Cleaning control method, device, cleaning equipment and storage medium

Abstract

The present invention relates to the field of intelligent control technology, and discloses a cleaning control method, device, cleaning equipment, and storage medium, which are applied to cleaning equipment. The cleaning equipment has a built-in sensor and is communicatively connected to a terminal device. The user collects his or her own behavior data by carrying the terminal device. The method includes: respectively obtaining first user behavior data collected by the terminal device and second user behavior data collected by the sensor; determining whether the first user behavior data and the second user behavior data are empty; when the first user behavior data and / or the second user behavior data are not empty, performing a set operation on the first user behavior data and / or the second user behavior data to determine the current cleaning time period, and controlling the cleaning equipment to clean during the current cleaning time period. The present invention determines the cleaning time of the equipment based on obtaining the user behavior data collected by the terminal device and the sensor, which can realize the intelligent setting of the cleaning time, thereby improving the cleaning efficiency of the equipment and the cleaning experience of the user.

Description

Technical Field

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

[0002] With the development and progress of technology, smart homes are gradually becoming part of people's lives, and more and more devices are connected to the network to build a smart home ecosystem. Among them, sweeping devices, such as sweeping robots, are becoming more and more popular and have more and more application scenarios. They have entered thousands of households and become essential equipment in many families, which can improve the comfort and convenience of people's lives.

[0003] However, current robot vacuums typically rely on user-defined cleaning schedules, such as setting a fixed cleaning timeframe or manually controlling the device. Currently, there's no definitive solution for intelligently setting cleaning times, severely impacting the device's cleaning efficiency and, in turn, significantly reducing the user experience. Summary of the Invention

[0004] In view of this, the present invention provides a cleaning control method, device, cleaning equipment and storage medium to solve the problem that existing equipment cannot realize intelligent setting of cleaning time, which in turn has a serious impact on the control and effect of equipment cleaning, resulting in low cleaning efficiency and seriously affecting the user experience.

[0005] In a first aspect, the present invention provides a cleaning control method, which is applied to a cleaning device. The cleaning device has a built-in sensor and is in communication with a terminal device. A user collects his or her own behavior data by carrying the terminal device. The method includes:

[0006] Acquire first user behavior data collected by the terminal device and second user behavior data collected by the sensor respectively; wherein the first user behavior data includes a first active time period and a first rest time period, the first active time period being a time period corresponding to when the user is active, and the first rest time period being a time period corresponding to when the user is stationary; the second user behavior data includes a second active time period and a second rest time period, the second active time period being a cleaning time period corresponding to when the cleaning device avoids the user's movement during the cleaning process, and the second rest time period being a time period corresponding to when the user is asleep;

[0007] Determine whether the first user behavior data and the second user behavior data are empty;

[0008] When the first user behavior data and / or the second user behavior data are not empty, a set operation is performed on the first user behavior data and / or the second user behavior data to determine the current cleaning time period, and the cleaning device is controlled to clean in the current cleaning time period.

[0009] The cleaning control method provided by the present invention obtains the corresponding user behavior data collected by the terminal device and the sensor, determines whether the user behavior data is empty, and determines the corresponding current cleaning time period according to different judgment data results to control the cleaning device to perform intelligent cleaning. It not only realizes the automatic determination of the current cleaning time period of the cleaning device based on the user behavior data, thereby avoiding cleaning when the user is active or resting, reducing interference with the user's daily life, but also can improve cleaning efficiency, which helps to enhance the user's cleaning experience.

[0010] In an optional implementation, obtaining the first user behavior data collected by the terminal device includes:

[0011] In response to the communication connection between the cleaning device and the terminal device, determining a current communication time;

[0012] determining a data collection time based on the current communication time;

[0013] A first activity time period and a first rest time period collected by the terminal device during the data collection time are respectively obtained.

[0014] The present invention uses the current communication time determined after the cleaning device and the terminal device are connected for communication as the time base point for data collection, which can ensure that the acquired behavioral data is synchronized with the real-time status of the device; at the same time, it clearly divides user behavior into active time periods and rest time periods, and can accurately capture user behavior patterns in different time periods, which helps to ensure the accuracy and timeliness of data collection, and thus provides a data basis for subsequent precise control of equipment cleaning.

[0015] In an optional implementation, obtaining the second user behavior data collected by the sensor includes:

[0016] Obtain user activity data collected by the cleaning device through sensors during the previous cleaning process;

[0017] When the user is confirmed to be active in the cleaning area based on user activity data, the device's obstacle avoidance time is calculated. The device's obstacle avoidance time refers to the total obstacle avoidance time the cleaning device takes to avoid the user's activity.

[0018] Get the historical cleaning time of the cleaning equipment during the previous cleaning process;

[0019] The user activity time period is filtered based on the device obstacle avoidance time and historical cleaning time, and the user activity time period is used as the second activity time period.

[0020] The present invention mines the historical data value of cleaning equipment sensors to construct a dynamic activity model of users in the cleaning area. That is, when a user is active in the cleaning area, the total time taken by the cleaning equipment to avoid user activities is calculated and combined with the equipment's historical cleaning time to identify the user's high-frequency activity periods. This can actively avoid cleaning interference, thereby reducing equipment power consumption caused by unnecessary obstacle avoidance actions, and helping to improve equipment cleaning efficiency and resource utilization.

[0021] In an optional implementation, obtaining the second user behavior data collected by the sensor further includes:

[0022] Obtain user activity data and user body temperature data collected by the cleaning device through sensors during the previous cleaning process;

[0023] If the user is currently in a static state as determined by the user activity data, and the user's body temperature data is lower than the preset temperature threshold, the user is confirmed to be in a sleeping state, and the current first time is obtained;

[0024] Collecting real-time user activity data through sensors, and when confirming that the user is currently in an active state based on the real-time user activity data, confirming that the user has left the sleeping state, and obtaining the current second time;

[0025] A current time period corresponding to the current first time and the current second time is calculated, and the current time period is used as the second rest time period.

[0026] The present invention identifies the user's current sleep state through dual judgment of user activity data and user body temperature data collected by sensors, which can avoid misjudgment of a single sensor and thus ensure high-precision identification of the sleep state; at the same time, the second rest time period is determined according to the current first time corresponding to the user falling asleep and the current second time corresponding to the user waking up, which can completely cover the user's sleep cycle and provide accurate data for subsequent equipment to automatically avoid sleeping time for cleaning, further improving the user experience.

[0027] In an optional implementation, determining whether the first user behavior data and the second user behavior data are empty includes:

[0028] If it is detected that the user does not carry the terminal device, and / or the communication connection between the cleaning device and the terminal device fails, then it is confirmed that the first user behavior data is empty;

[0029] and / or,

[0030] If it is detected that the cleaning device performs cleaning control for the first time, and / or the cleaning device is reset, and / or the cleaning device fails, it is confirmed that the second user behavior data is empty.

