109] The cleaning appliance 100 determines whether to complete cleaning of the current target area and then perform a touch-up operation on the touch-up area of ​​the previous target area, or to pause cleaning of the current target area and move to the touch-up area of ​​the previous target area to perform a touch-up operation based on the current position of the cleaning appliance 100 and the distance between the touch-up area.

[0110] The distance between the current position of the cleaning appliance 100 and the supplementary cleaning area may be the shortest distance between the current position of the cleaning appliance 100 and the supplementary cleaning area. Figure 4 , the current position of the cleaning appliance 100 is in room B, and the supplementary cleaning area is in room A. The distance between the current position of the cleaning appliance 100 and the supplementary cleaning area may include the distance L1 between the current position of the cleaning appliance 100 and the boundary of the current target area, the distance L2 between the boundary of the current target area and the boundary of the previous target area, and the distance L3 between the boundary of the previous target area and the supplementary cleaning area. The boundary of the target area may be the doorway of the room.

[0111] In one embodiment, when the distance L1 between the current position of the cleaning appliance 100 and the boundary of the current target area is greater than the distance L3 between the boundary of the previous target area and the supplementary scanning area, the cleaning appliance 100 may complete the cleaning of the current target area and then perform a supplementary scanning operation on the supplementary scanning area of ​​the previous target area. When the distance L1 between the current position and the boundary of the current target area is less than the distance L3 between the boundary of the previous target area and the supplementary scanning area, the cleaning appliance 100 may suspend the cleaning of the current target area and move to the supplementary scanning area of ​​the previous target area to perform a supplementary scanning operation.

[0112] In some embodiments, controlling the cleaning appliance 100 to perform a supplementary scanning operation on the supplementary scanning area according to the supplementary scanning command sent by the cloud server 200 includes:

[0113] After the supplementary scanning command is acquired, when the supplementary scanning area and the cleaning appliance 100 are both located in the current target area, the cleaning appliance 100 is controlled to perform a supplementary scanning operation on the supplementary scanning area.

[0114] In this way, the time required to complete the cleaning plan can be reduced when there is an area that needs to be cleaned.

[0115] Specifically, if the current target area is room A, after the cleaning appliance 100 completes the cleaning of room A, it can send a detection command to the cloud server 200. After receiving the detection command, the cloud server 200 can determine the location of the supplementary scanning area, for example, the supplementary scanning area is also located in room A, and send a supplementary scanning command to the cleaning appliance 100. When the analysis time of the cloud server 200 is fast enough, the cleaning appliance 100 can receive the supplementary scanning command within 3S seconds after sending the detection command. At this time, the cleaning appliance 100 is still in room A, that is, the cleaning appliance 100 can be controlled to perform a supplementary scanning operation on the supplementary scanning area, thereby reducing the time required to complete the cleaning plan and improving the cleaning efficiency.

[0116] In some embodiments, controlling the cleaning appliance 100 to perform a supplementary scanning operation on the supplementary scanning area according to the supplementary scanning command sent by the cloud server 200 includes:

[0117] After the supplementary cleaning command is obtained, when the return path of the cleaning appliance 100 to the station passes through the supplementary cleaning area, the cleaning appliance 100 is controlled to perform a supplementary cleaning operation on the supplementary cleaning area after leaving the station.

[0118] In this way, the time required to complete the cleaning plan can be reduced when there is an area that needs to be cleaned.

[0119] Specifically, the cleaning appliance 100 needs to return to the base station (hereinafter referred to as the return station) for charging, dumping garbage, cleaning the mop, and other operations due to certain reasons, such as insufficient power (such as power less than 15%), completion of cleaning of all target areas, sweeping area reaching a threshold sweeping area, mopping area reaching a threshold mopping area, etc. After obtaining the re-sweeping command, the cleaning appliance 100 parses the re-sweeping command to obtain the re-sweeping area. When the cleaning appliance 100 needs to return to the station, the return path is calculated based on the current position and the base station position. In the case where the return path of the cleaning appliance 100 passes through the re-sweeping area, after the cleaning appliance 100 returns to the station to complete the corresponding operation (for example, after the power is charged to 60%) and leaves the base station (leaves the station) and returns to the original cleaning area, the cleaning appliance 100 can be controlled to perform re-sweeping operations on the re-sweeping area, thereby reducing the time required to complete the cleaning plan and improving the cleaning efficiency.

