Cleaning equipment and control method thereof, program product, medium, charging pile and system

Abstract

The invention discloses cleaning equipment and a control method thereof, a program product, a medium, a charging pile and a system, the cleaning equipment can advance from a to-be-cleaned surface to the charging pile and / or can advance from the charging pile to the to-be-cleaned surface, the cleaning equipment comprises a power assisting module, and the power assisting module is configured to provide power for advancing of the cleaning equipment; and the controller is configured to control the power assisting module to assist the advancing of the cleaning equipment in the pile climbing and / or pile descending process of the cleaning equipment. Through the technical scheme provided by the invention, the convenience of taking and placing the cleaning equipment by a user can be improved, and the user experience is improved.

Description

Technical Field

[0001] This application belongs to the technical field of cleaning equipment and its control, and particularly relates to a cleaning equipment, its control method, program product, medium, charging pile and system. Background Art

[0002] For existing cleaning equipment, when it is necessary to place the cleaning equipment on the charging pile or remove it from the charging pile, the user needs to forcefully push the cleaning equipment onto the charging pile or pull it out from the charging pile for use. However, when the user pushes the cleaning equipment onto the pile or pulls it out from the pile, a relatively large amount of force is required, resulting in a poor user experience. Summary of the Invention

[0003] Embodiments of the present application provide a cleaning equipment, its control method, program product, medium, charging pile and system, which can at least to a certain extent improve the convenience of the user to pick up and place the cleaning equipment and enhance the user experience.

[0004] Other features and advantages of the present application will become apparent through the following detailed description, or will be partially learned through the practice of the present application.

[0005] According to one aspect of the embodiments of the present application, a cleaning equipment is provided. The cleaning equipment can travel from the surface to be cleaned to the charging pile, and / or can travel from the charging pile to the surface to be cleaned. The cleaning equipment includes: an assisting module configured to provide assistance for the travel of the cleaning equipment; a controller configured to control the assisting module to assist the travel of the cleaning equipment when the cleaning equipment is in the process of being placed on the pile and / or taken off the pile.

[0006] In some embodiments of the present application, based on the foregoing solution, the controller is configured to: when the cleaning equipment is in the process of being placed on the pile, control the assisting module to assist the travel of the cleaning equipment in the pile - placing direction; and / or, when the cleaning equipment is in the process of being taken off the pile, control the assisting module to assist the travel of the cleaning equipment in the pile - taking - off direction.

[0007] In some embodiments of the present application, based on the foregoing solution, one of the charging pile and the cleaning equipment is provided with a signal generating module, and the other of the charging pile and the cleaning equipment is provided with a signal detecting module; the signal generating module is configured to generate a signal; the signal detecting module is configured to detect the signal; the controller is further configured to determine whether the cleaning equipment is in the process of being placed on the pile or taken off the pile according to whether the signal detecting module detects the signal generated by the signal generating module.

[0008] In some embodiments of the present application, based on the foregoing solution, during the process of the cleaning device being docked onto or undocked from the charging pile, the signal detection module can detect the signal generated by the signal generation module.

[0009] In some embodiments of the present application, based on the foregoing solution, when the cleaning device is in the charging position of the charging pile, the signal detection module cannot detect the signal generated by the signal generation module.

[0010] In some embodiments of the present application, based on the foregoing solution, the controller is configured to: during the process of the cleaning device moving in the docking direction, and / or when the continuous duration of the cleaning device being in a non-charging state exceeds a set duration, if the signal detection module detects the signal generated by the signal generation module, it is determined that the cleaning device is in the process of being docked onto the charging pile.

[0011] In some embodiments of the present application, based on the foregoing solution, the controller is configured to: during the process of the cleaning device moving in the undocking direction, and / or when the cleaning device switches from a charging state to a non-charging state, if the signal detection module detects the signal generated by the signal generation module, it is determined that the cleaning device is in the process of being undocked from the charging pile.

[0012] In some embodiments of the present application, based on the foregoing solution, the controller is further configured to: if it is detected that the cleaning device is in the charging position of the charging pile, and / or if the signal detection module does not detect the signal generated by the signal generation module, then control the boosting module to stop boosting the movement of the cleaning device.

[0013] In some embodiments of the present application, based on the foregoing solution, one of the signal generation module and the signal detection module is disposed at the top of the charging pile or a position close to the top of the charging pile, and the other of the signal generation module and the signal detection module is disposed at the bottom of the cleaning device or a position close to the bottom of the cleaning device.

[0014] In some embodiments of the present application, based on the foregoing solution, one of the signal generation module and the signal detection module is disposed at the side of the charging pile or a position close to the side of the charging pile, and the other of the signal generation module and the signal detection module is disposed at the side of the cleaning device or a position close to the side of the cleaning device, and the sides of the charging pile and the cleaning device are in the same direction.

[0015] In some embodiments of the present application, based on the foregoing solution, when the cleaning device is in the charging position of the charging pile, the signal generation module and the signal detection module are offset in the docking or undocking direction.

[0016] In some embodiments of the present application, based on the foregoing solution, if the signal generation module is disposed on the charging pile and the signal detection module is disposed on the cleaning device, when the cleaning device is in the charging position of the charging pile, the signal generation module is located behind the signal detection module in the upper pile direction; if the signal generation module is disposed on the cleaning device and the signal detection module is disposed on the charging pile, when the cleaning device is in the charging position of the charging pile, the signal generation module is located in front of the signal detection module in the upper pile direction.

[0017] In some embodiments of the present application, based on the foregoing solution, the signal generation module includes a magnetic member configured to generate a magnetic field signal; the signal detection module includes a Hall sensor configured to detect the magnetic field signal.

[0018] In some embodiments of the present application, based on the foregoing solution, the signal generation module includes a radio frequency card configured to generate a radio frequency signal; the signal detection module includes a near-field radio frequency device configured to detect the radio frequency signal.

[0019] In some embodiments of the present application, based on the foregoing solution, the signal generation module includes a first light-emitting member configured to generate an optical signal; the signal detection module includes a first photoelectric sensor configured to detect the optical signal.

[0020] In some embodiments of the present application, based on the foregoing solution, the signal generation module includes a light-reflecting member configured to reflect an optical signal; the signal detection module includes a second photoelectric sensor configured to emit an optical signal and detect the optical signal reflected by the light-reflecting member.

[0021] In some embodiments of the present application, based on the foregoing solution, the cleaning device further includes a gyroscope configured to detect the attitude inclination angle of the cleaning device; the controller is further configured to, during the process of the cleaning device traveling in the upper pile direction and / or when the continuous duration of the cleaning device in the non-charging state exceeds a set duration, if it is detected that the attitude inclination angle of the cleaning device is greater than a set angle, determine that the cleaning device is in the upper pile; during the process of the cleaning device traveling in the lower pile direction and / or when the cleaning device switches from the charging state to the non-charging state, if it is detected that the attitude inclination angle of the cleaning device is greater than a set angle, determine that the cleaning device is in the lower pile.

[0022] In some embodiments of the present application, based on the foregoing solution, a pressure sensor is provided in a set area of the charging pile, and the pressure sensor is configured to: detect the pressure received in the set area of the charging pile; the controller is further configured to: during the process of the cleaning device moving in the charging direction, and / or, when the continuous duration of the cleaning device in a non-charging state exceeds a set duration, if receiving the information that the pressure sent by the charging pile exceeds the set pressure, determine that the cleaning device is charging; during the process of the cleaning device moving in the discharging direction, and / or, when the cleaning device switches from a charging state to a non-charging state, if receiving the information that the pressure sent by the charging pile exceeds the set pressure, determine that the cleaning device is discharging.

[0023] In some embodiments of the present application, based on the foregoing solution, a second light-emitting component is provided on an inner wall of one side of the charging pile, and the second light-emitting component is configured to: emit an optical signal; a third photoelectric sensor is provided on an inner wall of the other side of the charging pile, and the third photoelectric sensor is configured to: detect the optical signal; the controller is further configured to: during the process of the cleaning device moving in the charging direction, and / or, when the continuous duration of the cleaning device in a non-charging state exceeds a set duration, if receiving the information that the third photoelectric sensor sent by the charging pile cannot detect the optical signal emitted by the second light-emitting component, determine that the cleaning device is charging; during the process of the cleaning device moving in the discharging direction, and / or, when the cleaning device switches from a charging state to a non-charging state, if receiving the information that the third photoelectric sensor sent by the charging pile cannot detect the optical signal emitted by the second light-emitting component, determine that the cleaning device is discharging.

[0024] In some embodiments of the present application, based on the foregoing solution, the charging pile is provided with a distance sensing area, and the cleaning device further includes: a distance sensor, and the distance sensor is configured to: detect the distance between the cleaning device and the distance sensing area; the controller is further configured to: if detecting that the distance between the cleaning device and the distance sensing area decreases and is less than a set distance, determine that the cleaning device is charging; if detecting that the distance between the cleaning device and the distance sensing area increases and is less than the set distance, determine that the cleaning device is discharging.

[0025] In some embodiments of the present application, based on the foregoing solution, the controller is further configured to: if detecting that the assisting wheels and / or the rolling brush in the assisting module rotate in the charging direction, determine that the cleaning device is charging; if detecting that the assisting wheels and / or the rolling brush in the assisting module rotate in the discharging direction, determine that the cleaning device is discharging.

[0026] In some embodiments of the present application, based on the foregoing solution, the controller is further configured to: control the assisting module to assist the cleaning device in traveling in the on-peg direction according to the control logic of the operating power of the assisting module from large to small.

[0027] In some embodiments of the present application, based on the foregoing solution, the controller is further configured to: control the assisting module to assist the cleaning device in traveling in the off-peg direction according to the control logic of the operating power of the assisting module from large to small.

[0028] In some embodiments of the present application, based on the foregoing solution, the operating power of the assisting module to assist the cleaning device in traveling in the on-peg direction is greater than the operating power of the assisting module to assist the cleaning device in traveling in the off-peg direction.

[0029] In some embodiments of the present application, based on the foregoing solution, the assisting module includes a motor, and the operating power of the assisting module is the operating power of the motor.

[0030] In some embodiments of the present application, based on the foregoing solution, the assisting module includes an assisting wheel and / or a rotary brush.

[0031] According to one aspect of the embodiments of the present application, a cleaning device control method is provided. The cleaning device can travel from the surface to be cleaned to the charging pile, and / or can travel from the charging pile to the surface to be cleaned. The cleaning device includes an assisting module configured to: assist the cleaning device in traveling. The method includes: when the cleaning device is in the process of on-peg and / or off-peg, controlling the assisting module to assist the cleaning device in traveling.