[0031] The present invention can ensure the reliability of user behavior data by accurately judging and processing null values ​​of user behavior data, and can guarantee the accurate acquisition of subsequent equipment cleaning time, thereby helping to improve the control efficiency and cleaning effect of the equipment.

[0032] In an optional embodiment, performing a set operation on the first user behavior data and / or the second user behavior data to determine the current cleaning time period includes:

[0033] A first number set is obtained by obtaining a union of the first active time period, the first rest time period, and / or the second active time period, the second rest time period, and determining the current cleaning time period according to the first number set.

[0034] The present invention integrates all known time periods of user activities and rest by taking the union, which can eliminate data blind spots and achieve seamless splicing of user behavior data for all time periods. It also automatically identifies blank time periods of user behavior based on the first data set as the current cleaning time period, which can achieve efficient utilization of time and space resources and thereby improve the control efficiency of the cleaning equipment.

[0035] In an optional implementation, determining the current cleaning time period according to the first number set includes:

[0036] Find the intersection of the first activity time period and the second rest time period to obtain a second number set;

[0037] Find the intersection of the first rest period and the second rest period to obtain a third number set;

[0038] Find the union of the second number set and the third number set to obtain the fourth number set;

[0039] A difference between the first number set and the fourth number set is calculated to obtain a fifth number set, and a current cleaning time period is determined based on the fifth number set.

[0040] The present invention takes into account the conflict between user behavior and corresponding time periods, and determines the optimal cleaning period through multi-layer set operations on multi-source behavior data. It can accurately obtain the current cleaning time of the device, thereby improving the cleaning efficiency and resource utilization of the device.

[0041] In an optional embodiment, when both the first user behavior data and the second user behavior data are empty, the cleaning control method further includes:

[0042] Obtain the initial cleaning parameters of the cleaning equipment;

[0043] Based on the initial cleaning parameters, the cleaning equipment is controlled to perform corresponding cleaning.

[0044] When the user behavior data is empty, the present invention can directly call the preset initial cleaning parameters to avoid the device from being unable to start or operating abnormally due to missing data, which can ensure the basic cleaning tasks of the cleaning device and thereby improve the control reliability of the device in dealing with abnormal scenarios.

[0045] In a second aspect, the present invention provides a cleaning control device, which is applied to a cleaning device. The cleaning device has a built-in sensor and is connected to a terminal device for communication. A user collects his or her own behavior data by carrying the terminal device. The device includes:

[0046] an acquisition module, configured to respectively acquire first user behavior data collected by a terminal device and second user behavior data collected by a sensor; wherein the first user behavior data includes a first active time period and a first rest time period, wherein the first active time period is a time period corresponding to when the user is active, and the first rest time period is a time period corresponding to when the user is stationary; and the second user behavior data includes a second active time period and a second rest time period, wherein the second active time period is a cleaning time period corresponding to when the cleaning device avoids the user's movement during the cleaning process, and the second rest time period is a time period corresponding to when the user is asleep;

[0047] A judgment module, used to judge whether the first user behavior data and the second user behavior data are empty;

[0048] The control module is used to perform a set operation on the first user behavior data and / or the second user behavior data when the first user behavior data and / or the second user behavior data are not empty, determine the current cleaning time period, and control the cleaning device to clean during the current cleaning time period.

[0049] The cleaning control device provided by the present invention obtains the corresponding user behavior data collected by the terminal device and the sensor, determines whether the user behavior data is empty, and determines the corresponding current cleaning time period according to different judgment data results to control the cleaning device to perform intelligent cleaning. It not only realizes the automatic determination of the current cleaning time period of the cleaning device based on the user behavior data, thereby avoiding cleaning when the user is active or resting, reducing interference with the user's daily life, but also can improve cleaning efficiency, which helps to enhance the user's cleaning experience.

[0050] In a third aspect, the present invention provides a cleaning device, which includes a sensor and a controller, wherein the sensor is used to collect user behavior data; the controller includes a memory and a processor, the memory and the processor are communicatively connected to each other, computer instructions are stored in the memory, and the processor executes the cleaning control method of the first aspect or any corresponding embodiment thereof by executing the computer instructions.

[0051] In an optional embodiment, the cleaning device is a sweeper; the sensor includes at least a camera, an infrared thermal imaging sensor and a laser sensor.

[0052] In an optional embodiment, the cleaning device is also connected to a terminal device for communication to obtain user behavior data collected by the terminal device; wherein the terminal device includes at least a smart watch, a sports bracelet and a smart phone.

[0053] In a fourth aspect, the present invention provides a computer-readable storage medium having computer instructions stored thereon, the computer instructions being used to enable a computer to execute the cleaning control method of the first aspect or any corresponding embodiment thereof. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the specific embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0055] Figure 1 1 is a flow chart of a cleaning control method according to an embodiment of the present invention;

[0056] Figure 2 is a flow chart of another cleaning control method according to an embodiment of the present invention;

[0057] Figure 3 This is a flow chart of the sweeping machine's cleaning control process;

[0058] Figure 4 is a structural block diagram of a cleaning control device according to an embodiment of the present invention;

[0059] Figure 5 2 is a schematic structural diagram of a controller according to an embodiment of the present invention. DETAILED DESCRIPTION

[0060] To make the purpose, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without making creative efforts shall fall within the scope of protection of the present invention.

[0061] According to an embodiment of the present invention, an embodiment of a cleaning control method is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0062] In this embodiment, a cleaning control method is provided, which is applied to a cleaning device. The cleaning device has a built-in sensor and is connected to a terminal device for communication. The user collects his or her own behavior data by carrying the terminal device. Figure 1 FIG. 1 is a flow chart of a cleaning control method according to an embodiment of the present invention. Figure 1 As shown, the process includes the following steps:

[0063] Step S101, respectively obtain the first user behavior data collected by the terminal device and the second user behavior data collected by the sensor; wherein the first user behavior data includes a first active time period and a first rest time period, the first active time period is the time period corresponding to the user being in an active state, and the first rest time period is the time period corresponding to the user being in a stationary state; the second user behavior data includes a second active time period and a second rest time period, the second active time period is the cleaning time period corresponding to the cleaning device avoiding the user's movement during the cleaning process, and the second rest time period is the time period corresponding to the user being in a sleeping state.

[0064] It should be noted that in this embodiment, user behavior data is acquired based on the correspondence between the terminal device and the sensor. The method and specific content of user behavior data acquisition can be adjusted adaptively based on actual needs. For example, when the terminal device is a mobile phone, after the mobile phone is connected to the cleaning device, the corresponding behavior data is acquired through the user's operation of the mobile phone; or when the sensor is an infrared camera, the infrared camera is used to acquire user body temperature data. These are merely exemplary descriptions.

