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

Abstract

The invention relates to the technical field of cleaning equipment, and provides a cleaning control method and device of cleaning equipment, electronic equipment and a storage medium. The cleaning equipment comprises an equipment body, a first distance measuring sensor ascending and descending on the upper surface of the equipment body and a lifting mechanism enabling the equipment body to ascend and descend. The method comprises the steps of obtaining a cleaning mode; and determining a cleaning strategy of the cleaning equipment on the carpet according to the cleaning mode. According to the method, the cleaning strategy of the low area on the carpet is provided, and the requirement of a user for cleaning the low area on the carpet is met.

Description

Technical Field

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

[0002] The cleaning equipment with a liftable first distance measuring (Laser Direct Structing, laser radar) sensor can realize the functions of positioning, map building and obstacle avoidance of the cleaning equipment when the first distance measuring sensor is raised, and can make the cleaning equipment enter the low area for cleaning when the first distance measuring sensor is lowered. The low area refers to the area with a small space height, which can include but is not limited to: the bottom of the sofa, the bottom of the coffee table, the bottom of the low stool, etc.

[0003] A cleaning device with a lifting mechanism driving the device body to be raised and lowered can prevent the cleaning unit (such as a mop) from wetting the ground when the lifting mechanism drives the device body to rise, and can deeply clean the ground when the lifting mechanism drives the device body to descend.

[0004] When the cleaning equipment needs to clean the low area on the carpet, how to flexibly determine the cleaning strategy according to the user's needs becomes a technical problem that needs to be solved urgently. Summary of the invention

[0005] To solve the above problems, the present application provides a cleaning control method, device, electronic device and storage medium for a cleaning device, providing a cleaning strategy for low areas on a carpet to meet the needs of users for cleaning low areas on a carpet.

[0006] This application adopts the following technical solutions:

[0007] In a first aspect, the present application provides a cleaning control method for a cleaning device, the cleaning device comprising: a device body, a first distance measuring sensor raised and lowered on the upper surface of the device body, and a lifting mechanism for lifting the device body;

[0008] The method includes:

[0009] Get the cleaning mode;

[0010] According to the cleaning mode, the cleaning strategy of the cleaning device on the carpet is determined.

[0011] In a second aspect, the present application provides a cleaning control device for a cleaning device, the cleaning device comprising: a device body, a first distance measuring sensor raised and lowered on the upper surface of the device body, and a lifting mechanism for raising and lowering the device body;

[0012] The device includes:

[0013] An acquisition unit, used for acquiring a cleaning mode;

[0014] The control unit is used to determine the cleaning strategy of the cleaning device on the carpet according to the cleaning mode.

[0015] In a third aspect, the present application provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the cleaning control method for the cleaning device described above when executing the computer program.

[0016] In a fourth aspect, the present application provides a computer-readable storage medium storing a computer program, which implements the steps of the cleaning control method for the cleaning device when instructed by a processor.

[0017] At least one of the above technical solutions adopted in this application can achieve the following beneficial effects:

[0018] The present application provides a cleaning control method for a cleaning device, wherein the cleaning device comprises: a device body, a first distance measuring sensor raised and lowered on the upper surface of the device body, and a lifting mechanism for raising and lowering the device body; the method comprises: obtaining a cleaning mode; and determining a cleaning strategy of the cleaning device on a carpet according to the cleaning mode. The method provided by the present application provides a cleaning strategy for low areas on a carpet to meet the needs of users for cleaning low areas on a carpet. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0020] Figure 1 A schematic diagram showing the appearance of a cleaning device according to an embodiment of the present application;

[0021] Figure 2 A schematic flow chart showing a cleaning control method for a cleaning device according to an embodiment of the present application;

[0022] Figure 3 A schematic flow chart showing a cleaning control method for a cleaning device according to another embodiment of the present application;

[0023] Figure 4 A schematic diagram showing the structure of a cleaning control device for a cleaning device according to an embodiment of the present application is shown;

[0024] Figure 5 A schematic structural diagram of an electronic device according to an embodiment of the present application is shown. DETAILED DESCRIPTION

[0025] In order to make the purpose, technical solution and advantages of the present application clearer, the technical solution of the present application will be clearly and completely described below in combination with the specific embodiments of the present application and the corresponding drawings. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present application.