[0032] In some embodiments of the present application, based on the foregoing solution, the step of, when the cleaning device is in the process of on-peg and / or off-peg, controlling the assisting module to assist the cleaning device in traveling includes: when the cleaning device is in the process of on-peg, controlling the assisting module to assist the cleaning device in traveling in the on-peg direction; and / or, when the cleaning device is in the process of off-peg, controlling the assisting module to assist the cleaning device in traveling in the off-peg direction.

[0033] In some embodiments of the present application, based on the foregoing solution, one of the charging pile and the cleaning device is provided with a signal generating module configured to: generate a signal; the other of the charging pile and the cleaning device is provided with a signal detecting module configured to: detect the signal. The method further includes: determining whether the cleaning device is in the process of on-peg or off-peg according to whether the signal detecting module detects the signal generated by the signal generating module.

[0034] In some embodiments of the present application, based on the foregoing solution, determining whether the cleaning device is in the process of docking or undocking according to whether the signal detection module detects the signal generated by the signal generation module includes: during the process of the cleaning device traveling in the docking direction, and / or, when the duration for which the cleaning device is in a non-charging state exceeds a set duration, if the signal detection module detects the signal generated by the signal generation module, it is determined that the cleaning device is in the process of docking.

[0035] In some embodiments of the present application, based on the foregoing solution, determining whether the cleaning device is in the process of docking or undocking according to whether the signal detection module detects the signal generated by the signal generation module includes: during the process of the cleaning device traveling in the undocking direction, and / or, when the cleaning device switches from a charging state to a non-charging state, if the signal detection module detects the signal generated by the signal generation module, it is determined that the cleaning device is in the process of undocking.

[0036] In some embodiments of the present application, based on the foregoing solution, the method further includes: if it is detected that the cleaning device is at the charging position of the charging pile, and / or, if the signal detection module does not detect the signal generated by the signal generation module, then control the boosting module to stop boosting the travel of the cleaning device.

[0037] In some embodiments of the present application, based on the foregoing solution, the signal generation module includes a magnetic member configured to generate a magnetic field signal; the signal detection module includes a Hall sensor configured to detect a magnetic field signal; and / or, the signal generation module includes a radio frequency card configured to generate a radio frequency signal; the signal detection module includes a near-field radio frequency device configured to detect a radio frequency signal; and / or, the signal generation module includes a first light-emitting member configured to generate an optical signal; the signal detection module includes a first photoelectric sensor configured to detect an optical signal; and / or, the signal generation module includes a light-reflecting member configured to reflect an optical signal; the signal detection module includes a second photoelectric sensor configured to emit an optical signal and detect the optical signal reflected by the light-reflecting member.

[0038] In some embodiments of the present application, based on the foregoing solutions, the cleaning device includes a gyroscope configured to detect the attitude inclination angle of the cleaning device. The method further includes: during the process of the cleaning device traveling in the direction of docking with the charging pile, and / or when the duration of the cleaning device being in a non-charging state exceeds a set duration, if it is detected that the attitude inclination angle of the cleaning device is greater than a set angle, it is determined that the cleaning device is docking with the charging pile; during the process of the cleaning device traveling in the direction of undocking from the charging pile, and / or when the cleaning device switches from a charging state to a non-charging state, if it is detected that the attitude inclination angle of the cleaning device is greater than a set angle, it is determined that the cleaning device is undocking from the charging pile.

[0039] In some embodiments of the present application, based on the foregoing solutions, a pressure sensor is provided in a set area of the charging pile, and the pressure sensor is configured to detect the pressure received in the set area of the charging pile. The method further includes: during the process of the cleaning device traveling in the direction of docking with the charging pile, and / or when the duration of the cleaning device being in a non-charging state exceeds a set duration, if the information that the pressure received by the charging pile exceeds a set pressure is received, it is determined that the cleaning device is docking with the charging pile; during the process of the cleaning device traveling in the direction of undocking from the charging pile, and / or when the cleaning device switches from a charging state to a non-charging state, if the information that the pressure received by the charging pile exceeds a set pressure is received, it is determined that the cleaning device is undocking from the charging pile.

[0040] In some embodiments of the present application, based on the foregoing solutions, a second light-emitting component is provided on one inner wall of the charging pile, and the second light-emitting component is configured to emit an optical signal; a third photoelectric sensor is provided on the other inner wall of the charging pile, and the third photoelectric sensor is configured to detect the optical signal. The method further includes: during the process of the cleaning device traveling in the direction of docking with the charging pile, and / or when the duration of the cleaning device being in a non-charging state exceeds a set duration, if the information that the third photoelectric sensor cannot detect the optical signal emitted by the second light-emitting component sent by the charging pile is received, it is determined that the cleaning device is docking with the charging pile; during the process of the cleaning device traveling in the direction of undocking from the charging pile, and / or when the cleaning device switches from a charging state to a non-charging state, if the information that the third photoelectric sensor cannot detect the optical signal emitted by the second light-emitting component sent by the charging pile is received, it is determined that the cleaning device is undocking from the charging pile.

[0041] In some embodiments of the present application, based on the foregoing solution, the charging pile is provided with a distance sensing area, and the cleaning device includes a distance sensor configured to detect the distance between the cleaning device and the distance sensing area. The method further includes: if it is detected that the distance between the cleaning device and the distance sensing area decreases and is less than a set distance, it is determined that the cleaning device is on the charging pile; if it is detected that the distance between the cleaning device and the distance sensing area increases and is less than the set distance, it is determined that the cleaning device is off the charging pile.

[0042] In some embodiments of the present application, based on the foregoing solution, the method further includes: if it is detected that the driving wheel and / or the rolling brush in the driving assistance module rotate in the direction of the charging pile, it is determined that the cleaning device is on the charging pile; if it is detected that the driving wheel and / or the rolling brush in the driving assistance module rotate in the direction away from the charging pile, it is determined that the cleaning device is off the charging pile.

[0043] In some embodiments of the present application, based on the foregoing solution, controlling the driving assistance module to assist the cleaning device to travel in the direction of the charging pile includes: controlling the driving assistance module to assist the cleaning device to travel in the direction of the charging pile according to the control logic of decreasing the operating power of the driving assistance module from large to small.

[0044] In some embodiments of the present application, based on the foregoing solution, controlling the driving assistance module to assist the cleaning device to travel in the direction away from the charging pile includes: controlling the driving assistance module to assist the cleaning device to travel in the direction away from the charging pile according to the control logic of decreasing the operating power of the driving assistance module from large to small.

[0045] In some embodiments of the present application, based on the foregoing solution, the operating power of the driving assistance module to assist the cleaning device to travel in the direction of the charging pile is greater than the operating power of the driving assistance module to assist the cleaning device to travel in the direction away from the charging pile.

[0046] In some embodiments of the present application, based on the foregoing solution, the driving assistance module includes a driving wheel and / or a rolling brush.

[0047] According to one aspect of the embodiments of the present application, there is provided a computer program product including computer instructions stored in a computer-readable storage medium and adapted to be read and executed by a processor so that a computer device having the processor executes the method according to any one of the above embodiments.

[0048] According to one aspect of the embodiments of the present application, a computer-readable storage medium is provided. At least one program code is stored in the computer-readable storage medium, and the at least one program code is loaded and executed by a processor to implement the operations performed by the method described in any one of the above embodiments.

[0049] According to one aspect of the embodiments of the present application, a cleaning device is provided. The cleaning device includes one or more processors and one or more memories. At least one program code is stored in the one or more memories, and the at least one program code is loaded and executed by the one or more processors to implement the method described in any one of the above embodiments.

[0050] According to one aspect of the embodiments of the present application, a charging pile is provided. The charging pile is configured to charge the cleaning device described in any one of the above embodiments.

[0051] In some embodiments of the present application, based on the foregoing solution, the charging pile is provided with a ramp plate, and the ramp plate is configured to allow the cleaning device to get on and / or off the pile.

[0052] According to one aspect of the embodiments of the present application, a cleaning system is provided. The cleaning system includes the cleaning device described in any one of the above embodiments, and / or the charging pile described in any one of the above embodiments.

[0053] Based on the technical solution proposed in the present application, a boosting module provides boosting for the movement of the cleaning device, making it easier for the cleaning device to get on the pile (move from the surface to be cleaned to the charging pile) and off the pile (move from the charging pile to the surface to be cleaned), which can solve the problem that users need to use a lot of force when the cleaning device gets on and off the pile, thereby improving the convenience of users to pick up and place the cleaning device and enhancing the user experience.

[0054] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] The accompanying drawings herein are incorporated into the specification and form a part of the specification, showing embodiments consistent with the present application and used together with the specification to explain the principles of the present application. Obviously, the drawings in the following description are only some embodiments of the present application, and those of ordinary skill in the art can obtain other drawings based on these drawings without creative efforts. In the drawings:

[0056] Figure 1 A schematic structural diagram of the cleaning system according to the embodiments of the present application is shown;

[0057] Figure 2shows a schematic cross-sectional view of the cleaning system according to an embodiment of the present application along the L direction; Figure 1 as shown;

[0058] Figure 3 shows a schematic structural diagram of a controller in an embodiment of the present application;

[0059] Figure 4 shows a flowchart of a cleaning device control method in an embodiment of the present application. Detailed implementation manners

[0060] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

[0061] In addition, the described features, structures or characteristics may be combined in any suitable manner in one or more embodiments. In the following description, many specific details are provided to give a thorough understanding of the embodiments of the present application. However, those skilled in the art will realize that the technical solutions of the present application can be practiced without one or more of the specific details, or other methods, components, devices, steps, etc. may be used. In other cases, well-known methods, devices, implementations or operations are not shown or described in detail to avoid obscuring aspects of the present application.

[0062] The block diagrams shown in the drawings are only functional entities and do not necessarily correspond to physically independent entities. That is, these functional entities may be implemented in software form, or implemented in at least one hardware module or integrated circuit, or implemented in different networks and / or processor devices and / or microcontroller devices. It should also be noted that in the drawings, for the sake of simplicity of the drawings, some devices that do not affect the explanation of the technical solutions of the present application are adaptively omitted.

[0063] The flowcharts shown in the drawings are only illustrative and do not necessarily include all the contents and operations / steps, nor do they necessarily need to be executed in the described order. For example, some operations / steps can be decomposed, and some operations / steps can be combined or partially combined. Therefore, the actual execution order may change according to the actual situation.