[0065] It should be noted that, in this embodiment, the first active time period is a time period determined according to when the user is in an active state (i.e., the user changes his position by walking, running, or other movements), which characterizes the user's activity pattern; the first rest time period is a time period corresponding to when the user is in a stationary state (i.e., the user does not perform movements that can change his position), which characterizes the user's sleep pattern; the second active time period is a cleaning time period when the cleaning device avoids the user's movement during the cleaning process, also known as the user's activity time period recorded by the cleaning device during cleaning; the second rest time period is a time period corresponding to when the user is in a sleeping state, also known as the user's rest time period recorded by the cleaning device during cleaning.

[0066] Step S102: determine whether the first user behavior data and the second user behavior data are empty.

[0067] It should be noted that this step in the present embodiment is used to determine whether the user behavior data is a null value to ensure the accuracy of the data. The specific determination method can be adaptively determined according to the actual data acquisition method. For example, when obtaining the first user behavior data collected by the terminal device, if the user does not carry the terminal device, the first user behavior data collected by the terminal device is null data. This is only an exemplary explanation.

[0068] Step S103, when the first user behavior data and / or the second user behavior data are not empty, perform a set operation on the first user behavior data and / or the second user behavior data to determine the current cleaning time period, and control the cleaning device to clean in the current cleaning time period.

[0069] In this embodiment, different methods for determining the current cleaning time period are designed according to whether the two types of user behavior data are empty, which can ensure the accurate setting of the current cleaning time period, thereby improving the control efficiency and cleaning effect of the cleaning equipment.

[0070] The cleaning control method of an embodiment of the present invention obtains the corresponding user behavior data collected by the terminal device and the sensor, determines whether the user behavior data is empty, and determines the corresponding current cleaning time period according to different judgment data results to control the cleaning device to perform intelligent cleaning. It not only realizes the automatic determination of the current cleaning time period of the cleaning device based on the user behavior data, thereby avoiding cleaning when the user is active or resting, reducing interference with the user's daily life, but also can improve cleaning efficiency, which helps to enhance the user's cleaning experience.

[0071] In this embodiment, a cleaning control method is provided, which is applied to a cleaning device. The cleaning device has a built-in sensor and is connected to a terminal device for communication. The user collects his or her own behavior data by carrying the terminal device. Figure 2 FIG. 1 is a flow chart of another cleaning control method according to an embodiment of the present invention. Figure 2 As shown, the process includes the following steps:

[0072] Step S201, respectively obtain the first user behavior data collected by the terminal device and the second user behavior data collected by the sensor; wherein the first user behavior data includes a first active time period and a first rest time period, the first active time period is the time period corresponding to the user being in an active state, and the first rest time period is the time period corresponding to the user being in a stationary state; the second user behavior data includes a second active time period and a second rest time period, the second active time period is the cleaning time period corresponding to the cleaning device avoiding the user's movement during the cleaning process, and the second rest time period is the time period corresponding to the user being in a sleeping state.

[0073] In this embodiment, the step S201 of obtaining the first user behavior data collected by the terminal device includes:

[0074] Step a1: In response to the communication connection between the cleaning device and the terminal device, determine the current communication time.

[0075] In this embodiment, the communication connection method between the cleaning device and the terminal device is not limited in detail and can be adaptively determined according to actual needs. For example, using Wi-Fi or other wireless communication connection methods is only used as an example.

[0076] It should be noted that the specific determination of the current communication time in this embodiment can refer to conventional operations in the art and will not be elaborated here.

[0077] Step a2: determining a data collection time based on the current communication time.

[0078] In this embodiment, the current communication time may be used as the data collection time (also called a time reference point), and corresponding data within a historical time period may be obtained, such as 12 hours before the data collection time, which is only for exemplary purposes.

[0079] Step a3: respectively obtaining a first activity time period and a first rest time period collected by the terminal device during the data collection time.

[0080] It should be noted that the specific method of obtaining the first activity time period and the first rest time period in this embodiment can be adaptively adjusted according to actual needs, such as obtaining corresponding behavioral data representing user activities and user sleep, and performing corresponding data processing on them respectively (for example, for activity data, such as the collected acceleration and angular velocity data, after filtering, classification is performed through machine learning or pattern recognition algorithms to identify specific activity types, such as walking, running, cycling, etc.) and data analysis to obtain corresponding functions (for example, for activity data, the number and duration of various activities performed by users in different time periods of the day are counted, and then the user's activity distribution function is drawn). This is only for exemplary explanation.

[0081] In the embodiment of the present invention, the current communication time determined after the cleaning device and the terminal device are connected for communication is used as the time base point for data collection, so as to ensure that the acquired behavioral data is synchronized with the real-time status of the device; at the same time, the user behavior is clearly divided into active time periods and rest time periods, and the user behavior patterns can be accurately captured in different time periods, which helps to ensure the accuracy and timeliness of data collection, and thus provide a data basis for the subsequent precise control of equipment cleaning.

[0082] In this embodiment, the second user behavior data includes a second active time period and a second rest time period. Specifically, when the second user behavior data includes the second active time period, the second user behavior data collected by the sensor in step S201 includes:

[0083] Step b1: Obtain user activity data collected by the cleaning device through sensors during the previous cleaning process.

[0084] In this embodiment, the relevant contents of the sensor and the user activity data collected by it can be found in the previous text and will not be repeated here.

[0085] In step b2, when it is confirmed based on the user activity data that the user is active in the cleaning area, the device obstacle avoidance time is calculated. The device obstacle avoidance time refers to the total obstacle avoidance time corresponding to the user activity for the cleaning device.

[0086] In this embodiment, the obstacle avoidance time generated by the cleaning device to avoid user motion is often discontinuous (i.e., discrete time periods). Therefore, summing these time periods can be used to obtain the total obstacle avoidance time. Note that the specific method for obtaining the obstacle avoidance time depends on the device type and conventional data acquisition methods in the field, and will not be elaborated on here.

[0087] Step b3, obtaining the historical cleaning time of the cleaning device during the previous cleaning process.

[0088] In this embodiment, the historical cleaning time refers to the cleaning time used by the cleaning device to complete the current cleaning process during the previous cleaning process, which can be obtained based on the device type and conventional data acquisition methods in this field.

[0089] Step b4: Filter the user activity time period according to the device obstacle avoidance time and the historical cleaning time, and use the user activity time period as the second activity time period.

[0090] In this embodiment, a threshold value can be set to screen out the user's high-frequency activity periods, that is, the user activity time period. For example, the ratio of the total obstacle avoidance time generated by the cleaning device avoiding the user's movement to the current cleaning time is used to determine the size of the preset ratio, and when the ratio is not less than the preset ratio, the second activity time period is determined. This is only for illustrative purposes.