[0120] In certain embodiments, see Figure 5 , step 103 comprises:

[0121] Step 1031, controlling the cloud server 200 to obtain the missed scanning area according to the map and the cleaning trajectory;

[0122] Step 1033 , controlling the cloud server 200 to obtain a supplementary scanning area according to the missed scanning area and the actual size of the cleaning appliance 100 , and sending a supplementary scanning command to the cleaning appliance 100 according to the supplementary scanning area.

[0123] In this way, the fill-in scanning area can be obtained.

[0124] Specifically, the cleaning appliance 100 has a certain size. During the cleaning process, the cleaning appliance 100 may be unable to enter a certain area or areas for cleaning due to some reasons. Since the cleaning appliance 100 cannot clean these areas, the cleaning track of the cleaning appliance 100 does not cover the above areas. The cloud server 200 obtains the missed scanning area based on the map (such as the floor plan) and the cleaning track uploaded by the cleaning appliance 100, and then obtains the supplementary scanning area based on the missed scanning area and the actual size of the cleaning appliance 100, so that the supplementary scanning area finally obtained can adapt to the actual size of the cleaning appliance 100, avoiding the situation that the cleaning appliance 100 cannot perform the supplementary scanning operation due to the supplementary scanning area being too small.

[0125] Furthermore, in one embodiment, the cloud server 200 may request to obtain daily operation data of the cleaning appliance 100. The daily operation data of the cleaning appliance 100 may include but is not limited to the cleaning trajectory of each room cleaned by the cleaning appliance 100 and user intervention situations. User intervention situations include, for example, the user picking up the cleaning appliance 100 and placing it in other locations, the frequency of cleaning the room, user habits, etc. The cloud server 200 may determine a customized cleaning trajectory and the user's tendency to clean up for missed areas based on the daily operation data of the cleaning appliance 100, which is more intelligent and efficient.

[0126] Specifically, the daily operation data of the cleaning appliance 100 can be obtained through the buried point information and the cleaning log. Based on these data, the cloud server 200 can train the model to analyze the missed scanning areas that are often missed, and determine the supplementary scanning area in combination with the actual size of the cleaning appliance 100.

[0127] In certain embodiments, see Figure 6 , step 1031 includes:

[0128] Step 10311, controlling the cloud server 200 to calculate the track coverage rate according to the map and the cleaning track;

[0129] Step 10313, control the cloud server 200 to obtain the missed scanning area according to the track coverage rate.

[0130] In this way, the missed scanning area can be obtained.

[0131] Specifically, the cloud server 200 can analyze the map and cleaning trajectory uploaded by the cleaning appliance 100, calculate the area of ​​the cleaned target area and the cleaning area covered by the cleaning trajectory, and then calculate the trajectory coverage rate. The trajectory coverage rate is equal to the cleaning area / the area of ​​the cleaned target area. For example, the area of ​​the cleaned target area can be the area of ​​the cleaned room, and the cleaning area covered by the cleaning trajectory can be the cleaning area covered by the cleaning trajectory in the room.

[0132] In certain embodiments, see Figure 7 , step 105 comprises:

[0133] Step 1051, controlling the cleaning appliance 100 to parse the supplementary scanning command to obtain a supplementary scanning area, and sending the supplementary scanning area to the connection terminal 300 so that the connection terminal 300 displays the supplementary scanning area;

[0134] Step 1053 , controlling the cleaning appliance 100 to perform a supplementary scanning operation on the supplementary scanning area according to the execution instruction sent by the connection terminal 300 .

[0135] In this way, the user experience can be improved.