[0064] In the description of the present application, it should be understood that the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present application, unless otherwise specified, the meaning of "a plurality" is two or more.

[0065] Next, the implementation details of the technical solution of the embodiments of the present application will be elaborated in detail.

[0066] Before elaborating, it should be noted that in order for those skilled in the art to better understand the present application, some embodiments containing control parameters will be enumerated in the present application. The specific values of the control parameters in the embodiments are only exemplary. In actual applications, according to the actual situation, the control parameters in the embodiments can also be other values.

[0067] Refer to Figure 1 , which shows a schematic structural diagram of the cleaning system of the embodiments of the present application.

[0068] As Figure 1 shown, the present application proposes a cleaning system, which may include a cleaning device 100 and a charging pile 200. Among them, the charging pile 200 can be configured to: charge the cleaning device 100. At the same time, the charging pile 200 can also be configured to: park the cleaning device 100.

[0069] In the present application, the charging pile 200 is provided with a ramp plate 210, which can be configured to: allow the cleaning device 100 to get on and / or off the pile.

[0070] In the present application, it should be noted that getting on the pile means that the cleaning device 100 can travel from the surface to be cleaned to the charging pile 200 through the ramp plate 210, and getting off the pile means that the cleaning device 100 can travel from the charging pile 200 to the surface to be cleaned through the ramp plate 210.

[0071] In the present application, it also needs to be noted that "travel" means that the cleaning device 100 can be pushed or pulled from the surface to be cleaned onto the charging pile 200, or can be moved onto the charging pile 200 without being lifted.

[0072] Next, the present application will elaborate in detail on the cleaning device 100.

[0073] Continue to refer to Figure 1 , the cleaning device 100 proposed by the present application may include an assisting module ( Figure 1 not shown in Figure 1 ) and a controller (

[0074] Among them, the boosting module can be configured to provide boosting for the movement of the cleaning device 100; the controller can be disposed inside the cleaning device 100, and can be configured to: when the cleaning device 100 is onboarding and / or offboarding, control the boosting module to provide boosting for the movement of the cleaning device 100. For example, when the cleaning device 100 is onboarding or offboarding, the controller can control the boosting module to start, providing additional power for the onboarding movement or offboarding movement of the cleaning device 100.

[0075] Based on the technical solution proposed in this application, by providing boosting for the movement of the cleaning device 100 through the boosting module, the cleaning device 100 can be made more relaxed during the process of onboarding (moving from the surface to be cleaned to the charging pile 200) and offboarding (moving from the charging pile 200 to the surface to be cleaned), which can solve the problem that the user needs to use a relatively large amount of force during the onboarding and offboarding processes of the cleaning device 100, thereby improving the convenience of the user to pick up and place the cleaning device 100 and enhancing the user experience.

[0076] In this application, the boosting module may include a motor ( Figure 1 not shown in the figure), and the motor can be used as the power source for the boosting module to provide boosting for the movement of the cleaning device 100.

[0077] Continuing to refer to Figure 1 , the boosting module may include a boosting wheel 110 and / or a rolling brush 120. The boosting wheel 110 can provide boosting for the movement of the cleaning device 110 by rotating itself. The rolling brush 120 can be used to clean the surface to be cleaned. At the same time, the rolling brush 120 can also provide boosting for the movement of the cleaning device 110 by rotating itself.

[0078] In this application, the boosting wheel 110 can directly provide boosting for the movement of the cleaning device 100, making the cleaning device 100 more relaxed during the onboarding and offboarding processes. The rolling brush 120 plays a role in cleaning during the normal cleaning operation of the cleaning device 100, and can also provide a certain amount of boosting for the cleaning device 100 during the onboarding and offboarding processes of the cleaning device 100. By providing boosting for the movement of the cleaning device 100 in various ways during the onboarding and offboarding processes of the cleaning device 100, the flexibility and adaptability of the cleaning device 100 can be improved, enabling it to better meet the needs of users.

[0079] In this application, the controller can be any one of a microcontroller (MCU), a digital signal processor (DSP), a programmable logic controller (PLC), a single-chip computer (single-chip microcontroller), and an embedded controller. This application does not make specific limitations on this.

[0080] In the present application, the controller can be configured to: when the cleaning device 100 is being docked, control the boosting module to boost the advancement of the cleaning device 100 in the docking direction; and / or when the cleaning device 100 is being undocked, control the boosting module to boost the advancement of the cleaning device 100 in the undocking direction.

[0081] In the present application, the controller can control the boosting module to provide boosting in the corresponding direction according to the docking or undocking state of the cleaning device 100. When docking, the boosting module can boost in the docking direction to push the cleaning device 100 towards the charging pile 200; when undocking, the boosting module can boost in the undocking direction to smoothly pull the cleaning device 100 off the charging pile 200.

[0082] For example, if the cleaning device 100 needs to be docked, the controller will control the boosting module to generate a forward thrust; if the cleaning device 100 needs to be undocked, the controller will control the boosting module to generate a backward pulling force. In this way, precise control of the boosting module can be achieved, ensuring that the boosting direction is consistent with the advancement requirements of the cleaning device 100, and further improving the smoothness and efficiency of the docking and undocking of the cleaning device 100.

[0083] In the present application, one of the charging pile 200 and the cleaning device 100 can be provided with a signal generating module ( Figure 1 not shown in the figure), and the signal generating module can be configured to: generate a signal; the other of the charging pile 200 and the cleaning device 100 can be provided with a signal detecting module ( Figure 1 not shown in the figure), and the signal detecting module can be configured to: detect the signal.

[0084] Furthermore, the controller can also be configured to: determine whether the cleaning device 100 is in the process of docking or undocking according to whether the signal detecting module detects the signal generated by the signal generating module.

[0085] In the present application, it is possible to determine whether the cleaning device 100 is in the process of docking or undocking by providing the signal generating module on the charging pile 200 and the signal detecting module on the cleaning device 100. It is also possible to determine whether the cleaning device 100 is in the process of docking or undocking by providing the signal generating module on the cleaning device 100 and the signal detecting module on the charging pile 200.

[0086] In the present application, by using the sending and detection of signals, the docking or undocking state of the cleaning device 100 can be accurately determined, providing a reliable basis for the controller to control the boosting module, thereby improving the intelligence and automation level of the cleaning system.

[0087] In the present application, when the cleaning device 100 is being put on or taken off a pile, the signal detection module can detect the signal generated by the signal generation module.

[0088] In the present application, when the cleaning device 100 is in the process of getting on or off the charging pile, since the relative position of the cleaning device 100 and the charging pile 200 is constantly changing, the signal detection module can receive the signal sent by the signal generation module in this process. For example, when the cleaning device 100 moves upward along the ramp 210 of the charging pile 200 to prepare for getting on the pile, the signal detection module installed on the cleaning device 100 can continue to receive the signal sent by the signal generation module on the charging pile 200. In this way, it can be ensured that the relevant signal can be detected in time during the process of getting on or off the charging pile of the cleaning device 100, providing a guarantee for the accurate judgment of the controller.

[0089] In the present application, when the cleaning device 100 is in the charging position of the charging pile 200, the signal detection module cannot detect the signal generated by the signal generation module.

[0090] In the present application, when the cleaning device 100 is completely placed in the charging position of the charging pile 200, the relative position of the signal detection module and the signal generation module changes, so that the signal detection module cannot detect the signal emitted by the signal generation module. For example, if the signal generation module is a transmitter installed on the top of the charging pile 200, when the cleaning device 100 is correctly placed on the charging pile 200 for charging, the signal detection module at the bottom of the cleaning device 100 will be offset from the signal generation module, and thus the signal cannot be received. Through this design, it is possible to accurately determine whether the cleaning device 100 is in the charging position to avoid misjudgment and improve the accuracy and reliability of the cleaning system.

[0091] In the present application, the controller can be configured as follows: when the cleaning device 100 is moving in the direction of pile mounting, and / or when the cleaning device 100 is in a non-charging state for a duration exceeding a set duration, if the signal detection module detects the signal generated by the signal generation module, it is determined that the cleaning device 100 is in the process of pile mounting.

[0092] In the present application, whether the cleaning device 100 is being piled can be determined by at least one of the following two methods.

[0093] In one way, the cleaning device 100 is moving in the direction of docking. At this time, if the signal detection module detects a signal, it can be determined that the docking process is in progress. Specifically, it can be determined whether the cleaning device 100 is moving in the direction of docking by the rotation direction of the driving wheel 110 and / or the rotary brush 120 in the driving module. When the cleaning device 100 is moving in the direction of docking, if the signal detection module detects the signal generated by the signal generating module, it can be determined that the user may be pushing the cleaning device 100 onto the charging pile 200, that is, it is determined that the cleaning device 100 is in the process of docking.

[0094] In another way, when the time that the cleaning device 100 is in a non-charging state exceeds a set duration and at this time the signal detection module detects a signal, it can also be determined that the docking process is in progress. For example, if the set duration is 1 minute, when the cleaning device 100 is not charging on the charging pile 200 and after more than 1 minute, when the signal detection module detects the signal generated by the signal generating module, the controller will determine that the cleaning device 100 is docking. In this case, it can be avoided that when the cleaning device 100 is pulled out from the charging pile 200 after charging, the cleaning device 100 is misjudged as docking because the signal detection module detects the signal generated by the signal generating module.

[0095] It should be noted that the above two ways can be used in combination or separately, and the present application does not make too many limitations on this.

[0096] In the present application, by comprehensively considering the moving direction of the cleaning device 100 and / or the duration of the non-charging state, the docking state of the cleaning device 100 can be judged more accurately, thereby improving the accuracy and reliability of judging the docking of the cleaning device 100.

[0097] In the present application, the controller can be configured to: during the process that the cleaning device 100 is moving in the direction of undocking, and / or, when the cleaning device 100 switches from the charging state to the non-charging state, if the signal detection module detects the signal generated by the signal generating module, it is determined that the cleaning device 100 is in the process of undocking.

[0098] In the present application, at least one of the following two ways can be used to judge whether the cleaning device 100 is undocking.

[0099] In one way, when the cleaning device 100 travels in the direction of docking with the charging pile, if the signal detection module detects a signal at this time, it can be determined that the docking process is in progress. Specifically, it can be determined whether the cleaning device 100 is traveling in the direction of docking with the charging pile by the rotation direction of the assisting wheel 110 and / or the rolling brush 120 in the assisting module. When the cleaning device 100 is traveling in the direction of docking with the charging pile, if the signal detection module detects the signal sent by the signal generating module, it can be determined that the user may be pulling the cleaning device 100 out of the charging pile 200, that is, it is determined that the cleaning device 100 is in the process of docking out.