[0091] In an embodiment of the present invention, the historical data value of the cleaning equipment sensors is mined to construct a dynamic activity model of the user in the cleaning area. That is, when the user is active in the cleaning area, the total time taken by the cleaning equipment to avoid the user's activities is calculated and combined with the historical cleaning time of the equipment to identify the user's high-frequency activity period. This can actively avoid cleaning interference, thereby reducing the equipment power consumption caused by unnecessary obstacle avoidance actions, which helps to improve the equipment cleaning efficiency and resource utilization.

[0092] In this embodiment, when the second user behavior data includes the second rest period, the step S201 of acquiring the second user behavior data collected by the sensor further includes:

[0093] Step c1: Obtain user activity data and user body temperature data collected by the cleaning device through sensors during the previous cleaning process.

[0094] In this embodiment, the relevant contents of step c1 are described above and will not be repeated here.

[0095] Step c2: If it is confirmed based on the user activity data that the user is currently in a stationary state and the user's body temperature data is less than a preset temperature threshold, it is confirmed that the user has entered a sleeping state and the current first time is obtained.

[0096] In this embodiment, the specific value of the preset temperature threshold is adaptively set based on actual needs and is not limited in detail here.

[0097] Step c3: collecting real-time user activity data through sensors, and when it is confirmed based on the real-time user activity data that the user is currently in an active state, confirming that the user has left the sleeping state, and obtaining the current second time.

[0098] Step c4: Calculate the current time period corresponding to the current first time and the current second time, and use the current time period as the second rest time period.

[0099] In the embodiment of the present invention, the user's current sleep state is identified by dual judgment of user activity data and user body temperature data collected by the sensor, which can avoid misjudgment of a single sensor and thus ensure high-precision identification of the sleep state; at the same time, the second rest time period is determined according to the current first time corresponding to the user falling asleep and the current second time corresponding to the user waking up, which can completely cover the user's sleep cycle and provide accurate data for subsequent equipment to automatically avoid sleeping time for cleaning, further improving the user experience.

[0100] Step S202: Determine whether the first user behavior data and the second user behavior data are empty.

[0101] It should be noted that the first user behavior data and / or the second user behavior data in this embodiment may contain data that is completely empty or not completely empty, so different equipment cleaning solutions are designed accordingly to achieve precise cleaning control of the equipment. Specifically, the above step S202 includes:

[0102] Step d1: If it is detected that the user does not carry the terminal device, and / or the communication connection between the cleaning device and the terminal device fails, it is confirmed that the first user behavior data is empty.

[0103] In this embodiment, the specific detection method for the user carrying the terminal device can be referred to conventional detection methods in the field, such as identifying whether the user carries the terminal device based on the camera carried by the terminal device; and the specific detection of the communication connection status between the cleaning device and the terminal device is not limited here and can be determined according to conventional operations in the field.

[0104] Step d2: If it is detected that the cleaning device performs cleaning control for the first time, and / or the cleaning device is reset, and / or the cleaning device fails, it is confirmed that the second user behavior data is empty.

[0105] In this embodiment, each detection method in step d2 can be determined by referring to relevant operations in the art.

[0106] In the embodiment of the present invention, by accurately judging and processing the null values ​​of user behavior data, the reliability of user behavior data can be ensured, and the accurate acquisition of subsequent equipment cleaning time can be guaranteed, which in turn helps to improve the control efficiency and cleaning effect of the equipment.

[0107] Step S203, when the first user behavior data and / or the second user behavior data are not empty, perform a set operation on the first user behavior data and / or the second user behavior data to determine the current cleaning time period, and control the cleaning device to clean in the current cleaning time period.

[0108] Specifically, the above step S203 includes:

[0109] Step 2031: When the first user behavior data and / or the second user behavior data are not empty, the first activity time period, the first rest time period, and / or the second activity time period, the second rest time period are combined to obtain a first data set, and the current cleaning time period is determined based on the first data set.

[0110] In this embodiment, by taking the union of the first activity time period, the first rest time period, and / or the second activity time period and the second rest time period, all known time periods of user activity and rest can be integrated, and the current cleaning time period of the device can be determined based on them. For example, the first activity time period recorded by the terminal device is "19:00-21:00", and the second activity time period recorded by the sensor is "22:00-23:00". After the union operation, the activity time period obtained is "19:00-23:00", so the cleaning period can be accurately scheduled after 23:00, avoiding the misjudgment caused by data fragmentation in traditional solutions (such as relying solely on terminal device data to start cleaning between 21:00-23:00). This is only for illustrative purposes.

[0111] In actual applications, because the user's active time period obtained by the terminal device conflicts with the user's rest time period recorded by the cleaning device during cleaning, that is, the user cannot be in both active and resting states at the same time, there is a possibility that the terminal device or the cleaning device may misjudge the user's state. Therefore, in order to improve the accuracy of the cleaning device's setting of the current cleaning time period, the above-mentioned step 2031 of this embodiment determines the current cleaning time period based on the first number set, including:

[0112] Step e1: finding the intersection of the first activity time period and the second rest time period to obtain a second data set.

[0113] It should be noted that in this embodiment, the second data set represents two overlapping data types, i.e., conflicting time periods. For example, if a terminal device records "13:00-14:00 active" (i.e., the user is in motion), and a sensor records "12:30-13:45 sleeping" (i.e., the user is resting), there is an intersection, i.e., the time period after the intersection is "13:00-13:45." Therefore, there is an error between the first active time period determined by the terminal device and the second rest time period recorded by the sensor. This is for illustrative purposes only.

[0114] Step e2: finding the intersection of the first rest period and the second rest period to obtain a third data set.

[0115] In this embodiment, the relevant contents of step e2 refer to step e1 and are not repeated here.

[0116] Step e3: finding the union of the second number set and the third number set to obtain a fourth number set.

[0117] It should be noted that, in this embodiment, the fourth number set is all time periods with recording errors.

[0118] Step e4: Calculate the difference between the first number set and the fourth number set to obtain a fifth number set, and determine the current cleaning time period based on the fifth number set.

[0119] In this embodiment, the fifth data set represents the device's cleaning avoidance time period. The current cleaning time period for the cleaning device can be determined based on the set cleaning time period (e.g., a natural day, i.e., 24 hours) and the fifth data set (i.e., after excluding the time period corresponding to the fifth data set within the 24-hour period, the device's current cleaning time period is set based on the remaining time period). Specifically, this embodiment considers conflicts between user behavior time periods and determines the optimal cleaning time period through multi-layer set operations on multi-source behavior data. This allows for accurate determination of the device's current cleaning time, thereby improving the device's cleaning efficiency and resource utilization.

[0120] Step 2032: Control the cleaning device to perform cleaning during the current cleaning time period.

[0121] In the embodiment of the present invention, by taking the union and integrating all known time periods of user activities and rest, data blind spots can be eliminated, and seamless splicing of user behavior data for all time periods can be achieved. The blank time periods of user behavior can be automatically identified based on the first data set as the current cleaning time period, which can achieve efficient utilization of time and space resources and thereby improve the control efficiency of the cleaning equipment.