[0026] The idea of ​​this application is to implement different cleaning strategies for the low areas on the carpet according to user selection or intelligent settings (autonomous selection of the cleaning device). If the user requires the map to be complete, the lifting mechanism is lowered, the first ranging sensor is raised, and the low areas on the carpet are entered; if the user requires the carpet to be neat, the lifting mechanism is raised, the first ranging sensor is lowered, and the low areas on the carpet are entered; if the user requires the cleaning effect, the lifting mechanism is lowered, the first ranging sensor is lowered, and the low areas on the carpet are entered. This satisfies the user's needs for cleaning the low areas on the carpet.

[0027] In the present application, the cleaning device is equipped with common intelligent modules such as a camera, a gyroscope, and a driver, so as to realize common functions of existing cleaning devices such as sensing the surrounding environment, driving the cleaning device to move, and interacting with a map. The embodiments of the present application will not be described in detail.

[0028] The present application is described in detail below through specific embodiments.

[0029] Figure 1 A schematic diagram of the appearance of a cleaning device proposed in an embodiment of the present application is shown, and the cleaning device comprises: a device body (1), a first distance measuring sensor (3) that is raised and lowered on the upper surface of the device body (1), and a lifting mechanism (not shown in the figure) that lifts and lowers the device body.

[0030] Reference Figure 1 As shown, Figure 1 Shown is a top view of the cleaning device. Figure 1 A circular device body (1) is used as an illustration, but the present application does not limit the appearance shape of the device body (1). In addition to the circle, rectangles or other irregular shapes may also be included.

[0031] The first distance measuring sensor (3) can be raised and lowered on the upper surface of the device body (1). Figure 1A circular first distance measuring sensor (3) is used as an example, but the present application does not limit the appearance shape of the first distance measuring sensor (3). In addition to the circular shape, rectangular or other irregular shapes can also be included. When the first distance measuring sensor (3) is in a raised state, the upper surface of the first distance measuring sensor (3) is higher than the upper surface of the device body (1); when the first distance measuring sensor (3) is in a lowered state, the upper surface of the first distance measuring sensor (3) is not higher than the upper surface of the device body (1) (that is, the first distance measuring sensor (3) is accommodated in the device body (1) and is flush with the upper surface of the device body (1) or slightly lower than the upper surface of the device body (1)). The first distance measuring sensor (3) can be an LDS sensor.

[0032] The lifting mechanism can lift the device body (1). Generally speaking, the lower surface of the device body (1) is provided with running wheels and universal wheels, and the lifting mechanism can be provided at the connection position between the running wheels and universal wheels and the device body (1). When the lifting mechanism is raised, the device body (1) is raised, so that the cleaning unit on the lower surface of the device body (1) does not touch the ground; when the lifting mechanism is lowered, the device body (1) is lowered, so that the cleaning unit on the lower surface of the device body (1) touches the ground. The present application does not limit the cleaning unit, and the cleaning unit can be a mop, etc. The shape of the cleaning unit can be circular, rectangular, semicircular or other irregular shapes, etc.

[0033] Figure 2 The flowchart of the cleaning control method of the cleaning equipment proposed in one embodiment of the present application is shown. Figure 1 The appearance of the cleaning device shown in the figure, the cleaning control method of the cleaning device includes steps S210 to S220:

[0034] Step S210, obtaining a cleaning mode.

[0035] Get the cleaning mode first.

[0036] The cleaning device can obtain a cleaning mode according to user selection or intelligent setting (autonomous selection of the cleaning device).

[0037] The cleaning device presets multiple cleaning modes for the user or intelligent settings to select. The multiple cleaning modes may include but are not limited to: a first mode, a second mode, a third mode, a fourth mode, etc.

[0038] The first mode may be a map complete mode, which is used to meet the needs of users who have requirements for map completeness. In the map complete mode, the function of the first distance measuring sensor is prioritized to build a more complete map.

[0039] The second mode may be a wetting avoidance mode, which is used to meet the needs of users who require the cleanliness of the carpet. In the wetting avoidance mode, priority is given to ensuring that the cleaning unit does not touch the carpet to prevent the carpet from getting wet.

[0040] The third mode may be a cleaning area mode, which is used to meet the needs of users who have high requirements for cleaning effects. In the cleaning area mode, priority is given to ensuring that low areas on the carpet are fully cleaned to avoid missing cleaning.