[0100] In one way, when the cleaning device 100 switches from the charging state to the non-charging state, if the signal detection module detects a signal at this time, it can be determined that the docking process is in progress. For example, when the cleaning device 100 is pulled out by the user and the charging elastic sheet is disconnected, after it switches from the charging state to the non-charging state, when the cleaning device is continuously pulled out from the charging pile 200 within 1 minute and the signal detection module detects the signal sent by the signal generating module, the controller will determine that the cleaning device 100 is docking out. In this case, it can be avoided that when the cleaning device 100 is pushed into the charging pile 200 by the user when it has not been charged for a long time, the cleaning device 100 is misjudged as docking out because the signal detection module detects the signal sent by the signal generating module.

[0101] It should be noted that the above two methods can be used in combination or separately, and the present application does not make too many limitations on this.

[0102] In the present application, by judging the docking state from two aspects of the traveling direction of the cleaning device and the change of the charging state, the accuracy and reliability of judging the docking state of the cleaning device can be improved.

[0103] In the present application, the controller can also be configured to: if it is detected that the cleaning device 100 is in the charging position of the charging pile 200, and / or, if the signal detection module does not detect the signal sent by the signal generating module, then control the assisting module to stop assisting the traveling of the cleaning device 100.

[0104] In the present application, when the controller determines that the cleaning device 100 has reached the charging position of the charging pile, and / or when the signal detection module fails to detect the signal emitted by the signal generation module, the controller may control the boosting module to stop boosting. For example, when the cleaning device 100 is fully placed on the charging pile and starts charging, the controller will control the boosting module to stop boosting based on the fact that the charging position has been reached or the signal detection module cannot detect the signal emitted by the signal generation module. In this way, stopping the operation of the boosting module in a timely manner when the cleaning device 100 does not require boosting can prevent the boosting module from disturbing the charging process of the cleaning device 100, while also saving energy, avoiding unnecessary boosting operations, and improving the energy efficiency and stability of the cleaning system.

[0105] In the present application, one of the signal generation module and the signal detection module may be disposed at the top of the charging pile 200 or a position close to the top of the charging pile 200, and the other of the signal generation module and the signal detection module may be disposed at the bottom of the cleaning device 100 or a position close to the bottom of the cleaning device 100.

[0106] In the present application, the signal generation module may be disposed at the top of the charging pile 200 or a position close to the top, and the signal detection module may be disposed at the bottom of the cleaning device 100 or a position close to the bottom; alternatively, the signal detection module may be disposed at the top of the charging pile 200 or a position close to the top, and the signal generation module may be disposed at the bottom of the cleaning device 100 or a position close to the bottom. When the cleaning device 100 approaches the charging pile 200 for pile-up or pile-down operations, the signal detection module can better detect the signal emitted by the signal generation module.

[0107] For example, please refer to Figure 2 , which shows a schematic cross-sectional view of the cleaning system according to an embodiment of the present application along the L direction as Figure 1 shown.

[0108] In an embodiment of the present application, as Figure 2 shown, the signal generation module 220 may be installed at the edge position of the top of the charging pile 200, and the signal detection module 130 may be installed at the corresponding position at the bottom of the cleaning device 100. When the cleaning device 100 approaches the top of the charging pile 200, the signal detection module 130 can detect the signal emitted by the signal generation module 220. By reasonably setting the installation positions of the signal generation module and the signal detection module, the accuracy and reliability of signal detection can be improved, ensuring that the cleaning system can accurately determine the pile-up and pile-down states of the cleaning device 100.

[0109] In the present application, one of the signal generating module and the signal detecting module may be disposed on the side of the charging pile 200 or at a position close to the side of the charging pile 200, and the other of the signal generating module and the signal detecting module may be disposed on the side of the cleaning device 100 or at a position close to the side of the cleaning device 100, and the sides of the charging pile 200 and the cleaning device 100 are in the same direction.

[0110] In the present application, the signal generating module may be installed on the side of the charging pile 200 or at a place close to the side, and the signal detecting module may be installed at a corresponding position on the side of the cleaning device 100 or at a place close to the side, and the sides of the charging pile 200 and the cleaning device 100 are in the same direction; alternatively, the signal detecting module may be installed on the side of the charging pile 200 or at a place close to the side, and the signal generating module may be installed at a corresponding position on the side of the cleaning device 100 or at a place close to the side, and the sides of the charging pile 200 and the cleaning device 100 are in the same direction. In this way, when the cleaning device 100 performs the operation of mounting or dismounting on the side of the charging pile 200, the signal detecting module can effectively detect the signal emitted by the signal generating module.

[0111] In the present application, it should be noted that the sides of the charging pile 200 and the cleaning device 100 are in the same direction. For example, if the signal generating module is installed on the left side wall of the charging pile 200, then the signal detecting module is also installed on the left side wall of the cleaning device 100. When the cleaning device 100 approaches the charging pile 200 for mounting or dismounting, the signal detecting module can better detect the signal emitted by the signal generating module. This setting method increases the flexibility and diversity of signal detection, enables accurate signal detection in different operation scenarios, and improves the adaptability and reliability of the cleaning system.

[0112] In the present application, when the cleaning device 100 is in the charging position of the charging pile 200, the signal generating module and the signal detecting module are offset in the mounting or dismounting direction.

[0113] Specifically, if the signal generating module is disposed on the charging pile 200 and the signal detecting module is disposed on the cleaning device 100, when the cleaning device 100 is in the charging position of the charging pile 200, the signal generating module is behind the signal detecting module in the mounting direction; if the signal generating module is disposed on the cleaning device 100 and the signal detecting module is disposed on the charging pile 200, when the cleaning device 100 is in the charging position of the charging pile 200, the signal generating module is in front of the signal detecting module in the mounting direction.

[0114] In the present application, when the cleaning device 100 is placed at the charging position of the charging pile 200, the signal generating module and the signal detecting module are staggered from each other in the direction of getting on or off the pile, so as to avoid the signal detecting module misdetecting the signal emitted by the signal generating module when at the charging position. For example Figure 2 As shown, the signal generating module 220 is provided on the charging pile 200, and the signal detecting module 130 is provided on the cleaning device 100. When the cleaning device 100 is at the charging position of the charging pile 200, the signal generating module 220 is behind the signal detecting module 130 in the direction of getting on the pile. In this way, the signal detecting module can detect the signal emitted by the signal generating module when the cleaning device 100 gets on the pile, and can also detect the signal emitted by the signal generating module when the cleaning device 100 gets off the pile.

[0115] In addition, when the cleaning device 100 is correctly placed on the charging pile 200 for charging, the signal generating module 220 and the signal detecting module 130 do not overlap in the vertical direction, that is, the signal generating module 220 and the signal detecting module 130 are not at the same position in the horizontal direction, so as to effectively avoid the signal detecting module misdetecting the signal emitted by the signal generating module when the cleaning device 100 is at the charging position, thereby improving the accuracy and stability of the cleaning system. Through this design, it can also accurately judge whether the cleaning device 100 is at the charging position, so as to avoid misjudgment and improve the accuracy and reliability of the cleaning system.

[0116] In the present application, the signal generating module may include a magnetic part, and the magnetic part may be configured to: generate a magnetic field signal; the signal detecting module may include a Hall sensor, and the Hall sensor may be configured to: detect the magnetic field signal.

[0117] In the present application, the signal generating module uses a magnetic part to be able to generate a magnetic field signal, while the signal detecting module uses a Hall sensor to be able to detect the magnetic field signal. For example, the magnetic part may be a permanent magnet, installed on the charging pile 200 or the cleaning device 100. When the cleaning device 100 approaches or moves away from the charging pile 200, the Hall sensor can detect the magnetic field signal and its change, so as to realize the sending and detection of the signal. By using the combination of the magnetic part and the Hall sensor, the position change of the cleaning device 100 can be accurately detected, and the judgment of the getting on and off pile states of the cleaning device 100 can be realized, having relatively high detection accuracy and reliability.

[0118] In the present application, the signal generating module may include a radio frequency card, and the radio frequency card may be configured to: generate a radio frequency signal; the signal detecting module may include a near-field radio frequency device, and the near-field radio frequency device may be configured to: detect the radio frequency signal.

[0119] In this application, the signal generation module uses a radio frequency card to transmit radio frequency signals, and the signal detection module uses a near-field radio frequency device to detect radio frequency signals. For example, the radio frequency card can be installed on the charging pile 200. When the cleaning device 100 approaches the charging pile 200, the near-field radio frequency device can detect the radio frequency signals emitted by the radio frequency card, thereby determining the position of the cleaning device 100. Through the transmission and detection of radio frequency signals, non-contact detection of the position of the cleaning device 100 can be achieved, which has high sensitivity and accuracy. At the same time, the reliability and stability of the cleaning system can also be improved.

[0120] In this application, the signal generation module may include a first light-emitting component, and the first light-emitting component may be configured to: generate optical signals; the signal detection module may include a first photoelectric sensor, and the first photoelectric sensor may be configured to: detect optical signals.

[0121] In this application, the first light-emitting component in the signal generation module can emit optical signals, and the first photoelectric sensor in the signal detection module can detect these optical signals. For example, the first light-emitting component can be a light-emitting diode installed on the charging pile 200. When the cleaning device 100 approaches the charging pile 200, the first photoelectric sensor installed on the cleaning device 100 can detect the optical signals emitted by the light-emitting diode. Through the emission and detection of optical signals, the detection of the position of the cleaning device 100 is achieved, which has the advantages of fast response speed and high precision. At the same time, the reliability and stability of the cleaning system are also improved.

[0122] In this application, the signal generation module may include a light-reflecting component, and the light-reflecting component may be configured to: reflect optical signals; the signal detection module may include a second photoelectric sensor, and the second photoelectric sensor may be configured to: emit optical signals and detect the optical signals reflected by the light-reflecting component.