[0122] It should be noted that, when both the first user behavior data and the second user behavior data are empty, the cleaning control method of this embodiment further includes:

[0123] Step f1, obtaining the initial cleaning parameters of the cleaning device.

[0124] In this embodiment, the initial cleaning parameters are the default cleaning plan preset by the cleaning device when it is shipped. The specific contents are determined based on actual needs or adaptability to the scenario design. For example, the cleaning device takes into account actual scenario design, such as typical room layouts and common obstacle avoidance strategies. Under the corresponding default settings, the device will clean along a planned path and enable basic obstacle avoidance to prevent a significant decrease in cleaning performance due to missing data. This is for illustrative purposes only.

[0125] Step f2: Control the cleaning equipment to perform corresponding cleaning based on the initial cleaning parameters.

[0126] In an embodiment of the present invention, when the user behavior data is empty, the preset initial cleaning parameters can be directly called to avoid the device from being unable to start or operating abnormally due to missing data, which can ensure the basic cleaning tasks of the cleaning device and thereby improve the control reliability of the device in dealing with abnormal scenarios.

[0127] In a specific embodiment, the cleaning device is a sweeper. In order to provide users with a better cleaning experience, a cleaning time optimization solution applied to the intelligent cleaning mode of the sweeper is provided. Specifically, the user's activity and rest status are judged by a motion monitoring terminal (i.e., a terminal device) worn by the user and a visual sensor (i.e., a sensor) arranged on the body of the sweeper, and the user's activity and rest time are recorded. The corresponding time periods are avoided during automatic cleaning, thereby improving cleaning efficiency while avoiding interference with users and optimizing user experience.

[0128] It should be noted that this solution is an improvement based on the intelligent cleaning function of the sweeping robot product; the intelligent cleaning function refers to the function of the sweeping robot to automatically set the cleaning time; the motion monitoring terminal refers to an intelligent terminal that can monitor the user's motion and sleep data by wearing it, placing it close to the body, etc., including but not limited to smart watches, sports bracelets, smart phones, etc.; the visual sensor refers to a sensor that can capture light signals and generate images and data that can be used for analysis, including but not limited to cameras, infrared thermal imaging sensors, laser sensors, etc.

[0129] In this embodiment, Figure 3 This is a flow chart of the sweeper's cleaning control process. As can be seen from the figure, the program specifically includes the following steps:

[0130] Step 1: Turn on the robot vacuum and select smart mode.

[0131] In this embodiment, when the sweeping robot is turned on and enters the smart mode, it will try to connect to the user's motion monitoring terminal via WIFI.

[0132] Step 2: Obtain user activity and rest status through the motion monitoring terminal, and perform processing and analysis.

[0133] In this embodiment, this step is performed when the user is wearing a motion monitoring terminal and the motion monitoring terminal has been successfully connected to the sweeper via WIFI. Before setting the cleaning time, the sweeper will obtain the user's activity and rest information for the past natural day (starting from the time when the sweeper is turned on and connected to the terminal via WIFI, and counting forward 24 hours, these 24 hours are the past natural day), and determine the activity time period A and rest time period B accordingly based on this information. The specific determination process is as follows.

[0134] ① Obtain user activity status through the motion monitoring terminal and set the user activity time period.

[0135] In this embodiment, the robot vacuum determines the user activity pattern through time t and the user activity distribution function m(t), and then determines the user activity time A by the function M(t), which is calculated as follows:

[0136]

[0137] when When there is a collection , then set set A as the user activity time period.

[0138] in, It is the factory default value, and the value range is , the unit is "hour". t is any time point within 24 hours of a day, the unit is "hour", and the value range is m(t) is the user activity distribution function, expressed as a step function, and outputs a Boolean value. A "1" output indicates the user is active, and a "0" output indicates the user is stationary. Active activity refers to movements such as walking or running that cause the user to change position, while stationary activity refers to movements that do not cause the user to change position. M(t) represents the user's activity time within a 24-hour period, starting at any point in time.

[0139] ② Obtain the user's rest status through the motion monitoring terminal and set the user's rest time period.

[0140] In this embodiment, the robot vacuum determines the user's sleep pattern through time t and the user's sleep distribution function r(t), and then determines the user's rest time B by the function R(t), which is calculated as follows:

[0141]

[0142] when When there is a collection , then set the collection It is the user's rest period.

[0143] in, It is the factory default value, and the value range is , the unit is "hour". t is any time point within 24 hours of a day, the unit is "hour", and the value range is r(t) is the user activity distribution function, which is a step function and outputs a Boolean value; a "1" indicates the user is asleep, and a "0" indicates the user is awake. R(t) represents the amount of sleep a user experiences within an hour starting at any point in time within a 24-hour day.

[0144] Step 3: Record user activities and rest status during cleaning, and process and analyze them.

[0145] In this embodiment, when the sweeper is cleaning, it will use visual sensors to determine the user's activity and rest status and record them. The recording results will be used for analysis and setting the cleaning time during the next cleaning, and the activity time period C and rest time period D will be determined accordingly based on this information. The specific determination process is as follows.

[0146] ① Determine the user’s activity time period through visual sensors.

[0147] In this embodiment, when the sweeper is cleaning, if the visual sensor detects the user's activities in the cleaning area, the sweeper will analyze the obstacle avoidance time generated by avoiding the user's movement during cleaning. , to determine the user's active time period, the calculation method is as follows:

[0148]

[0149] when When there is a collection , then set the collection The user activity time period.

[0150] in, The obstacle avoidance time of the sweeper during this cleaning period is , the sum of which is , . The cleaning time taken by the sweeper to complete this cleaning, the value range is ;in, The cleaning start and end time points respectively. It is the factory preset value, which represents the standard cleaning time used by the sweeper to complete the cleaning of a specific area. The value range is . This is the factory preset value, which represents the obstacle avoidance time that can be judged as "having little impact on cleaning" in the standard cleaning time used by the sweeper to complete the cleaning of a specific area. The value range is .

[0151] It should be noted that the above-mentioned judgment condition is actually to determine the ratio of the obstacle avoidance time generated by the sweeper to avoid the user's movement to the current cleaning time. If the ratio is greater than the preset ratio, it means that this cleaning has spent a lot of time to avoid the user's movement; and it has caused a large waste of the sweeper's electricity, clean water, etc., so the sweeper will avoid cleaning during this period in the next cleaning.

[0152] Furthermore, set C represents the cleaning time period when the sweeper completes the cleaning when the above-mentioned judgment conditions are met. The design basis is that when the judgment conditions are met, the sweeper will determine that the cleaning time period is the time period when the user is frequently active: because the obstacle avoidance time of the sweeper is often not a continuous time period, and the specific activity time of the user is not exactly the same every day, the cleaning time period is directly set as the time period when the user is frequently active and avoided during the next cleaning, so as to avoid the user's activities as much as possible, thereby improving the cleaning efficiency.