[0041] The fourth mode may be a complete avoidance mode, which is used to meet the needs of users who have high requirements for cleaning efficiency. In the complete avoidance mode, low areas on the carpet are not cleaned to improve cleaning efficiency.

[0042] The method for obtaining the cleaning mode selected by the user may include, but is not limited to: displaying multiple cleaning modes on a display screen of the cleaning device, and obtaining the cleaning mode by the user selecting the cleaning mode on the display screen; corresponding multiple cleaning modes to buttons on a remote control connected to the cleaning device, and obtaining the cleaning mode by the user clicking the button; displaying multiple cleaning modes on a terminal connected to the cleaning device, and obtaining the cleaning mode by the user selecting the cleaning mode on the terminal, etc. This application does not limit this.

[0043] The timing of obtaining the cleaning mode may include, but is not limited to: obtaining the cleaning mode before the cleaning device performs cleaning, or obtaining the cleaning mode during the cleaning process of the cleaning device, etc. This application does not limit this.

[0044] Step S220: determining a cleaning strategy of the cleaning device on the carpet according to the cleaning mode.

[0045] The carpet in this application refers to a carpet laid on the ground, which may include but is not limited to: a floor mat, a floor towel, a blanket and the like.

[0046] According to the acquired cleaning mode, a cleaning strategy of the cleaning device on the carpet is determined, so that the carpet is cleaned according to the corresponding cleaning strategy.

[0047] In some optional embodiments, the cleaning device further includes: a second ranging sensor located on the upper surface of the device body; before the step of acquiring the cleaning mode, the method further includes: the lifting mechanism is raised, the first ranging sensor is raised, and the cleaning device cleans the carpet; during the cleaning process of the cleaning device on the carpet, the low area is determined according to the height measurement results of the first ranging sensor and / or the second ranging sensor, and the low area is bypassed.

[0048] Reference Figure 1 As shown, the second distance measuring sensor (2) is located on the upper surface of the device body (1). Figure 1A rectangular second distance measuring sensor (2) is used as an illustration, but the present application does not limit the appearance of the second distance measuring sensor (2). In addition to a rectangle, a circle or other irregular shapes may also be included. The present application does not limit the arrangement of the second distance measuring sensor (2), as long as the second distance measuring sensor (2) can accurately measure the height from the upper surface of the device body (1) upward. The second distance measuring sensor (2) may be located between the edge of the device body (1) in the forward direction and the first distance measuring sensor (3). The second distance measuring sensor may be a DToF sensor.

[0049] The embodiment of the present application provides a method for determining a low area on a carpet according to height measurement results of a first ranging sensor and / or a second ranging sensor.

[0050] First, the lifting mechanism is raised, the first distance measuring sensor is raised, and cleaning is performed on the carpet.

[0051] The first ranging sensor plays an important role in positioning, map building and obstacle avoidance, so in the absence of special height restrictions or mode restrictions, the first ranging sensor is in a raised state.

[0052] For carpets, in the absence of special cleaning requirements, cleaning the carpet with the lifting mechanism in a raised state can prevent the carpet from getting wet.

[0053] Therefore, the cleaning device cleans the carpet in a state where the lifting mechanism is lifted and the first distance measuring sensor is lifted.

[0054] Secondly, during the cleaning process on the carpet, the low area is determined based on the height measurement results of the first distance measuring sensor and / or the second distance measuring sensor, the low area is marked on the map, and the low area is avoided by detouring.

[0055] The first distance measuring sensor and / or the second distance measuring sensor can measure the height of the upper surface of the device body upward. When the cleaning device is cleaning the carpet, the first distance measuring sensor and / or the second distance measuring sensor measure the height of the upper surface of the device body upward in real time, thereby obtaining multiple height measurement values.

[0056] In order to demarcate the low-rise area, a standard height can be set in advance. If a certain height measurement value is lower than the standard height, the area corresponding to the height measurement value is determined as a low-rise sub-area, and the low-rise sub-area is colored on the map. When all low-rise sub-areas are connected, they are marked as low-rise areas on the map.

[0057] For example, the marked height is usually 15cm. If the first ranging sensor and / or the second ranging sensor measures a height measurement value of 3cm, the area corresponding to the 3cm height measurement value is determined as a low sub-area and colored on the map; if the first ranging sensor and / or the second ranging sensor measures a height measurement value of 10cm, the area corresponding to the 10cm height measurement value is determined as a low sub-area and colored on the map. The connected colors are finally marked as low areas.