[0123] In this application, the signal generation module uses a light-reflecting component, which can reflect optical signals. The second photoelectric sensor in the signal detection module can both emit optical signals and detect the optical signals reflected back by the light-reflecting component. For example, the light-reflecting component can be installed on the charging pile 200, and the second photoelectric sensor is installed on the cleaning device 100. When the cleaning device 100 approaches the charging pile, the optical signals emitted by its second photoelectric sensor are reflected back after irradiating the light-reflecting component, and the second photoelectric sensor receives the reflected optical signals, thereby realizing the detection of the position of the cleaning device 100. Through the detection of the reflected optical signals, accurate judgment of the position of the cleaning device 100 can be achieved, which has the advantages of simple structure and low cost. At the same time, the reliability and stability of the cleaning system are also improved.

[0124] In the present application, the cleaning device 100 further includes: a gyroscope, which can be configured to: detect the attitude inclination angle of the cleaning device 100; the controller can also be configured to: during the process of the cleaning device 100 traveling in the direction of docking with the charging pile, and / or, when the duration of the cleaning device 100 being in a non-charging state exceeds a set duration, if it is detected that the attitude inclination angle of the cleaning device 100 is greater than a set angle, it is determined that the cleaning device 100 is docking with the charging pile; during the process of the cleaning device 100 traveling in the direction of undocking from the charging pile, and / or, when the cleaning device 100 switches from a charging state to a non-charging state, if it is detected that the attitude inclination angle of the cleaning device 100 is greater than a set angle, it is determined that the cleaning device 100 is undocking from the charging pile.

[0125] In the present application, a gyroscope can be installed on the cleaning device 100 for detecting the attitude inclination angle of the cleaning device 100 itself. When the cleaning device 100 travels in the direction of docking with the charging pile, or when the duration of being in a non-charging state exceeds a set duration, when the gyroscope detects that the attitude inclination angle of the cleaning device 100 is greater than a set angle, the controller can determine that the cleaning device 100 is docking with the charging pile; conversely, when the cleaning device 100 travels in the direction of undocking from the charging pile, or when it switches from a charging state to a non-charging state, when the gyroscope detects that the attitude inclination angle of the cleaning device 100 is greater than a set angle, the controller can determine that the cleaning device 100 is undocking from the charging pile. For example, the set angle is 30 degrees. If during the process of the cleaning device 100 traveling in the direction of docking with the charging pile, the gyroscope detects that the inclination angle of the cleaning device 100 exceeds 30 degrees, the controller will determine that the cleaning device 100 is docking with the charging pile. Similarly, if during the process of the cleaning device 100 traveling in the direction of undocking from the charging pile, the gyroscope detects that the inclination angle of the cleaning device 100 exceeds 30 degrees, the controller will determine that the cleaning device is undocking from the charging pile. Detecting the attitude inclination angle of the cleaning device 100 by the gyroscope provides a basis for judging the docking and undocking states of the cleaning device 100, thereby improving the reliability and accuracy of the cleaning system.

[0126] In the present application, a pressure sensor can be provided in the set area of the charging pile 200, and the pressure sensor can be configured to: detect the pressure received in the set area of the charging pile 200; the controller can also be configured to: during the process of the cleaning device 100 traveling in the direction of docking with the charging pile, and / or, when the duration of the cleaning device 100 being in a non-charging state exceeds a set duration, if it receives the information that the pressure sent by the charging pile 200 exceeds a set pressure, it is determined that the cleaning device 100 is docking with the charging pile; during the process of the cleaning device 100 traveling in the direction of undocking from the charging pile, and / or, when the cleaning device 100 switches from a charging state to a non-charging state, if it receives the information that the pressure sent by the charging pile 200 exceeds a set pressure, it is determined that the cleaning device 100 is undocking from the charging pile.

[0127] In the present application, a pressure sensor is installed in a set area of the charging pile 200 to detect the pressure received by the set area. When the cleaning device 100 travels in the charging direction, or when the time that the cleaning device 100 is in a non-charging state exceeds a set duration, if the controller receives the information that the pressure received by the charging pile 200 exceeds the set pressure, it can be determined that the cleaning device 100 is passing through the set pressure area, that is, it can be determined that the cleaning device 100 is charging. Similarly, when the cleaning device 100 travels in the discharging direction, or when the cleaning device 100 switches from the charging state to the non-charging state, if the controller receives the information that the pressure exceeds the set pressure, it can be determined that the cleaning device 100 is passing through the set pressure area, that is, it can be determined that the cleaning device 100 is discharging. For example, if the set pressure is 20 N, when the cleaning device 100 travels in the charging direction, when the pressure received by the set area of the charging pile 200 exceeds 20 N, the charging pile 200 can send this information to the controller, and the controller determines that the cleaning device 100 is charging based on this. When the cleaning device 100 travels in the discharging direction, when the pressure received by the set area of the charging pile 200 exceeds 20 N, the charging pile 200 can send this information to the controller, and the controller determines that the cleaning device 100 is discharging based on this.

[0128] In the present application, by detecting the pressure change in the set area of the charging pile 200 through the pressure sensor, it can provide a basis for judging the charging and discharging states of the cleaning device 100, thereby improving the reliability and accuracy of the cleaning system.

[0129] In the present application, a second light-emitting component may be provided on one inner wall of the charging pile 200, and the second light-emitting component may be configured to: emit an optical signal; a third photoelectric sensor may be provided on the other inner wall of the charging pile 200, and the third photoelectric sensor may be configured to: detect the optical signal; the controller may also be configured to: when the cleaning device 100 travels in the charging direction, and / or, when the continuous duration that the cleaning device 100 is in the non-charging state exceeds the set duration, if it receives the information sent by the charging pile 200 that the third photoelectric sensor cannot detect the optical signal emitted by the second light-emitting component, it is determined that the cleaning device 100 is charging; when the cleaning device 100 travels in the discharging direction, and / or, when the cleaning device 100 switches from the charging state to the non-charging state, if it receives the information sent by the charging pile 200 that the third photoelectric sensor cannot detect the optical signal emitted by the second light-emitting component, it is determined that the cleaning device 100 is discharging.

[0130] In this application, a second light-emitting component is provided on one inner wall of the charging pile 200 for emitting optical signals, and a third photoelectric sensor is provided on the other inner wall of the charging pile 200 for detecting optical signals. When the cleaning device 100 travels in the up-pile direction, or when the time that the cleaning device 100 is in a non-charging state exceeds a set duration, if the controller receives the information sent by the charging pile 200 that the third photoelectric sensor cannot detect the optical signal emitted by the second light-emitting component (i.e., it indicates that the optical signal emitted by the second light-emitting component is blocked by the cleaning device 100), it can be determined that the cleaning device 100 is in the up-pile state. When the cleaning device 100 travels in the down-pile direction, or when the cleaning device 100 switches from the charging state to the non-charging state, if the controller receives the information sent by the charging pile 200 that the third photoelectric sensor cannot detect the optical signal emitted by the second light-emitting component (i.e., it indicates that the optical signal emitted by the second light-emitting component is blocked by the cleaning device 100), it can be determined that the cleaning device 100 is in the down-pile state. For example, when the cleaning device 100 travels in the up-pile direction, it will block the optical signal emitted by the second light-emitting component, resulting in the third photoelectric sensor being unable to detect the optical signal. The charging pile 200 sends this information to the controller, and the controller determines that the cleaning device 100 is in the up-pile state. When the cleaning device 100 travels in the down-pile direction, the same situation where the third photoelectric sensor cannot detect the optical signal will occur, and the controller determines that the cleaning device 100 is in the down-pile state based on this.

[0131] In this application, the up-pile and down-pile states of the cleaning device 100 can be simply and intuitively determined by the occlusion of the optical signal, which can effectively improve the judgment accuracy and reliability of the cleaning system.

[0132] In this application, the charging pile 200 may be provided with a distance sensing area, and the cleaning device 100 may further include: a distance sensor, and the distance sensor may be configured to: detect the distance between the cleaning device 100 and the distance sensing area; the controller may also be configured to: if it is detected that the distance between the cleaning device 100 and the distance sensing area decreases and is less than a set distance, it is determined that the cleaning device 100 is in the up-pile state; if it is detected that the distance between the cleaning device 100 and the distance sensing area increases and is less than the set distance, it is determined that the cleaning device 100 is in the down-pile state.

[0133] In this application, a distance sensing area is set on the charging pile 200, and a distance sensor is equipped on the cleaning device 200 to detect the distance between the cleaning device 100 and the distance sensing area. When the controller detects that the distance between the cleaning device 100 and the distance sensing area decreases and is less than the set distance, it can be determined that the cleaning device 100 is on the charging pile; when it is detected that the distance increases and is less than the set distance, it can be determined that the cleaning device 100 is off the charging pile. For example, if the set distance is 10 cm, and the distance sensor detects that the distance between the cleaning device 100 and the distance sensing area decreases from 15 cm to 8 cm, the controller will determine that the cleaning device 100 is on the charging pile. Conversely, if the distance sensor detects that the distance between the cleaning device 100 and the distance sensing area increases from 8 cm to 9 cm, the controller can determine that the cleaning device 100 is off the charging pile.

[0134] In this application, by detecting the change in the distance between the cleaning device 100 and the charging pile 200, the on-pile and off-pile states of the cleaning device 100 are judged, which has high accuracy and real-time performance, and can further improve the user experience.

[0135] In this application, the controller can also be configured as follows: if it is detected that the driving wheel and / or the rotary brush in the boosting module rotate in the on-pile direction, it is determined that the cleaning device 100 is on the charging pile; if it is detected that the driving wheel and / or the rotary brush in the boosting module rotate in the off-pile direction, it is determined that the cleaning device 100 is off the charging pile.

[0136] In this application, the on-pile or off-pile state of the cleaning device 100 is judged by detecting the rotation direction of the driving wheel and / or the rotary brush in the boosting module. If the controller detects that the driving wheel and / or the rotary brush rotate in the on-pile direction, it can be determined that the cleaning device 100 is on the charging pile; if it is detected that the driving wheel and / or the rotary brush rotate in the off-pile direction, it can be determined that the cleaning device 100 is off the charging pile. For example, a rotation sensor can be installed on the driving wheel and / or the rotary brush. When the driving wheel and / or the rotary brush rotate clockwise, the controller determines that it rotates in the on-pile direction; when the driving wheel and / or the rotary brush rotate counterclockwise, the controller determines that it rotates in the off-pile direction.

[0137] In this application, directly judging the on-pile and off-pile states of the cleaning device 100 by the rotation direction of the driving wheel and / or the rotary brush is simple, intuitive, and highly accurate, and can provide an accurate judgment basis for the controller in a timely manner to ensure the correct operation of the boosting module.