[0153] ② Use visual sensors to determine the user's rest time period.

[0154] In this embodiment, the sweeper will use thermal imaging to determine whether the user is in a sleeping state when sweeping. Because the body temperature begins to drop when the human body enters the light sleep stage and often reaches the lowest point in the deep sleep stage, if the sweeper observes the user through the visual sensor while sweeping, it will monitor the user's body temperature T through thermal imaging. When the following conditions are met, that is, (1) T≤T0-ΔT, (2) the user is in a stationary state, it is determined that the user has entered the sleeping state, and the time point of entering the sleeping state is set to t s1 , after which the robot vacuum will stop cleaning and continue to observe the user's status. When it observes user activity, it determines that the user has left the sleep state and sets the time when the user leaves the sleep state as t s2 , then there is a set D={t|t s1 ≤t≤t s2}, and set set D as the user's rest time period.

[0155] Among them, T is the user's core body temperature observed by the vacuum cleaner, not the surface temperature; T0 is the factory preset value, which represents the core body temperature of the human body in a normal state and can be changed by the user; ΔT is the factory preset value, which represents the temperature change.

[0156] It should be noted that in condition (1) of this embodiment, T is the core body temperature of the user observed by the sweeper through thermal imaging, which is a real-time measurement value; T0 represents the core body temperature of the human body in a normal waking state, which is usually between 36.5°C and 37.5°C; ΔT represents the temperature change. Since a person's body temperature usually continues to drop from the sleep stage to the deep sleep stage, the drop is generally between 0.5°C and 1°C. Condition (2) means that the sweeper observes through the visual sensor that the user has not made any movement that can change the position, and judges that the user is in a stationary state at this time; when the real-time observation value T is less than the difference between T0 and the factory preset value of ΔT, it means that the user may have entered a sleep state; if the user state meets condition (2) at this time, the sweeper judges that the user has entered a sleep state, and the sweeper stops cleaning until the user moves, and then continues cleaning and records the time period.

[0157] Step 4: Comprehensively analyze user activities and rest time periods to set the cleaning time.

[0158] In this embodiment, all time periods of a natural day are set as a set E = {t|0≤t≤24}. Then, considering the user's activity and rest time periods, the robot vacuum will prioritize cleaning during time period F. F is calculated as follows:

[0159]

[0160] Among them, A represents the user activity time period obtained through the motion monitoring terminal, B represents the user rest time period obtained through the motion monitoring terminal, C represents the user activity time period recorded when the sweeper is cleaning, and D represents the user rest time period recorded when the sweeper is cleaning.

[0161] Furthermore, A∪B∪C∪D is the set of all the above time periods, representing all the user's active and rest time periods. (A∩D) represents the conflict between the user's active time period obtained by the terminal and the user's rest time period recorded by the sweeper when cleaning; (B∩C) represents the conflict between the user's rest time period obtained by the terminal and the user's active time period recorded by the sweeper when cleaning. Because the user cannot be active and resting at the same time, if a time period conflict occurs, it may mean that the terminal or the sweeper has misjudged the user's status. Therefore, it is necessary to take the difference between A∪B∪C∪D and (A∩D)∪(B∩C), exclude the time period with incorrect recording, and obtain the time period (A∪B∪C∪D)-(A∩D)∪(B∩C). Then take the difference between the natural day set E and the above time period to obtain time period F. The sweeper will give priority to cleaning in time period F.

[0162] It should be noted that for Sets A and B, if the acquisition of time period information fails due to reasons such as the user not wearing a motion monitoring terminal or the motion monitoring terminal connection failing, the corresponding set is considered empty. For Sets C and D, if the acquisition of time period information fails due to reasons such as the robot vacuum entering smart mode for the first time, the robot vacuum reset, or a robot malfunction, the corresponding set is considered empty. If Sets A, B, C, and D are all empty, the robot vacuums according to the default cleaning plan.

[0163] In addition, the above-mentioned optimization scheme of this embodiment can also achieve all-round and all-time monitoring of the cleaning area by setting up fixed visual sensors in the room and connecting them to the sweeper via WIFI, but this will increase the cost and can be adaptively adjusted according to actual needs.

[0164] In summary, the cleaning control method of the embodiment of the present invention determines the cleaning time of the device based on the user behavior data collected by the terminal device and the sensor, and can realize the intelligent setting of the cleaning time, which not only improves the cleaning efficiency, but also enhances the user's cleaning experience.

[0165] In this embodiment, a cleaning control device is also provided, which is used to implement the above-mentioned embodiments and preferred embodiments. Details already described will not be repeated here. As used below, the term "module" refers to a combination of software and / or hardware that implements a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, implementation using hardware, or a combination of software and hardware, is also possible and contemplated.

[0166] The present invention provides a cleaning control device, which is applied to a cleaning device. The cleaning device has a built-in sensor and is connected to a terminal device for communication. The user collects his own behavior data by carrying the terminal device. Figure 4 As shown, the device includes:

[0167] The acquisition module 401 is used to respectively acquire the first user behavior data collected by the terminal device and the second user behavior data collected by the sensor; wherein the first user behavior data includes a first active time period and a first rest time period, the first active time period is the time period corresponding to the user being in an active state, and the first rest time period is the time period corresponding to the user being in a stationary state; the second user behavior data includes a second active time period and a second rest time period, the second active time period is the cleaning time period corresponding to the cleaning device avoiding the user's movement during the cleaning process, and the second rest time period is the time period corresponding to the user being in a sleeping state.

[0168] The judgment module 402 is used to judge whether the first user behavior data and the second user behavior data are empty.

[0169] The control module 403 is used to perform a set operation on the first user behavior data and / or the second user behavior data when the first user behavior data and / or the second user behavior data are not empty, determine the current cleaning time period, and control the cleaning device to clean in the current cleaning time period.

[0170] In some optional embodiments, the acquisition module 401 includes: a first collection submodule, a second collection submodule and a third collection submodule; wherein, the first collection submodule is used to determine the current communication time in response to the communication connection between the cleaning device and the terminal device; the second collection submodule is used to determine the data collection time based on the current communication time; the third collection submodule is used to respectively obtain the first activity time period and the first rest time period collected by the terminal device during the data collection time.

[0171] In some optional embodiments, the acquisition module 401 also includes: a first acquisition sub-module, a second acquisition sub-module, a third acquisition sub-module and a fourth acquisition sub-module; wherein the first acquisition sub-module is used to obtain user activity data collected by the cleaning device through sensors during the previous cleaning process; the second acquisition sub-module is used to calculate the device obstacle avoidance time when confirming that the user is active in the cleaning area based on the user activity data, and the device obstacle avoidance time refers to the total obstacle avoidance time corresponding to the cleaning device avoiding user activities; the third acquisition sub-module is used to obtain the historical cleaning time of the cleaning device during the previous cleaning process; the fourth acquisition sub-module is used to filter the user activity time period according to the device obstacle avoidance time and the historical cleaning time, and use the user activity time period as the second activity time period.