[0058] In this process, the cleaning device marks the low area based on the first distance measuring sensor and / or the second distance measuring sensor, but does not enter the low area, but detours around the low area and gives priority to cleaning the non-low area.

[0059] In some optional embodiments, after the step of circumventing the low area, the method further includes: after the non-low area on the carpet is cleaned, the cleaning device enters the low area.

[0060] Finally, after the non-low area on the carpet is cleaned, the cleaning equipment can be positioned at the entrance to the low area according to the markings and then enter the low area.

[0061] When the cleaning equipment has finished cleaning the non-low areas on the carpet, it will move to the entrance of the low area according to the low areas marked on the map and wait.

[0062] The low area entrance can be determined according to actual conditions. For example, the low area entrance can be the first position determined as the low sub-area, or the low area entrance can be the position closest to the position where the cleaning device finishes cleaning the non-low area on the carpet.

[0063] After the cleaning device is positioned at the entrance of the low area and waits, it switches the corresponding cleaning strategy according to the acquired cleaning mode, thereby entering the low area on the carpet for cleaning.

[0064] In some optional embodiments, the cleaning mode is the first mode; step S220 determines the cleaning strategy of the cleaning device on the carpet according to the cleaning mode, including: the lifting mechanism descends, the first distance measuring sensor rises, and the cleaning device cleans the carpet.

[0065] In order to meet the needs of users who have requirements for map integrity, in response to the user selecting the first mode, the lifting mechanism is lowered and the first distance measuring sensor is raised to clean the low area on the carpet.

[0066] In order to maintain the integrity of the map, the first ranging sensor is required to accurately implement functions such as positioning, map construction, and obstacle avoidance. Therefore, the first ranging sensor needs to remain in a raised state.

[0067] Since the first distance measuring sensor is raised, in order to lower the overall height of the cleaning device and to clean as many low areas on the carpet as possible in the state where the first distance measuring sensor is raised, the lifting mechanism needs to be lowered.

[0068] Therefore, when the cleaning mode is the first mode, the cleaning device is switched to a cleaning strategy in which the lifting mechanism is lowered and the first distance measuring sensor is raised, so as to clean the carpet.

[0069] In some optional implementations, the cleaning device performs cleaning on the carpet, including: if the first ranging sensor triggers a collision, controlling the device body to avoid it.

[0070] Since the first ranging sensor is raised in the map complete mode, when the space height in the low area on the carpet is not enough to allow the first ranging sensor to pass, it will trigger the first ranging sensor to collide. In this case, since it is necessary to give priority to the function of the first ranging sensor, the first ranging sensor remains in the raised state, the lifting mechanism remains in the lowered state, and the control device body is used to avoid. The specific avoidance method is not limited in this application, and any method in the prior art that can enable the cleaning equipment to avoid collision can be applied here.

[0071] For example, when the first distance measuring sensor is in the raised state, the upper surface of the first distance measuring sensor is 2 cm higher than the upper surface of the device body. If the spatial height of a certain position in the low area on the carpet is only 1 cm higher than the upper surface of the device body, the first distance measuring sensor will be triggered to collide at this position. At this time, the first distance measuring sensor remains in the raised state, the lifting mechanism remains in the lowered state, and the device body is controlled to evade to bypass and avoid this position.

[0072] In some optional embodiments, the cleaning mode is the second mode; step S220 determines the cleaning strategy of the cleaning device on the carpet according to the cleaning mode, including: the lifting mechanism rises, the first distance measuring sensor descends, and the cleaning device cleans the carpet.

[0073] In order to meet the needs of users who require cleanliness of the carpet, in response to the user selecting the second mode, the lifting mechanism is raised and the first distance measuring sensor is lowered to clean the low area on the carpet.

[0074] For low areas on the carpet, once the carpet is wet, it is not easy to dry, which may cause subsequent problems such as carpet mold. Therefore, in order to ensure that the carpet is clean, the lifting mechanism needs to be kept in a raised state.

[0075] In order to lower the overall height of the cleaning device so that the cleaning device can clean the low area on the carpet as completely as possible, the first distance measuring sensor needs to be lowered.