[0138] In this application, the controller can also be configured as follows: according to the control logic of decreasing the operating power of the boosting module from large to small, control the boosting module to assist the cleaning device 100 to move forward in the on-pile direction.

[0139] In this application, the controller controls the power assist module to provide assistance for the cleaning device 100 to move onto the charging pile according to the control logic of decreasing power assist module operating power from large to small. For example, when the cleaning device 100 starts to move onto the charging pile, the controller causes the power assist module to operate at a relatively large power to provide strong assistance. As the cleaning device 100 gradually approaches the completion of moving onto the charging pile (i.e., crosses the ramp plate 210 of the charging pile 200), the controller gradually reduces the operating power of the power assist module to make the assistance more stable and precise. This control method enables the cleaning device 100 to obtain sufficient assistance during the process of moving onto the charging pile, while avoiding instability or damage to the cleaning device 100 that may be caused by excessive assistance, ensuring the safety and reliability of the process of the cleaning device 100 moving onto the charging pile.

[0140] In this application, the controller can also be configured to: control the power assist module to assist the cleaning device 100 in moving according to the control logic of decreasing power assist module operating power from large to small in the direction of moving off the charging pile.

[0141] In this application, similar to the process of the cleaning device 100 moving onto the charging pile, when the controller controls the power assist module to provide assistance for the cleaning device 100 to move off the charging pile, it can follow the control logic of decreasing operating power from large to small. For example, when the cleaning device 100 starts to move off the charging pile, the power assist module operates at a relatively large power to provide strong assistance, enabling the cleaning device 100 to smoothly detach from the charging pile 200. As the cleaning device 100 gradually moves away from the charging pile, the controller gradually reduces the operating power of the power assist module to make the process of the cleaning device 100 moving off the charging pile more stable. In this way, it can be ensured that the cleaning device 100 can obtain appropriate assistance during the process of moving off the charging pile, making the process of moving off the charging pile smoother, while also avoiding problems that may occur due to improper assistance, improving the safety and reliability of the process of moving off the charging pile.

[0142] In this application, the operating power of the power assist module to assist the cleaning device 100 in moving in the direction of moving onto the charging pile is greater than the operating power of the power assist module to assist the cleaning device 100 in moving in the direction of moving off the charging pile.

[0143] In this application, the operating power of the power assist module when assisting the cleaning device 100 to move in the direction of moving onto the charging pile is greater than the operating power when assisting in the direction of moving off the charging pile. This is because the cleaning device 100 needs to overcome gravity when moving onto the charging pile and requires greater assistance. For example, the operating power of the power assist module when moving onto the charging pile can be set to 0 - 20W, while the operating power of the power assist module when moving off the charging pile can be set to 0 - 10W. By reasonably setting the operating power of the power assist module according to the different requirements of the cleaning device 100 for moving onto and off the charging pile, it not only meets the need to overcome gravity when moving onto the charging pile but also avoids problems that may be caused by excessive assistance when moving off the charging pile, improving the efficiency and safety of the cleaning device 100 moving onto and off the charging pile.

[0144] In this application, the operating power of the boosting module is the operating power of the motor in the boosting module.

[0145] In this application, the boosting module includes a motor, and the operating power of the boosting module can be defined as the operating power of the motor. For example, by adjusting the input voltage or current of the motor, the operating power of the motor can be changed, thereby achieving the control of the boosting magnitude of the boosting module. In this way, precise control of the boosting module can be achieved, further improving the performance and reliability of the cleaning device 100.

[0146] Next, this application will be combined with Figure 3 to briefly describe the controller in the cleaning device 100.

[0147] Referring to Figure 3 , a schematic structural diagram of the controller in the embodiment of this application is shown.

[0148] As Figure 3 shown, the controller may include at least one memory 304, at least one processor 302, and at least one computer program (computer program instructions) stored on the memory 304 and executable on the processor 302. When the processor 302 executes the computer program, the control logic for each device in the cleaning device as described above is implemented.

[0149] Among them, in Figure 3 , the bus architecture (represented by the bus 306), the bus 306 may include any number of interconnected buses and bridges. The bus 306 links various circuits including at least one processor represented by the processor 302 and a memory represented by the memory 304 together. The bus 306 can also link various other circuits such as peripheral devices, voltage regulators, and power management circuits, which are well known in the art. Therefore, further description thereof will not be provided herein. The bus interface 305 provides an interface between the bus 306 and the receiver 301 and the transmitter 303. The receiver 301 and the transmitter 303 may be the same element, that is, a transceiver, providing a unit for communicating with various other devices on the transmission medium. The processor 302 is responsible for managing the bus 306 and general processing, and the memory 304 can be used to store data used by the processor 302 when performing operations.

[0150] Based on the same inventive concept, an embodiment of this application further provides a cleaning device control method. The cleaning device can travel from the surface to be cleaned to the charging pile, and / or can travel from the charging pile to the surface to be cleaned. The cleaning device includes a boosting module configured to provide assistance for the travel of the cleaning device. Referring to Figure 4, which shows a flowchart of the cleaning device control method in an embodiment of the present application. The cleaning device control method can be executed by a device with computing and processing capabilities. It should be noted that for the details not disclosed in the method embodiments of the present application, please refer to the embodiments of the cleaning device described above in the present application.

[0151] Referring to Figure 4 As shown, the cleaning device control method at least includes step 410: Step 410, when the cleaning device is in the process of docking or undocking, control the boosting module to boost the movement of the cleaning device.

[0152] In some embodiments of the present application, based on the foregoing solution, the step of "when the cleaning device is in the process of docking or undocking, control the boosting module to boost the movement of the cleaning device" includes: when the cleaning device is in the process of docking, control the boosting module to boost the movement of the cleaning device in the docking direction; and / or, when the cleaning device is in the process of undocking, control the boosting module to boost the movement of the cleaning device in the undocking direction.

[0153] In some embodiments of the present application, based on the foregoing solution, one of the charging pile and the cleaning device is provided with a signal generating module configured to generate a signal; the other of the charging pile and the cleaning device is provided with a signal detecting module configured to detect the signal; the method further includes: determining whether the cleaning device is in the process of docking or undocking according to whether the signal detecting module detects the signal generated by the signal generating module.

[0154] In some embodiments of the present application, based on the foregoing solution, the step of "determining whether the cleaning device is in the process of docking or undocking according to whether the signal detecting module detects the signal generated by the signal generating module" includes: during the process of the cleaning device moving in the docking direction, and / or, when the continuous duration of the cleaning device in the non-charging state exceeds a set duration, if the signal detecting module detects the signal generated by the signal generating module, it is determined that the cleaning device is in the process of docking.

[0155] In some embodiments of the present application, based on the foregoing solution, the step of "determining whether the cleaning device is in the process of docking or undocking according to whether the signal detecting module detects the signal generated by the signal generating module" includes: during the process of the cleaning device moving in the undocking direction, and / or, when the cleaning device switches from the charging state to the non-charging state, if the signal detecting module detects the signal generated by the signal generating module, it is determined that the cleaning device is in the process of undocking.

[0156] In some embodiments of the present application, based on the foregoing solution, the method further includes: if it is detected that the cleaning device is in the charging position of the charging pile, and / or, if the signal detection module does not detect the signal generated by the signal generation module, then control the boosting module to stop boosting the advancement of the cleaning device.

[0157] In some embodiments of the present application, based on the foregoing solution, the signal generation module includes a magnetic member configured to generate a magnetic field signal; the signal detection module includes a Hall sensor configured to detect the magnetic field signal; and / or, the signal generation module includes a radio frequency card configured to generate a radio frequency signal; the signal detection module includes a near-field radio frequency device configured to detect the radio frequency signal; and / or, the signal generation module includes a first light-emitting member configured to generate an optical signal; the signal detection module includes a first photoelectric sensor configured to detect the optical signal; and / or, the signal generation module includes a light-reflecting member configured to reflect the optical signal; the signal detection module includes a second photoelectric sensor configured to emit an optical signal and detect the optical signal reflected by the light-reflecting member.

[0158] In some embodiments of the present application, based on the foregoing solution, the cleaning device includes a gyroscope configured to detect the attitude inclination angle of the cleaning device; the method further includes: during the process of the cleaning device advancing in the up-piling direction, and / or, when the continuous duration of the cleaning device in the non-charging state exceeds a set duration, if it is detected that the attitude inclination angle of the cleaning device is greater than a set angle, then determine that the cleaning device is in the process of up-piling; during the process of the cleaning device advancing in the down-piling direction, and / or, when the cleaning device switches from the charging state to the non-charging state, if it is detected that the attitude inclination angle of the cleaning device is greater than a set angle, then determine that the cleaning device is in the process of down-piling.

[0159] In some embodiments of the present application, based on the foregoing solution, a pressure sensor is provided in a set area of the charging pile, and the pressure sensor is configured to detect the pressure received in the set area of the charging pile. The method further includes: during the process of the cleaning device advancing in the up-piling direction, and / or, when the continuous duration of the cleaning device in the non-charging state exceeds a set duration, if the information that the pressure received from the charging pile exceeds a set pressure is received, then determine that the cleaning device is in the process of up-piling; during the process of the cleaning device advancing in the down-piling direction, and / or, when the cleaning device switches from the charging state to the non-charging state, if the information that the pressure received from the charging pile exceeds a set pressure is received, then determine that the cleaning device is in the process of down-piling.

[0160] In some embodiments of the present application, based on the foregoing solution, a second light-emitting member is provided on an inner wall of one side of the charging pile, and the second light-emitting member is configured to: emit an optical signal; a third photoelectric sensor is provided on an inner wall of the other side of the charging pile, and the third photoelectric sensor is configured to: detect an optical signal; the method further includes: during the process of the cleaning device traveling in the on-pile direction, and / or, when the duration of the cleaning device being in a non-charging state exceeds a set duration, if receiving the information sent by the charging pile that the third photoelectric sensor cannot detect the optical signal emitted by the second light-emitting member, it is determined that the cleaning device is on-piling; during the process of the cleaning device traveling in the off-pile direction, and / or, when the cleaning device switches from a charging state to a non-charging state, if receiving the information sent by the charging pile that the third photoelectric sensor cannot detect the optical signal emitted by the second light-emitting member, it is determined that the cleaning device is off-piling.

[0161] In some embodiments of the present application, based on the foregoing solution, the charging pile is provided with a distance sensing area, and the cleaning device includes a distance sensor configured to: detect the distance between the cleaning device and the distance sensing area; the method further includes: if it is detected that the distance between the cleaning device and the distance sensing area decreases and is less than a set distance, it is determined that the cleaning device is on-piling; if it is detected that the distance between the cleaning device and the distance sensing area increases and is less than the set distance, it is determined that the cleaning device is off-piling.