[0136] Specifically, the cleaning appliance 100 can be wirelessly connected to the connection terminal 300. For example, the connection terminal 300 can directly be wirelessly connected to the wireless hotspot of the cleaning appliance 100, or it can be wirelessly connected to the cleaning appliance 100 through a wireless router. The connection terminal 300 may include but is not limited to mobile phones, tablet computers, personal computers, wearable smart devices (such as smart watches, smart helmets, smart glasses, etc.).

[0137] The connection terminal 300 may be installed with an application (APP) for interacting with the cleaning appliance 100. In the graphical user interface of the application, the user may input control instructions to the cleaning appliance 100. The connection terminal 300 may receive working status data sent by the cleaning appliance 100 for display, etc.

[0138] After obtaining the supplementary scanning command, the cleaning appliance 100 parses the supplementary scanning command, obtains the supplementary scanning area, and sends the supplementary scanning area to the connection terminal 300. The connection terminal 300 can display the map and the supplementary scanning area in the graphical user interface of the APP. The user can click on the supplementary scanning area, and a pop-up window prompt may appear above the supplementary scanning area, asking whether to perform supplementary scanning. The user chooses to perform supplementary scanning, and the connection terminal 300 can generate an execution instruction according to the user's choice and send the execution instruction to the cleaning appliance 100. According to the execution instruction, the cleaning appliance 100 can perform a supplementary scanning operation on the selected supplementary scanning area.

[0139] If the user cancels the supplementary scanning, the connection terminal 300 may generate a cancellation instruction according to the user's selection, and send the cancellation instruction to the cleaning appliance 100. The cleaning appliance 100 may cancel the supplementary scanning operation on the selected supplementary scanning area according to the cancellation instruction.

[0140] In certain embodiments, see Figure 8 , the control method further includes:

[0141] Step 107, after the supplementary scanning operation is completed or the supplementary scanning operation fails, control the cleaning appliance 100 to generate and send a missed scanning log to the cloud server 200;

[0142] Step 109, controlling the cloud server 200 to store the missed scan log.

[0143] This makes it easier to optimize and analyze missed areas later.

[0144] Specifically, in one embodiment, after the cleaning appliance 100 completes the re-scanning operation, it can generate a missed scan log and send the missed scan log to the cloud server 200. In one embodiment, after the cleaning appliance 100 fails in the re-scanning operation, it can generate a missed scan log and send the missed scan log to the cloud server 200. The missed scan log may include but is not limited to the location of the missed scan area on the map and the environmental image of the missed scan area.

[0145] During the re-scanning process, the cleaning appliance 100 may fail to complete the re-scanning operation due to some reason. For example, the re-scanning failure may be caused by changes in the environment before and after the re-scanning. For example, the change in the environment is that before the re-scanning operation is performed, there is no obstacle (such as a chair) in the re-scanning area. During the re-scanning process, there is an obstacle in the re-scanning area, so that the cleaning appliance 100 cannot perform the re-scanning operation on the re-scanning area, and the cleaning appliance 100 determines that the re-scanning operation has failed. In this case, the cleaning appliance 100 can generate a failure instruction to determine that the re-scanning operation has failed.

[0146] The missed scanning log can be stored in the cloud server 200, which is convenient for the cloud server 200 or relevant personnel to call and analyze. For example, the cloud server 200 can combine big data to obtain the floor plan of the current community, and combine it with the map of the cleaning appliance 100 to assist the cleaning appliance 100 in accurately dividing the room. Accurately dividing the room can also improve the cleaning efficiency of the cleaning appliance 100 and reduce the missed scanning rate.

[0147] For another example, the cloud server 200 can establish a big data model for missed-scanning households, and classify the missed-scanning households by assigning different labels. For example, for cleaning areas with narrow passages, the cleaning appliance 100 previously considered that it was impassable, and therefore could not pass through the target area, resulting in missed scanning. However, the cloud server 200 can accurately know where the door is, so it can more conveniently plan a detour to reach the target area, thereby reducing the missed scanning rate.