[0076] Therefore, when the cleaning mode is the second mode, the cleaning device is switched to a cleaning strategy in which the lifting mechanism is raised and the first distance measuring sensor is lowered, so as to clean the carpet.

[0077] In some optional embodiments, the cleaning device performs cleaning on the carpet, including: if the device body triggers a collision, controlling the device body to avoid it.

[0078] Since the first distance measuring sensor is lowered in the second mode, when the height of the space in the low area on the carpet is not enough to allow the device body to pass, it will trigger a collision with the device body. In this case, the first distance measuring sensor still remains in the lowered state, and the lifting mechanism still remains in the raised state, controlling the device body to avoid. The specific avoidance method is not limited in this application, and any method in the prior art that can enable the cleaning device to avoid collision can be applied here.

[0079] For example, the first distance sensor is in the descending state, the lifting mechanism is in the ascending state, and the height of the device body is 7 cm. If the height of a certain position in the low area on the carpet is lower than the upper surface of the device body, a collision of the device body will be triggered at this position. At this time, the first distance sensor remains in the descending state, the lifting mechanism remains in the ascending state, and the device body is controlled to evade and bypass and avoid this position.

[0080] In some optional embodiments, the cleaning mode is the third mode; step S220 determines the cleaning strategy of the cleaning device on the carpet according to the cleaning mode, including: the lifting mechanism descends, the first distance measuring sensor descends, and the cleaning device cleans the carpet.

[0081] In order to meet the needs of users who have requirements for the cleaning area, in response to the user selecting the cleaning area mode, the lifting mechanism is lowered, the first distance measuring sensor is lowered, and the low area on the carpet is cleaned.

[0082] For low areas on the carpet, dust is more likely to accumulate on the carpet surface. Therefore, in order to ensure the carpet cleaning effect, the lifting mechanism needs to be lowered.

[0083] In order to lower the overall height of the cleaning device so that the cleaning device can clean the low area on the carpet as completely as possible, the first distance measuring sensor needs to be lowered.

[0084] Therefore, when the cleaning mode is the third mode, the cleaning device is switched to a cleaning strategy in which the lifting mechanism is lowered and the first distance measuring sensor is lowered, so as to clean the carpet.

[0085] In some optional embodiments, the cleaning device performs cleaning on the carpet, including: if the device body triggers a collision, controlling the device body to avoid it.

[0086] Since the first distance measuring sensor is lowered in the cleaning area mode, when the height of the space in the low area on the carpet is not enough to allow the device body to pass, it will trigger a collision with the device body. In this case, the first distance measuring sensor still remains in the lowered state, and the lifting mechanism still remains in the lowered state, and the device body is controlled to avoid. The specific avoidance method is not limited in this application, and any method in the prior art that can enable the cleaning device to avoid collision can be applied here.

[0087] For example, the first distance measuring sensor is in the descending state, the lifting mechanism is in the descending state, and the height of the device body is 6 cm. If the height of a certain position in the low area on the carpet is lower than the upper surface of the device body, a collision of the device body will be triggered at this position. At this time, the first distance measuring sensor remains in the descending state, the lifting mechanism remains in the descending state, and the device body is controlled to evade to bypass and avoid this position.

[0088] Figure 3 A schematic diagram of a cleaning control method for a cleaning device according to another embodiment of the present invention is shown. Figure 1 The appearance of the cleaning device shown in the figure, the cleaning control method of the cleaning device includes steps S301 to S305:

[0089] Step S301, the lifting mechanism is raised, the first distance measuring sensor is raised, and the cleaning device cleans the carpet. During the cleaning process on the carpet, the cleaning device determines the low area according to the height measurement results of the first distance measuring sensor and / or the second distance measuring sensor, and bypasses the low area. After the non-low area on the carpet is cleaned, the cleaning device enters the low area. Go to step S302.

[0090] Step S302, obtaining a cleaning mode. If the cleaning mode is the first mode, go to step S303; if the cleaning mode is the second mode, go to step S304; if the cleaning mode is the third mode, go to step S305.

[0091] Step S303, the lifting mechanism descends, the first distance measuring sensor rises, and the cleaning device cleans the carpet. If the first distance measuring sensor triggers a collision, the device body is controlled to avoid it.

[0092] Step S304: the lifting mechanism is raised, the first distance measuring sensor is lowered, and the cleaning device cleans the carpet. If the device body triggers a collision, the device body is controlled to avoid it.