[0172] In some optional embodiments, the acquisition module 401 also includes: a first acquisition submodule, a second acquisition submodule, a third acquisition submodule and a fourth acquisition submodule; wherein, the first acquisition submodule is used to obtain user activity data and user body temperature data collected by the cleaning device through sensors during the previous cleaning process; the second acquisition submodule is used to confirm that the user has entered a sleep state and obtain the current first time if it is confirmed based on the user activity data that the user is currently in a stationary state and the user body temperature data is less than a preset temperature threshold; the third acquisition submodule is used to collect real-time user activity data through sensors, and when it is confirmed based on the real-time user activity data that the user is currently in an active state, confirm that the user has left the sleep state and obtain the current second time; the fourth acquisition submodule is used to calculate the current time period corresponding to the current first time and the current second time, and use the current time period as the second rest time period.

[0173] In some optional embodiments, the judgment module 402 includes: a first judgment submodule and a second judgment submodule; wherein, the first judgment submodule is used to confirm that the first user behavior data is empty if it is detected that the user does not carry the terminal device, and / or the communication connection between the cleaning device and the terminal device fails; the second judgment submodule is used to confirm that the second user behavior data is empty if it is detected that the cleaning device performs cleaning control for the first time, and / or the cleaning device is reset, and / or the cleaning device fails.

[0174] In some optional embodiments, the control module 403 includes: a first control submodule and a second control submodule; wherein, the first control submodule is used to calculate the union of the first active time period, the first rest time period, and / or the second active time period, the second rest time period when the first user behavior data and / or the second user behavior data are not empty, to obtain a first number set, and determine the current cleaning time period based on the first number set; the second control submodule is used to control the cleaning equipment to clean in the current cleaning time period.

[0175] In some optional embodiments, the first control submodule includes: a first control unit, a second control unit, a third control unit and a fourth control unit; wherein the first control unit is used to find the intersection of the first active time period and the second rest time period to obtain a second number set; the second control unit is used to find the intersection of the first rest time period and the second rest time period to obtain a third number set; the third control unit is used to find the union of the second number set and the third number set to obtain a fourth number set; the fourth control unit is used to calculate the difference between the first number set and the fourth number set to obtain a fifth number set, and determine the current cleaning time period based on the fifth number set.

[0176] In some optional embodiments, the device further includes: a setting module for obtaining initial cleaning parameters of the cleaning device; and controlling the cleaning device to perform corresponding cleaning based on the initial cleaning parameters.

[0177] The further functional description of each of the above modules is the same as that of the above corresponding embodiments and will not be repeated here.

[0178] The cleaning control device in this embodiment is presented in the form of a functional unit, where the unit refers to an ASIC (Application Specific Integrated Circuit) circuit, a processor and memory that executes one or more software or fixed programs, and / or other devices that can provide the above functions.

[0179] The cleaning control device of an embodiment of the present invention can determine the cleaning time of the device based on the user behavior data collected by the terminal device and the sensor. It not only realizes the intelligent setting of the cleaning time, but also improves the control and effect of the equipment cleaning, greatly satisfying the user's cleaning experience.

[0180] The present invention also provides a cleaning device in an embodiment, the cleaning device includes a sensor for collecting user behavior data; the cleaning device also includes a controller, see Figure 5 , Figure 5 is a schematic diagram of the structure of the controller provided in an optional embodiment of the present invention, such as Figure 5 As shown, the controller includes: one or more processors 10, a memory 20, and interfaces for connecting various components, including high-speed interfaces and low-speed interfaces. The various components utilize different buses to communicate with each other and can be installed on a common mainboard or installed in other ways as needed. The processor can process instructions executed in the controller, including instructions stored in or on the memory to display graphical information of a GUI on an external input / output device (such as a display device coupled to the interface). In some optional embodiments, if necessary, multiple processors and / or multiple buses can be used together with multiple memories and multiple memories. Similarly, multiple controllers can be connected, and each device provides some necessary operations (for example, as a server array, a group of blade servers, or a multi-processor system). Figure 5 A processor 10 is taken as an example.

[0181] The processor 10 may be a central processing unit, a network processor, or a combination thereof. The processor 10 may further include a hardware chip. The hardware chip may be an application-specific integrated circuit, a programmable logic device, or a combination thereof. The programmable logic device may be a complex programmable logic device, a field programmable gate array, a general purpose array logic, or any combination thereof.

[0182] The memory 20 stores instructions that can be executed by at least one processor 10, so as to enable at least one processor 10 to execute the method shown in the above embodiment.

[0183] The memory 20 may include a program storage area and a data storage area, wherein the program storage area may store an operating system and application programs required for at least one function; the data storage area may store data created according to the use of the controller, etc. In addition, the memory 20 may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some optional embodiments, the memory 20 may optionally include a memory remotely located relative to the processor 10, and these remote memories may be connected to the controller via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0184] The memory 20 may include a volatile memory, such as a random access memory; the memory may also include a non-volatile memory, such as a flash memory, a hard disk or a solid-state drive; the memory 20 may also include a combination of the above types of memory.

[0185] The controller also includes an input device 30 and an output device 40. The processor 10, the memory 20, the input device 30 and the output device 40 can be connected via a bus or other means. Figure 5 The bus connection is taken as an example.

[0186] The input device 30 can receive digital or character input and generate signal input related to user settings and function control of the thermal power unit operation control unit. Examples include a touch screen, keypad, mouse, trackpad, touchpad, indicator stick, one or more mouse buttons, trackball, joystick, etc. The output device 40 may include a display device, auxiliary lighting devices (e.g., LEDs), and tactile feedback devices (e.g., vibration motors). Such display devices include, but are not limited to, liquid crystal displays, light-emitting diodes, monitors, and plasma displays. In some optional embodiments, the display device may be a touch screen.

[0187] In this embodiment, the cleaning device is a sweeper; the sensors include at least a camera, an infrared thermal imaging sensor, and a laser sensor. In addition, the cleaning device of this embodiment is also connected to a terminal device for communication to obtain user behavior data collected by the terminal device; wherein the terminal device includes at least a smart watch, a sports bracelet, and a smart phone. It should be noted that the specific types of sensors and terminal devices in this embodiment can be adaptively adjusted according to actual needs. Specifically, integrating the above-mentioned cleaning control method of this embodiment on the cleaning device can enable this type of cleaning device to intelligently set the current cleaning time of the device based on the user behavior data collected by the terminal device and the sensor. It can not only simplify the tedious process of manual control, but also improve the control efficiency and cleaning effect of the device, thereby greatly improving the user experience.