[0148] Please refer to Fig. 9 A control method of a cleaning appliance 100 according to an embodiment of the present invention is used for the cleaning appliance 100, and the control method includes:

[0149] Step 201, controlling the cleaning appliance 100 to send a detection command to the cloud server 200;

[0150] Step 203 , controlling the cleaning appliance 100 to perform a supplementary scanning operation on the supplementary scanning area according to the supplementary scanning command sent by the cloud server 200 , where the supplementary scanning command is generated by the cloud server 200 by analyzing the map and cleaning track that have been cleaned by the cleaning appliance 100 according to the detection command.

[0151] It should be pointed out that the above explanation of the implementation method and beneficial effects of the control method of the cleaning appliance 100 is also applicable to the control method of this embodiment, and will not be elaborated here in detail to avoid redundancy.

[0152] In some embodiments, step 201 includes:

[0153] The cleaning appliance 100 is controlled to send a detection command to the cloud server 200 before cleaning is finished.

[0154] In this way, the detection command is sent at an appropriate time.

[0155] In some embodiments, step 201 includes:

[0156] Controlling the cleaning appliance 100 to clean the plurality of target areas in sequence according to the cleaning plan;

[0157] After each target area is cleaned, the cleaning appliance 100 is controlled to send a detection command to the cloud server 200 .

[0158] In this way, additional sweeping operations can be performed during the cleaning plan.

[0159] In some embodiments, step 203 includes at least one of the following:

[0160] After the supplementary scanning command is obtained, when the supplementary scanning area and the cleaning appliance 100 are both located in the current target area, the cleaning appliance 100 is controlled to perform a supplementary scanning operation on the supplementary scanning area;

[0161] After receiving the supplementary scanning command, the cleaning appliance 100 is controlled to determine whether to complete the cleaning of the current target area and then perform supplementary scanning of the supplementary scanning area of ​​the previous target area, or to suspend the cleaning of the current target area and move to the supplementary scanning area of ​​the previous target area to perform the supplementary scanning operation, according to the distance between the current position of the cleaning appliance 100 and the supplementary scanning area;

[0162] After the supplementary cleaning command is obtained, when the return path of the cleaning appliance to the station passes through the supplementary cleaning area, the cleaning appliance is controlled to perform a supplementary cleaning operation on the supplementary cleaning area after leaving the station.

[0163] In this way, the time required to complete the cleaning plan can be reduced when there is an area that needs to be cleaned.

[0164] In some embodiments, step 203 includes:

[0165] Control the cleaning appliance 100 to parse the supplementary scanning command to obtain a supplementary scanning area, and send the supplementary scanning area to the connection terminal 300 so that the connection terminal 300 displays the supplementary scanning area;

[0166] The cleaning appliance 100 is controlled to perform a supplementary sweep operation on the supplementary sweep area according to the execution instruction sent by the connection terminal 300 .

[0167] In this way, the user experience can be improved.

[0168] Please refer to Fig.10 A control method of a cleaning appliance 100 according to an embodiment of the present invention is used in a cloud server 200, and the control method includes:

[0169] Step 301, controlling the cloud server 200 to analyze the map and cleaning track of the cleaning appliance 100 according to the detection command sent by the cleaning appliance 100, and obtaining the supplementary cleaning area;

[0170] In step 303 , the cloud server 200 is controlled to send a supplementary scanning command to the cleaning appliance 100 according to the supplementary scanning area, so that the cleaning appliance 100 performs a supplementary scanning operation on the supplementary scanning area according to the supplementary scanning command.

[0171] It should be pointed out that the above explanation of the implementation method and beneficial effects of the control method of the cleaning appliance 100 is also applicable to the control method of this embodiment, and will not be elaborated here in detail to avoid redundancy.

[0172] In some embodiments, step 301 includes:

[0173] Control the cloud server 200 to obtain the missed-sweeping area according to the map and the cleaning trajectory;

[0174] The cloud server 200 is controlled to obtain the supplementary scanning area according to the missed scanning area and the actual size of the cleaning appliance 100 .