[0093] Step S305, the lifting mechanism descends, the first distance measuring sensor descends, and the cleaning device cleans the carpet. If the device body triggers a collision, the device body is controlled to avoid it.

[0094] Figure 4The schematic diagram of the structure of the cleaning control device of a cleaning device according to an embodiment of the present application is shown. Figure 1 The appearance of the cleaning device shown in the figure, the cleaning device includes: a device body, a first distance measuring sensor that rises and falls on the upper surface of the device body, and a lifting mechanism that lifts and falls the device body; the device 400 includes:

[0095] An acquisition unit 410 is used to acquire a cleaning mode;

[0096] The control unit 420 is used to determine a cleaning strategy of the cleaning device on the carpet according to the cleaning mode.

[0097] In some optional embodiments, in the above-mentioned device 400, the control unit 420 is further specifically used to: when the cleaning mode is the first mode, control the lifting mechanism to descend, control the first distance measuring sensor to rise, and control the cleaning device to clean the carpet.

[0098] In some optional implementations, in the above-mentioned device 400, the control unit 420 is further specifically used to: control the device body to avoid when the first ranging sensor triggers a collision.

[0099] In some optional embodiments, in the above-mentioned device 400, the control unit 420 is further specifically used to: when the cleaning mode is the second mode, control the lifting mechanism to rise, control the first ranging sensor to descend, and control the cleaning device to clean the carpet.

[0100] In some optional embodiments, in the above-mentioned device 400, the control unit 420 is further specifically used to: when the cleaning mode is the third mode, control the lifting mechanism to descend, control the first ranging sensor to descend, and control the cleaning device to clean the carpet.

[0101] In some optional implementations, in the above-mentioned device 400, the control unit 420 is further specifically used to: control the device body to avoid when the device body triggers a collision.

[0102] In some optional embodiments, the cleaning device also includes: a second ranging sensor located on the upper surface of the device body; the control unit 420 is also specifically used to: control the lifting mechanism to rise, control the first ranging sensor to rise, and control the cleaning device to clean the carpet; during the cleaning process of the cleaning device on the carpet, the low area is determined according to the height measurement results of the first ranging sensor and / or the second ranging sensor, and the low area is bypassed.

[0103] In some optional implementations, the control unit 420 is further specifically configured to: after the non-low area on the carpet is cleaned, control the cleaning device to enter the low area.

[0104] It should be noted that the cleaning control device 400 of the cleaning equipment can implement the cleaning control methods of the cleaning equipment mentioned above one by one, which will not be described in detail.

[0105] Figure 5 A schematic diagram of the structure of an electronic device according to an embodiment of the present application is shown. Figure 5 As shown, the internal structure of the electronic device may include a processor, a memory, a network interface, a display screen, and an input device connected via a system bus. The processor of the electronic device is used to provide computing and control capabilities. The memory of the electronic device includes a non-volatile and / or volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The network interface of the electronic device is used to communicate with an external client via a network connection. When the computer program is executed by the processor, the functions or steps of the cleaning control method of the cleaning device are realized.

[0106] In one embodiment, the electronic device provided by the present application includes a memory and a processor, the memory stores a database and a computer program that can be run on the processor, and the processor implements the following steps when executing the computer program:

[0107] Get the cleaning mode;

[0108] According to the cleaning mode, the cleaning strategy of the cleaning device on the carpet is determined.

[0109] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the following steps are implemented:

[0110] Get the cleaning mode;

[0111] According to the cleaning mode, the cleaning strategy of the cleaning device on the carpet is determined.

[0112] It should be noted that the above functions or steps that can be implemented by the electronic device or computer-readable storage medium can refer to the relevant description in the aforementioned method embodiment. To avoid repetition, they will not be described one by one here.

[0113] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0114] Those skilled in the art can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example. In actual applications, the above-mentioned functions can be distributed and completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above.

[0115] The embodiments described above are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be included in the protection scope of the present invention.

Claims

1. A cleaning control method for a cleaning device, characterized in that: The cleaning device comprises: a device body, a first distance measuring sensor which is lifted and lowered on the upper surface of the device body, and a lifting mechanism which lifts and lowers the device body; The method comprises: Get the cleaning mode; According to the cleaning mode, a cleaning strategy of the cleaning device on the carpet is determined.