[0162] In some embodiments of the present application, based on the foregoing solution, the method further includes: if it is detected that the driving wheels and / or the rolling brush in the driving module rotate in the on-pile direction, it is determined that the cleaning device is on-piling; if it is detected that the driving wheels and / or the rolling brush in the driving module rotate in the off-pile direction, it is determined that the cleaning device is off-piling.

[0163] In some embodiments of the present application, based on the foregoing solution, controlling the driving module to assist the cleaning device to travel in the on-pile direction includes: controlling the driving module to assist the cleaning device to travel in the on-pile direction according to the control logic of decreasing the operating power of the driving module from large to small.

[0164] In some embodiments of the present application, based on the foregoing solution, controlling the driving module to assist the cleaning device to travel in the off-pile direction includes: controlling the driving module to assist the cleaning device to travel in the off-pile direction according to the control logic of decreasing the operating power of the driving module from large to small.

[0165] In some embodiments of the present application, based on the foregoing solution, the operating power of the boosting module for boosting the travel of the cleaning device in the direction of docking is greater than the operating power of the boosting module for boosting the travel of the cleaning device in the direction of undocking.

[0166] In some embodiments of the present application, based on the foregoing solution, the boosting module includes a boosting wheel and / or a rolling brush.

[0167] Based on the same inventive concept, an embodiment of the present application further provides a cleaning device, which includes one or more processors and one or more memories. At least one program code is stored in the one or more memories, and the at least one program code is loaded and executed by the one or more processors to implement the cleaning device control method as described above.

[0168] Based on the same inventive concept, an embodiment of the present application provides a computer program product, which includes computer instructions. The computer instructions are stored in a computer-readable storage medium and are adapted to be read and executed by a processor, so that a computer device having the processor executes to implement the operations performed by the cleaning device control method as described above.

[0169] Based on the same inventive concept, an embodiment of the present application provides a computer-readable storage medium, in which at least one computer program instruction is stored, and the at least one computer program instruction is loaded and executed by a processor to implement the operations performed by the cleaning device control method as described above.

[0170] Based on the same inventive concept, the present application also proposes a cleaning system. It should be noted that for the details not disclosed in the embodiments of the cleaning system of the present application, please refer to the embodiments of the cleaning device described above in the present application.

[0171] As Figure 1 shown, the cleaning system includes a charging pile 200 and a cleaning device 100 as in the above embodiments. The charging pile 200 is used to park the cleaning device 100 and can supply power to the cleaning device 100 for charging. In addition, the charging pile 200 can also assist the cleaning device 100 in self-cleaning and drying.

[0172] The functions described herein may be implemented in hardware, software executed by a processor, firmware, or any combination thereof. If implemented in software executed by a processor, the functions may be stored on or transmitted via a computer-readable medium as at least one instruction or code. Other examples and implementations are within the scope and spirit of this application and the appended claims. For example, due to the nature of software, the functions described above may be implemented using software executed by a processor, hardware, firmware, hardwiring, or any combination thereof. In addition, each functional unit may be integrated in one processing unit, may exist as individual physical units, or two or more units may be integrated in one unit.

[0173] In several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are merely illustrative. For example, the division of the units can be a logical function division. In actual implementation, there can be other division methods. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the couplings or direct couplings or communication connections shown or discussed with each other can be through some interfaces. The indirect couplings or communication connections of units or modules can be in electrical or other forms.

[0174] The units described as separate devices may or may not be physically separated. The devices serving as control devices may or may not be physical units, that is, they may be located in one place or distributed to multiple units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0175] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of this application. The foregoing storage medium includes: USB flash drives, read-only memories (ROMs), random access memories (RAMs), mobile hard disks, magnetic disks, or optical discs and other media that can store computer program instructions.

[0176] The above are only embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included within the scope of the claims of the present application.

Claims

1. A cleaning device, characterized in that: The cleaning device can move from the surface to be cleaned to the charging pile, and / or can move from the charging pile to the surface to be cleaned, and the cleaning device includes: A power-assisting module, wherein the power-assisting module is configured to provide power-assisting for the movement of the cleaning device; The controller is configured to control the assisting module to assist the movement of the cleaning device when the cleaning device is in the process of getting on and / or getting off the pile.

2. The cleaning device according to claim 1, characterized in that The controller is configured to: when the cleaning device is in the process of piling up, control the assisting module to assist the cleaning device in the direction of piling up; and / or, when the cleaning device is in the process of unloading, control the assisting module to assist the cleaning device in the direction of unloading.

3. The cleaning device according to claim 2, characterized in that: One of the charging pile and the cleaning device is provided with a signal generating module, and the other of the charging pile and the cleaning device is provided with a signal detecting module; The signal generating module is configured to: generate a signal; The signal detection module is configured to: detect the signal; The controller is further configured to determine whether the cleaning device is in the process of getting on or off the pile according to whether the signal detection module detects the signal generated by the signal generation module.

4. The cleaning device according to claim 3, characterized in that: When the cleaning device is in the process of being put on or taken off a pile, the signal detection module can detect the signal generated by the signal generation module.

5. The cleaning device according to claim 4, characterized in that When the cleaning device is at the charging position of the charging pile, the signal detection module cannot detect the signal generated by the signal generation module.

6. The cleaning device according to claim 5, characterized in that The controller is configured as follows: when the cleaning device is moving in the direction of pile mounting, and / or when the cleaning device is in a non-charging state for a duration exceeding a set duration, if the signal detection module detects the signal generated by the signal generation module, it is determined that the cleaning device is in the process of pile mounting.

7. The cleaning device according to claim 5, characterized in that The controller is configured as follows: when the cleaning device is moving in the direction of lowering the pile, and / or when the cleaning device is switched from a charging state to a non-charging state, if the signal detection module detects the signal generated by the signal generation module, it is determined that the cleaning device is in the process of lowering the pile.

8. The cleaning device according to claim 3, characterized in that: The controller is also configured to: if it is detected that the cleaning device is at the charging position of the charging pile, and / or if the signal detection module does not detect the signal generated by the signal generation module, control the assisting module to stop assisting the movement of the cleaning device.

9. The cleaning device according to claim 3, characterized in that: One of the signal generating module and the signal detecting module is arranged at the top of the charging pile or near the top of the charging pile, and the other of the signal generating module and the signal detecting module is arranged at the bottom of the cleaning device or near the bottom of the cleaning device.

10. The cleaning device according to claim 3, characterized in that One of the signal generating module and the signal detecting module is arranged on the side of the charging pile or near the side of the charging pile, and the other of the signal generating module and the signal detecting module is arranged on the side of the cleaning device or near the side of the cleaning device, and the side of the charging pile and the side of the cleaning device are in the same direction.

11. The cleaning device according to claim 3, characterized in that: When the cleaning device is at the charging position of the charging pile, the signal generating module and the signal detecting module are staggered in the upper pile or lower pile direction.

12. The cleaning device according to claim 11, characterized in that If the signal generating module is arranged on the charging pile, and the signal detecting module is arranged on the cleaning device, when the cleaning device is in the charging position of the charging pile, the signal generating module is located behind the signal detecting module in the charging pile direction; If the signal generating module is arranged on the cleaning device and the signal detecting module is arranged on the charging pile, when the cleaning device is in the charging position of the charging pile, the signal generating module is located in front of the signal detecting module in the upper pile direction.

13. The cleaning device according to any one of claims 3 to 12, characterized in that The signal generating module comprises a magnetic component, and the magnetic component is configured to: generate a magnetic field signal; The signal detection module includes a Hall sensor, and the Hall sensor is configured to detect a magnetic field signal.

14. The cleaning device according to any one of claims 3 to 12, characterized in that The signal generating module includes a radio frequency card, and the radio frequency card is configured to: generate a radio frequency signal; The signal detection module includes a near-field wireless radio frequency device, and the near-field wireless radio frequency device is configured to detect radio frequency signals.

15. The cleaning device according to any one of claims 3 to 12, characterized in that The signal generating module comprises a first light emitting element, wherein the first light emitting element is configured to: generate a light signal; The signal detection module includes a first photoelectric sensor, and the first photoelectric sensor is configured to detect a light signal.

16. The cleaning device according to any one of claims 3 to 12, characterized in that The signal generating module includes a light-returning component, and the light-returning component is configured to: reflect the light signal; The signal detection module includes a second photoelectric sensor, and the second photoelectric sensor is configured to emit a light signal and detect the light signal reflected by the reflective element.

17. The cleaning device according to claim 2, characterized in that The cleaning device also includes: A gyroscope, wherein the gyroscope is configured to: detect an attitude inclination angle of the cleaning device; The controller is also configured to: during the process of the cleaning device moving in the direction of pile-up, and / or when the cleaning device is in a non-charging state for a duration exceeding a set time, if it is detected that the posture inclination angle of the cleaning device is greater than a set angle, then it is determined that the cleaning device is in the pile-up; during the process of the cleaning device moving in the direction of pile-down, and / or when the cleaning device switches from a charging state to a non-charging state, if it is detected that the posture inclination angle of the cleaning device is greater than a set angle, then it is determined that the cleaning device is in the pile-down.

18. The cleaning device according to claim 2, characterized in that A pressure sensor is provided in the setting area of ​​the charging pile, and the pressure sensor is configured to: detect the pressure exerted on the setting area of ​​the charging pile; The controller is also configured to: when the cleaning device is moving in the direction of the upper pile, and / or when the cleaning device is in a non-charging state for a duration exceeding a set time, if information is received from the charging pile that the pressure exceeds the set pressure, it is determined that the cleaning device is on the upper pile; when the cleaning device is moving in the direction of the lower pile, and / or when the cleaning device switches from a charging state to a non-charging state, if information is received from the charging pile that the pressure exceeds the set pressure, it is determined that the cleaning device is on the lower pile.

19. The method according to claim 2, characterized in that A second light-emitting element is provided on the inner wall of one side of the charging pile, and the second light-emitting element is configured to: generate a light signal; a third photoelectric sensor is provided on the inner wall of the other side of the charging pile, and the third photoelectric sensor is configured to: detect the light signal; The controller is further configured to: during the process of the cleaning device moving in the direction of charging, and / or when the duration of the cleaning device being in a non-charging state exceeds a set duration, if information is received from the charging pile that the third photoelectric sensor cannot detect the light signal generated by the second light-emitting element, then determine that the cleaning device is charging; When the cleaning device is moving in the direction of lowering the charging pile, and / or when the cleaning device is switched from a charging state to a non-charging state, if the third photoelectric sensor sent by the charging pile cannot detect the light signal generated by the second light-emitting element, it is determined that the cleaning device is lowering the charging pile.