[0175] In this way, the fill-in scanning area can be obtained.

[0176] In some embodiments, controlling the cloud server 200 to obtain the missed cleaning area according to the map and the cleaning trajectory includes:

[0177] Control the cloud server 200 to calculate the track coverage rate according to the map and the cleaning track;

[0178] The cloud server 200 is controlled to obtain the missed scanning area according to the track coverage rate.

[0179] In this way, the missed scanning area can be obtained.

[0180] In some embodiments, the control method further comprises:

[0181] The cloud server 200 is controlled to store a missed scanning log, where the missed scanning log is generated by the cleaning appliance 100 and sent to the cloud server 200 after the cleaning appliance 100 completes a make-up scanning operation or a make-up scanning operation fails.

[0182] This makes it easier to optimize and analyze missed areas later.

[0183] Please refer to Figure 2 A cleaning appliance 100 according to an embodiment of the present invention includes a first processor 12 and a first memory 14. The first memory 14 stores a computer program. When the computer program is executed by the first processor 12, the steps of the control method for the cleaning appliance 100 according to any of the above embodiments are implemented.

[0184] Please refer to Figure 2 A cloud server 200 according to an embodiment of the present invention includes a second processor 22 and a second memory 24. The second memory 24 stores a computer program. When the computer program is executed by the second processor 22, the steps of the control method for the cloud server 200 according to any of the above embodiments are implemented.

[0185] An embodiment of the present invention provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the steps of the control method of any of the above embodiments are implemented.

[0186] In the above-mentioned cleaning appliance 100 and computer-readable storage medium, the cloud server 200 can analyze the map and cleaning trajectory that have been cleaned by the cleaning appliance 100 according to the detection command uploaded by the cleaning appliance 100, and obtain the re-scanning area, and then the cleaning appliance 100 can perform the re-scanning operation according to the re-scanning command. Since the cloud server 200 has higher computing power and better performance, the re-scanning area is easier to detect, thereby improving the cleaning efficiency.

[0187] In one embodiment, the control method implemented by the computer program when executed by the processor includes:

[0188] Step 101, controlling the cleaning appliance 100 to send a detection command to the cloud server 200;

[0189] Step 103, controlling the cloud server 200 to analyze the map and cleaning track of the cleaning appliance 100 according to the detection command, obtain the supplementary scanning area, and send a supplementary scanning command to the cleaning appliance 100 according to the supplementary scanning area;

[0190] Step 105 , controlling the cleaning appliance 100 to perform a supplementary scanning operation on the supplementary scanning area according to the supplementary scanning command.

[0191] In one embodiment, the control method implemented by the computer program when executed by the processor 12 includes:

[0192] Step 201, controlling the cleaning appliance 100 to send a detection command to the cloud server 200;

[0193] Step 203 , controlling the cleaning appliance 100 to perform a supplementary scanning operation on the supplementary scanning area according to the supplementary scanning command sent by the cloud server 200 , where the supplementary scanning command is generated by the cloud server 200 by analyzing the map and cleaning track that have been cleaned by the cleaning appliance 100 according to the detection command.

[0194] In one embodiment, the control method implemented by the computer program when executed by the processor 12 includes:

[0195] Step 301, controlling the cloud server 200 to analyze the map and cleaning track of the cleaning appliance 100 according to the detection command sent by the cleaning appliance 100, and obtaining the supplementary cleaning area;

[0196] In step 303 , the cloud server 200 is controlled to send a supplementary scanning command to the cleaning appliance 100 according to the supplementary scanning area, so that the cleaning appliance 100 performs a supplementary scanning operation on the supplementary scanning area according to the supplementary scanning command.

[0197] It is understood that a computer program includes computer program code. The computer program code may be in source code form, object code form, executable file or some intermediate form, etc. Computer readable storage media may include: any entity or device capable of carrying computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), and software distribution medium, etc. The processor may be a central processing unit, or other general-purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), field-programmable gate arrays (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc.