2. The cleaning control method of the cleaning equipment according to claim 1, characterized in that: The cleaning mode is a first mode; Determining the cleaning strategy of the cleaning device on the carpet according to the cleaning mode includes: The lifting mechanism descends, the first distance measuring sensor rises, and the cleaning device cleans the carpet.

3. The cleaning control method of the cleaning equipment according to claim 2, characterized in that: The device body performs cleaning on the carpet, including: If the first ranging sensor triggers a collision, the device body is controlled to avoid it.

4. The cleaning control method of the cleaning equipment according to claim 1, characterized in that: The cleaning mode is the second mode; Determining the cleaning strategy of the cleaning device on the carpet according to the cleaning mode includes: The lifting mechanism rises, the first distance measuring sensor descends, and the cleaning device cleans the carpet.

5. The cleaning control method of the cleaning equipment according to claim 1, characterized in that: The cleaning mode is the third mode; Determining the cleaning strategy of the cleaning device on the carpet according to the cleaning mode includes: The lifting mechanism descends, the first distance measuring sensor descends, and the cleaning device cleans the carpet.

6. The cleaning control method of the cleaning equipment according to claim 4 or 5, characterized in that: The device body performs cleaning on the carpet, including: If the device body triggers a collision, the device body is controlled to avoid it.

7. The cleaning control method of the cleaning equipment according to claim 1, characterized in that: The cleaning device further comprises: a second distance measuring sensor located on the upper surface of the device body; Before the step of obtaining the cleaning mode, the method further includes: The lifting mechanism is lifted, the first distance measuring sensor is lifted, and the cleaning device cleans the carpet; During the cleaning process on the carpet, the cleaning device determines the low area according to the height measurement results of the first distance measuring sensor and / or the second distance measuring sensor, and bypasses the low area.

8. The cleaning control method of the cleaning equipment according to claim 7, after the step of circumventing the low area, the method further comprises: After the non-low area on the carpet is cleaned, the cleaning device enters the low area.

9. A cleaning control device for a cleaning device, characterized in that: The cleaning device comprises: a device body, a first distance measuring sensor which is lifted and lowered on the upper surface of the device body, and a lifting mechanism which lifts and lowers the device body; The device comprises: An acquisition unit, used for acquiring a cleaning mode; The control unit is used to determine the cleaning strategy of the cleaning device on the carpet according to the cleaning mode.

10. The cleaning control device of the cleaning equipment according to claim 9, characterized in that: The cleaning mode is a first mode; The control unit is also used to control the lifting mechanism to descend, control the first distance measuring sensor to rise, and control the cleaning device to clean the carpet.

11. The cleaning control device of the cleaning equipment according to claim 10, characterized in that: The control unit is further used to control the device body to avoid a collision when the first ranging sensor triggers a collision.

12. The cleaning control device of the cleaning equipment according to claim 9, characterized in that: The cleaning mode is the second mode; The control unit is also used to control the lifting mechanism to rise, control the first distance measuring sensor to descend, and control the cleaning device to clean the carpet.

13. The cleaning control device of the cleaning equipment according to claim 9, characterized in that: The cleaning mode is the third mode; The control unit is also used to control the lifting mechanism to descend, control the first distance measuring sensor to descend, and control the cleaning device to clean the carpet.

14. The cleaning control device of the cleaning equipment according to claim 12 or 13, characterized in that: The control module is further used to control the device body to avoid a collision when the device body triggers a collision.

15. The cleaning control device of the cleaning equipment according to claim 9, characterized in that: The cleaning device further comprises: a second distance measuring sensor located on the upper surface of the device body; The control unit is further used to control the lifting mechanism to rise, control the first distance measuring sensor to rise, and control the cleaning device to clean the carpet; During the cleaning process on the carpet, the cleaning device determines the low area according to the height measurement results of the first distance measuring sensor and / or the second distance measuring sensor, and bypasses the low area.

16. The cleaning control device of the cleaning equipment according to claim 15, characterized in that: The control unit is also used to control the cleaning device to enter the low area after the non-low area on the carpet is cleaned.

17. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the steps of the cleaning control method for the cleaning device according to any one of claims 1 to 8 are implemented.

18. A computer-readable storage medium storing a computer program, characterized in that: The computer program implements the steps of the cleaning control method for a cleaning device according to any one of claims 1 to 8 when instructed by a processor.

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