[0188] A computer-readable storage medium is also provided in an embodiment of the present invention. The above-mentioned method according to the embodiment of the present invention can be implemented in hardware, firmware, or implemented as a computer code that can be recorded in a storage medium, or implemented as a computer code that is originally stored in a remote storage medium or a non-temporary machine-readable storage medium and downloaded through a network and will be stored in a local storage medium, so that the method described herein can be stored in such software processing on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. Among them, the storage medium can be a magnetic disk, an optical disk, a read-only storage memory, a random access memory, a flash memory, a hard disk or a solid-state drive, etc.; further, the storage medium can also include a combination of the above-mentioned types of memory. It can be understood that a computer, a processor, a microprocessor main control chip or programmable hardware includes a storage component that can store or receive software or computer code. When the software or computer code is accessed and executed by a computer, a processor or hardware, the method shown in the above embodiment is implemented.

[0189] Although the embodiments of the present invention have been described with reference to the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present invention. Such modifications and variations are all within the scope defined by the appended claims.

Claims

1. A cleaning control method, applied to a cleaning device, wherein the cleaning device has a built-in sensor and is connected to a terminal device for communication. A user collects his or her own behavior data by carrying the terminal device, characterized in that: The method comprises: Acquire first user behavior data collected by the terminal device and second user behavior data collected by the sensor, respectively; wherein the first user behavior data includes a first active time period and a first rest time period, the first active time period being a time period corresponding to when the user is active, and the first rest time period being a time period corresponding to when the user is stationary; the second user behavior data includes a second active time period and a second rest time period, the second active time period being a cleaning time period corresponding to when the cleaning device avoids user movement during the cleaning process, and the second rest time period being a time period corresponding to when the user is asleep; Determining whether the first user behavior data and the second user behavior data are empty; When the first user behavior data and / or the second user behavior data are not empty, performing a set operation on the first user behavior data and / or the second user behavior data to determine a current cleaning time period, and controlling the cleaning device to clean during the current cleaning time period; Among them, the performing of a set operation on the first user behavior data and / or the second user behavior data to determine the current cleaning time period includes: taking the union of the first active time period, the first rest time period, and / or the second active time period, the second rest time period to obtain a first number set, and determining the current cleaning time period based on the first number set.

2. The cleaning control method according to claim 1, characterized in that: The obtaining of the first user behavior data collected by the terminal device includes: In response to the communication connection between the cleaning device and the terminal device, determining a current communication time; determining a data collection time based on the current communication time; A first activity time period and a first rest time period collected by the terminal device during the data collection time are respectively obtained.

3. The cleaning control method according to claim 2, characterized in that: Obtaining the second user behavior data collected by the sensor, including: Obtain user activity data collected by the cleaning device through sensors during the previous cleaning process; When the user is confirmed to be active in the cleaning area according to the user activity data, the device obstacle avoidance time is calculated. The device obstacle avoidance time refers to the total obstacle avoidance time corresponding to the user activity of the cleaning device; Get the historical cleaning time of the cleaning equipment during the previous cleaning process; The user activity time period is filtered according to the device obstacle avoidance time and the historical cleaning time, and the user activity time period is used as the second activity time period.

4. The cleaning control method according to claim 3, characterized in that: Acquiring the second user behavior data collected by the sensor also includes: Obtain user activity data and user body temperature data collected by the cleaning device through sensors during the previous cleaning process; If it is determined based on the user activity data that the user is currently in a stationary state, and the user body temperature data is less than a preset temperature threshold, it is determined that the user has entered a sleeping state, and the current first time is obtained; collecting real-time user activity data through a sensor, and when confirming that the user is currently in an active state based on the real-time user activity data, confirming that the user has left the sleeping state, and obtaining a current second time; A current time period corresponding to the current first time and the current second time is calculated, and the current time period is used as a second rest time period.

5. The cleaning control method according to claim 3, characterized in that: The determining whether the first user behavior data and the second user behavior data are empty includes: If it is detected that the user does not carry the terminal device, and / or the communication connection between the cleaning device and the terminal device fails, then confirming that the first user behavior data is empty; and / or, If it is detected that the cleaning device performs cleaning control for the first time, and / or the cleaning device is reset, and / or the cleaning device fails, it is confirmed that the second user behavior data is empty.

6. The cleaning control method according to claim 1, characterized in that: The determining the current cleaning time period according to the first number set includes: Calculate the intersection of the first activity time period and the second rest time period to obtain a second data set; Calculate the intersection of the first rest period and the second rest period to obtain a third number set; Calculating the union of the second number set and the third number set to obtain a fourth number set; A difference between the first number set and the fourth number set is calculated to obtain a fifth number set, and a current cleaning time period is determined according to the fifth number set.

7. The cleaning control method according to claim 5, characterized in that: When both the first user behavior data and the second user behavior data are empty, the method further includes: Obtain the initial cleaning parameters of the cleaning equipment; The cleaning device is controlled to perform corresponding cleaning based on the initial cleaning parameters.

8. A cleaning control device, applied to a cleaning device, wherein the cleaning device has a built-in sensor and is connected to a terminal device for communication. A user collects his or her own behavior data by carrying the terminal device, characterized in that: The device comprises: an acquisition module, configured to respectively acquire first user behavior data collected by a terminal device and second user behavior data collected by a sensor; wherein the first user behavior data includes a first active time period and a first rest time period, wherein the first active time period is a time period corresponding to when the user is active, and the first rest time period is a time period corresponding to when the user is stationary; and the second user behavior data includes a second active time period and a second rest time period, wherein the second active time period is a cleaning time period corresponding to when the cleaning device avoids user movement during the cleaning process, and the second rest time period is a time period corresponding to when the user is asleep; a judgment module, configured to judge whether the first user behavior data and the second user behavior data are empty; a control module, configured to perform a set operation on the first user behavior data and / or the second user behavior data when the first user behavior data and / or the second user behavior data are not empty, determine a current cleaning time period, and control the cleaning device to clean during the current cleaning time period; Among them, the performing of a set operation on the first user behavior data and / or the second user behavior data to determine the current cleaning time period includes: taking the union of the first active time period, the first rest time period, and / or the second active time period, the second rest time period to obtain a first number set, and determining the current cleaning time period based on the first number set.

9. A cleaning device, characterized in that: The cleaning device includes a sensor and a controller, wherein the sensor is used to collect user behavior data; the controller includes a memory and a processor, the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the cleaning control method according to any one of claims 1 to 7 by executing the computer instructions.

10. The cleaning device according to claim 9, characterized in that The cleaning device is a sweeper; the sensor includes at least a camera, an infrared thermal imaging sensor and a laser sensor.

11. The cleaning device according to claim 9, characterized in that The cleaning device is also connected to a terminal device for communication, so as to obtain user behavior data collected by the terminal device; wherein the terminal device includes at least a smart watch, a sports bracelet and a smart phone.

12. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a computer to execute the cleaning control method according to any one of claims 1 to 7.

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