[0198] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiments or examples are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0199] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A control method for a cleaning appliance, characterized in that: include: Controlling the cleaning appliance to send a detection command to a cloud server; Control the cloud server to analyze the map and cleaning track of the cleaning appliance according to the detection command, obtain a supplementary scanning area, and send a supplementary scanning command to the cleaning appliance according to the supplementary scanning area; The cleaning appliance is controlled to perform a re-sweeping operation on the re-sweeping area according to the re-sweeping command.

2. The control method according to claim 1, characterized in that: Controlling the cleaning appliance to send a detection command to a cloud server includes: The cleaning appliance is controlled to send the detection command to the cloud server before cleaning is finished.

3. The control method according to claim 1, characterized in that: Controlling the cleaning appliance to send a detection command to a cloud server includes: Controlling the cleaning appliance to clean multiple target areas in sequence according to a cleaning plan; After each target area is cleaned, the cleaning appliance is controlled to send the detection command to the cloud server.

4. The control method according to claim 3, characterized in that: Controlling the cleaning appliance to perform a re-scanning operation on the re-scanning area according to the re-scanning command includes at least one of the following: After the supplementary scanning command is acquired, when the supplementary scanning area and the cleaning appliance are both located in the current target area, controlling the cleaning appliance to perform a supplementary scanning operation on the supplementary scanning area; After obtaining the supplementary scanning command, controlling the cleaning appliance to determine whether to complete the cleaning of the current target area and then perform the supplementary scanning operation on the supplementary scanning area of ​​the previous target area, or to pause the cleaning of the current target area and move to the supplementary scanning area of ​​the previous target area to perform the supplementary scanning operation, according to the distance between the current position of the cleaning appliance and the supplementary scanning area; After the supplementary sweep command is acquired, when the return path of the cleaning appliance to the station passes through the supplementary sweep area, the cleaning appliance is controlled to perform a supplementary sweep operation on the supplementary sweep area after leaving the station.

5. The control method according to any one of claims 1 to 4, characterized in that: Controlling the cloud server to analyze the map and cleaning track of the cleaning appliance according to the detection command, obtain a supplementary scanning area, and send a supplementary scanning command to the cleaning appliance according to the supplementary scanning area includes: Control the cloud server to obtain the missed cleaning area according to the map and the cleaning trajectory; The cloud server is controlled to obtain the supplementary scanning area according to the missed scanning area and the actual size of the cleaning appliance, and a supplementary scanning command is sent to the cleaning appliance according to the supplementary scanning area.

6. The control method according to claim 5, characterized in that: Controlling the cloud server to obtain the missed-sweeping area according to the map and the cleaning trajectory includes: Controlling the cloud server to calculate track coverage according to the map and the cleaning track; The cloud server is controlled to obtain the missed scanning area according to the track coverage rate.

7. The control method according to claim 1, characterized in that: Controlling the cleaning appliance to perform a re-sweeping operation on the re-sweeping area according to the re-sweeping command includes: Controlling the cleaning appliance to parse the supplementary scanning command to obtain the supplementary scanning area, and sending the supplementary scanning area to the connection terminal so that the connection terminal displays the supplementary scanning area; The cleaning appliance is controlled to perform a supplementary scanning operation on the supplementary scanning area according to the execution instruction sent by the connection terminal.

8. The control method according to claim 1, characterized in that: The control method further comprises: After the supplementary scanning operation is completed or the supplementary scanning operation fails, controlling the cleaning appliance to generate and send a missed scanning log to the cloud server; Control the cloud server to store the missed scanning log.

9. A control method for a cleaning appliance, used for a cleaning appliance, characterized in that: The control method comprises: Controlling the cleaning appliance to send a detection command to a cloud server; The cleaning appliance is controlled to perform a supplementary scanning operation on the supplementary scanning area according to the supplementary scanning command sent by the cloud server, wherein the supplementary scanning command is generated by the cloud server by analyzing the map and cleaning track that have been cleaned by the cleaning appliance according to the detection command.