20. The cleaning device according to claim 2, characterized in that The charging pile is provided with a distance sensing area, and the cleaning device further comprises: A distance sensor, the distance sensor being configured to: detect the distance between the cleaning device and the distance sensing area; The controller is further configured to: determine that the cleaning device is on the upper pile if it is detected that the distance between the cleaning device and the distance sensing area decreases and is less than a set distance; and determine that the cleaning device is on the lower pile if it is detected that the distance between the cleaning device and the distance sensing area increases and is less than the set distance.

21. The cleaning device according to claim 2, characterized in that The controller is also configured to: if it is detected that the power-assisting wheel and / or roller brush in the power-assisting module rotates toward the upper pile direction, it is determined that the cleaning device is on the upper pile; if it is detected that the power-assisting wheel and / or roller brush in the power-assisting module rotates toward the lower pile direction, it is determined that the cleaning device is on the lower pile.

22. The cleaning device according to claim 2, characterized in that The controller is also configured to: according to the control logic of the power-assisting module operating from large to small, control the power-assisting module to assist the movement of the cleaning device in the pile-up direction.

23. The cleaning device according to claim 2, characterized in that The controller is also configured to: according to the control logic of the power-assisting module operating from large to small, control the power-assisting module to assist the movement of the cleaning device in the direction of pile lowering.

24. The cleaning device according to claim 2, characterized in that The operating power of the power-assisting module for assisting the movement of the cleaning device in the upward direction is greater than the operating power of the power-assisting module for assisting the movement of the cleaning device in the downward direction.

25. The cleaning device according to claim 24, characterized in that The power-assisting module includes a motor, and the operating power of the power-assisting module is the operating power of the motor.

26. The cleaning device according to any one of claims 1 to 25, characterized in that The power-assisting module includes a power-assisting wheel and / or a roller brush.

27. A cleaning equipment control method, characterized in that: The cleaning device can move from the surface to be cleaned to the charging pile, and / or can move from the charging pile to the surface to be cleaned, and the cleaning device includes a power-assisting module, and the power-assisting module is configured to: provide power for the movement of the cleaning device; the method includes: When the cleaning device is in the process of being mounted on a pile and / or unmounted, the assisting module is controlled to assist the movement of the cleaning device.

28. The method according to claim 27, characterized in that When the cleaning device is in the process of being mounted on a pile and / or unmounted on a pile, controlling the assisting module to assist the movement of the cleaning device comprises: When the cleaning device is in the process of being piled up, controlling the assisting module to assist the cleaning device in the pile-up direction; and / or, When the cleaning device is in the process of lowering the pile, the assisting module is controlled to assist the cleaning device in moving in the lowering direction.

29. The method according to claim 28, characterized in that One of the charging pile and the cleaning device is provided with a signal generating module, and the signal generating module is configured to generate a signal; the other of the charging pile and the cleaning device is provided with a signal detecting module, and the signal detecting module is configured to detect the signal; the method further includes: Whether the cleaning device is in the process of getting on or off the pile is determined according to whether the signal detection module detects the signal generated by the signal generation module.

30. The method according to claim 29, characterized in that The step of determining whether the cleaning device is in the process of getting on or off a pile according to whether the signal detection module detects the signal generated by the signal generation module comprises: When the cleaning device is moving in the direction of pile mounting, and / or when the cleaning device is in a non-charging state for a duration exceeding a set duration, if the signal detection module detects the signal generated by the signal generation module, it is determined that the cleaning device is in the process of pile mounting.

31. The method according to claim 29, characterized in that The step of determining whether the cleaning device is in the process of getting on or off a pile according to whether the signal detection module detects the signal generated by the signal generation module comprises: When the cleaning device is moving in the direction of lowering the pile, and / or when the cleaning device is switched from a charging state to a non-charging state, if the signal detection module detects the signal generated by the signal generation module, it is determined that the cleaning device is in the process of lowering the pile.

32. The method according to claim 29, characterized in that The method further comprises: If it is detected that the cleaning device is at the charging position of the charging pile, and / or if the signal detection module does not detect the signal generated by the signal generation module, the assisting module is controlled to stop assisting the movement of the cleaning device.

33. The method according to claim 29, characterized in that The signal generating module comprises a magnetic component, and the magnetic component is configured to generate a magnetic field signal; the signal detecting module comprises a Hall sensor, and the Hall sensor is configured to detect a magnetic field signal; and / or, The signal generating module includes a radio frequency card, and the radio frequency card is configured to generate a radio frequency signal; the signal detecting module includes a near-field wireless radio frequency device, and the near-field wireless radio frequency device is configured to detect a radio frequency signal; and / or, The signal generating module comprises a first light emitting element, wherein the first light emitting element is configured to generate a light signal; the signal detecting module comprises a first photoelectric sensor, wherein the first photoelectric sensor is configured to detect the light signal; and / or, The signal generating module comprises a light-reflecting member, and the light-reflecting member is configured to reflect a light signal; the signal detecting module comprises a second photoelectric sensor, and the second photoelectric sensor is configured to emit a light signal and detect the light signal reflected by the light-reflecting member.

34. The method according to claim 28, characterized in that The cleaning device includes a gyroscope, and the gyroscope is configured to: detect the attitude inclination angle of the cleaning device; the method also includes: When the cleaning device is moving in the direction of pile mounting, and / or when the cleaning device is in a non-charging state for a duration exceeding a set duration, if it is detected that the posture inclination angle of the cleaning device is greater than a set angle, it is determined that the cleaning device is pile mounted; When the cleaning device is moving in the direction of lowering the pile, and / or when the cleaning device is switched from a charging state to a non-charging state, if it is detected that the posture inclination angle of the cleaning device is greater than a set angle, it is determined that the cleaning device is lowering the pile.

35. The method according to claim 28, characterized in that A pressure sensor is provided in the setting area of ​​the charging pile, and the pressure sensor is configured to detect the pressure exerted on the setting area of ​​the charging pile. The method further includes: When the cleaning device is moving in the direction of charging, and / or when the duration of the cleaning device being in a non-charging state exceeds a set duration, if information indicating that the pressure exceeds the set pressure is received from the charging pile, it is determined that the cleaning device is charging; When the cleaning device is moving in the direction of lowering to the charging pile, and / or when the cleaning device is switched from a charging state to a non-charging state, if information is received from the charging pile that the pressure exceeds the set pressure, it is determined that the cleaning device is lowering to the charging pile.

36. The method according to claim 28, characterized in that A second light-emitting element is provided on the inner wall of one side of the charging pile, and the second light-emitting element is configured to generate a light signal; a third photoelectric sensor is provided on the inner wall of the other side of the charging pile, and the third photoelectric sensor is configured to detect the light signal; the method further includes: When the cleaning device is moving in the direction of charging, and / or when the duration of the cleaning device being in a non-charging state exceeds a set duration, if information is received from the charging pile that the third photoelectric sensor cannot detect the light signal generated by the second light-emitting element, it is determined that the cleaning device is charging; When the cleaning device is moving in the direction of lowering the charging pile, and / or when the cleaning device is switched from a charging state to a non-charging state, if the third photoelectric sensor sent by the charging pile cannot detect the light signal generated by the second light-emitting element, it is determined that the cleaning device is lowering the charging pile.

37. The method according to claim 28, characterized in that The charging pile is provided with a distance sensing area, the cleaning device includes a distance sensor, and the distance sensor is configured to: detect the distance between the cleaning device and the distance sensing area; the method further includes: If it is detected that the distance between the cleaning device and the distance sensing area decreases and is less than a set distance, it is determined that the cleaning device is on the pile; If it is detected that the distance between the cleaning device and the distance sensing area increases and is less than the set distance, it is determined that the cleaning device is being piled.

38. The method according to claim 28, characterized in that The method further comprises: If it is detected that the power-assisting wheel and / or the roller brush in the power-assisting module rotates in the pile-up direction, it is determined that the cleaning device is on the pile; If it is detected that the power-assisting wheel and / or the roller brush in the power-assisting module rotates in the lowering direction, it is determined that the cleaning device is lowering.

39. The method according to claim 28, characterized in that The controlling the assisting module to assist the movement of the cleaning device in the pile-up direction includes: According to the control logic of the operating power of the power-assisting module from large to small, the power-assisting module is controlled to assist the movement of the cleaning device in the pile-up direction.

40. The method according to claim 28, characterized in that The controlling the assisting module to assist the movement of the cleaning device in the direction of the pile lowering comprises: According to the control logic of the operating power of the power-assisting module from large to small, the power-assisting module is controlled to assist the movement of the cleaning device in the direction of pile lowering.

41. The method according to claim 28, characterized in that The operating power of the power-assisting module for assisting the movement of the cleaning device in the upward direction is greater than the operating power of the power-assisting module for assisting the movement of the cleaning device in the downward direction.

42. The method according to any one of claims 27 to 41, characterized in that The power-assisting module includes a power-assisting wheel and / or a roller brush.

43. A computer program product, characterized in that The computer program product comprises computer instructions which are stored in a computer-readable storage medium and are suitable for being read and executed by a processor, so as to enable a computer device having the processor to perform the method according to any one of claims 27 to 42.

44. A computer-readable storage medium, characterized in that At least one program code is stored in the computer-readable storage medium, and the at least one program code is loaded and executed by the processor to implement the operations performed by the method according to any one of claims 27 to 42.

45. A cleaning device, characterized in that: The cleaning device comprises one or more processors and one or more memories, wherein at least one program code is stored in the one or more memories, and the at least one program code is loaded and executed by the one or more processors to implement the method according to any one of claims 27 to 42.

46. ​​A charging pile, characterized in that: The charging pile is configured to charge the cleaning equipment as described in any one of claims 1 to 26 and 45.

47. The charging pile according to claim 46, characterized in that: The charging pile is provided with a ramp plate, and the ramp plate is configured to allow the cleaning device to be mounted on and / or dismounted.

48. A cleaning system, characterized in that: The cleaning system comprises a cleaning device as described in any one of claims 1 to 26 and 45, and / or a charging pile as described in any one of claims 46 to 47.

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