10. The control method according to claim 9, characterized in that: Controlling the cleaning appliance to send a detection command to a cloud server includes: The cleaning appliance is controlled to send the detection command to the cloud server before cleaning is finished.

11. The control method according to claim 9, characterized in that: Controlling the cleaning appliance to send a detection command to a cloud server includes: Controlling the cleaning appliance to clean multiple target areas in sequence according to a cleaning plan; After each target area is cleaned, the cleaning appliance is controlled to send the detection command to the cloud server.

12. The control method according to claim 11, characterized in that: Controlling the cleaning appliance to perform a supplementary scanning operation on the supplementary scanning area according to the supplementary scanning command sent by the cloud server includes at least one of the following: After the supplementary scanning command is acquired, when the supplementary scanning area and the cleaning appliance are both located in the current target area, controlling the cleaning appliance to perform a supplementary scanning operation on the supplementary scanning area; After obtaining the supplementary scanning command, controlling the cleaning appliance to determine whether to complete the cleaning of the current target area and then perform the supplementary scanning operation on the supplementary scanning area of ​​the previous target area, or to pause the cleaning of the current target area and move to the supplementary scanning area of ​​the previous target area to perform the supplementary scanning operation, according to the distance between the current position of the cleaning appliance and the supplementary scanning area; After the supplementary sweep command is acquired, when the return path of the cleaning appliance to the station passes through the supplementary sweep area, the cleaning appliance is controlled to perform a supplementary sweep operation on the supplementary sweep area after leaving the station.

13. The control method according to claim 9, characterized in that: Controlling the cleaning appliance to perform a supplementary scanning operation on the supplementary scanning area according to the supplementary scanning command sent by the cloud server includes: Controlling the cleaning appliance to parse the supplementary scanning command to obtain the supplementary scanning area, and sending the supplementary scanning area to the connection terminal so that the connection terminal displays the supplementary scanning area; The cleaning appliance is controlled to perform a supplementary scanning operation on the supplementary scanning area according to the execution instruction sent by the connection terminal.

14. A control method for a cleaning appliance, used in a cloud server, characterized in that: The control method comprises: Control the cloud server to analyze the map and cleaning track of the cleaning appliance according to the detection command sent by the cleaning appliance, and obtain the supplementary cleaning area; The cloud server is controlled to send a supplementary scanning command to the cleaning appliance according to the supplementary scanning area, so that the cleaning appliance performs a supplementary scanning operation on the supplementary scanning area according to the supplementary scanning command.

15. The control method according to claim 14, characterized in that: Controlling the cloud server to analyze the map and cleaning track of the cleaning appliance according to the detection command sent by the cleaning appliance, and obtaining the re-scanning area includes: Control the cloud server to obtain the missed cleaning area according to the map and the cleaning trajectory; The cloud server is controlled to obtain the supplementary scanning area according to the missed scanning area and the actual size of the cleaning appliance.

16. The control method according to claim 15, characterized in that: Controlling the cloud server to obtain the missed-sweeping area according to the map and the cleaning trajectory includes: Controlling the cloud server to calculate track coverage according to the map and the cleaning track; The cloud server is controlled to obtain the missed scanning area according to the track coverage rate.

17. The control method according to claim 14, characterized in that: The control method further comprises: The cloud server is controlled to store a missed scanning log, where the missed scanning log is generated by the cleaning appliance and sent to the cloud server after the cleaning appliance completes the make-up scanning operation or the make-up scanning operation fails.

18. A cleaning appliance, characterized in that: include: a first processor, and; A first memory, wherein the first memory stores a computer program, and when the computer program is executed by the first processor, the steps of the control method according to any one of claims 9 to 13 are implemented.

19. A cloud server, characterized in that: include: a second processor, and; A second memory, wherein the second memory stores a computer program, and when the computer program is executed by the second processor, the steps of the control method according to any one of claims 14 to 17 are implemented.

20. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the control method according to any one of claims 1 to 17 are implemented.

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