Cleaning equipment control method, data processing method and cleaning equipment

Abstract

The invention provides a control method of cleaning equipment, a data processing method and the cleaning equipment, and relates to the technical field of intelligent robotics.The method comprises the steps that in the process that the cleaning equipment executes a cleaning task, if a target object defined by a user is detected, a target strategy associated with the target object is obtained, the target strategy is generated based on a user-defined strategy and a cloud strategy associated with the target object. And based on the target strategy, cleaning operation for the peripheral area of the target object is executed. Therefore, the applicability and expansibility of the cleaning strategy of the cleaning equipment are improved.

Description

Technical Field

[0001] The present application relates to the technical field of intelligent robots, and in particular to a control method and a data processing method for cleaning equipment and a cleaning equipment. Background Art

[0002] Cleaning devices such as sweeping robots and sweeper-mops can automate cleaning tasks and are commonly used in homes, offices, or commercial environments. Their primary goal is to reduce the labor intensity of cleaning surfaces while improving cleaning efficiency. However, object recognition in current cleaning devices relies on a preset list of objects, making it difficult to identify unfamiliar objects. Furthermore, cleaning strategies for cleaning devices are typically based on limited pre-configured strategies. Consequently, current cleaning strategies for cleaning devices suffer from significant limitations and poor scalability.

[0003] Therefore, how to improve the applicability and scalability of cleaning strategies for cleaning equipment is an urgent problem that needs to be solved. Summary of the Invention

[0004] The present application provides a control method, a data processing method and a cleaning device for improving the applicability and scalability of a cleaning strategy of the cleaning device.

[0005] In a first aspect, the present application provides a method for controlling a cleaning device, comprising:

[0006] During the process of the cleaning device performing a cleaning task, if a user-defined target object is detected, a target policy associated with the target object is obtained, where the target policy is generated based on the user-defined policy and the cloud policy associated with the target object;

[0007] A cleaning operation is performed on the surrounding area of ​​the target object based on the target strategy.

[0008] In a second aspect, the present application provides a data processing method, comprising:

[0009] Receiving object information of a user-defined target object, wherein the object information includes image information and / or text description information;

[0010] receiving a user-defined policy associated with the target object;

[0011] The object information and the user-defined strategy are sent to the cleaning device.

[0012] In a third aspect, the present application provides a control device for a cleaning device, comprising:

[0013] an acquisition module, configured to acquire a target policy associated with a user-defined target object if a user-defined target object is detected during the cleaning task performed by the cleaning device, wherein the target policy is generated based on a user-defined policy and a cloud policy associated with the target object;

[0014] A control module is configured to perform a cleaning operation on an area surrounding the target object based on the target strategy.

[0015] In a fourth aspect, the present application provides a data processing device, comprising:

[0016] A first receiving module is configured to receive object information of a user-defined target object, wherein the object information includes image information and / or text description information;

[0017] A second receiving module is used to receive a user-defined policy associated with the target object;

[0018] The sending module is used to send the object information and the user-defined strategy to the cleaning device.

[0019] In a fifth aspect, the present application provides an electronic device, comprising: a processor, and a memory communicatively connected to the processor;

[0020] The memory stores computer-executable instructions;

[0021] The processor executes the computer-executable instructions stored in the memory to implement the method according to any one of the first aspect or the second aspect.

[0022] In a sixth aspect, the present application provides a cleaning device, which is used to perform the method as described in any one of the first aspects.

[0023] In a seventh aspect, the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer-executable instructions, and when the computer-executable instructions are executed by a processor, they are used to implement the method as described in any one of the first aspect or the second aspect.

[0024] In an eighth aspect, the present application provides a computer program product, which, when executed by a processor, is used to implement the method as described in any one of the first aspect or the second aspect.

[0025] The present application provides a control method, a data processing method and a cleaning device for cleaning equipment. The method obtains a cloud strategy from a cloud server of the cleaning equipment according to a target object, generates a target strategy based on the cloud strategy and a user-defined strategy, and performs cleaning operations on the surrounding area of ​​the target object based on the target strategy, so as to reduce the problem of poor matching between the user-defined strategy and the cleaning requirements of the target object, reduce the damage to the target object during the cleaning process, or reduce the poor cleaning effect and low cleaning efficiency, thereby further improving the cleaning effect and cleaning efficiency of the cleaning equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0027] Figure 1 A flow chart of a control method for a cleaning device provided in an embodiment of the present application;

[0028] Figure 2 A flow chart of another method for controlling a cleaning device provided in an embodiment of the present application;

[0029] Figure 3 A flowchart of a data processing method provided in an embodiment of the present application;

[0030] Figure 4 A flowchart of another data processing method provided in an embodiment of the present application;

[0031] Figure 5 A schematic diagram of the structure of an application interface provided in an embodiment of the present application;

[0032] Figure 6 A schematic diagram of the structure of another application interface provided in an embodiment of the present application;

[0033] Figure 7 A schematic diagram of the structure of another application interface provided in an embodiment of the present application;

[0034] Figure 8 A flowchart of another data processing method provided in an embodiment of the present application;

[0035] Figure 9 A schematic diagram of the structure of another application interface provided in an embodiment of the present application;

[0036] Figure 10 A schematic structural diagram of a control device for a cleaning device provided in an embodiment of the present application;

[0037] Figure 11 A schematic diagram of the structure of a data processing device provided in an embodiment of the present application;

[0038] Figure 12 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application.

[0039] The above drawings illustrate specific embodiments of the present application, which will be described in more detail below. These drawings and the textual description are not intended to limit the scope of the present application in any way, but rather to illustrate the concepts of the present application to those skilled in the art by reference to specific embodiments. DETAILED DESCRIPTION

[0040] To facilitate the clear description of the technical solutions of the embodiments of the present application, in the embodiments of the present application, words such as "first" and "second" are used to distinguish between identical or similar items with substantially the same functions and effects. For example, the first device and the second device are merely used to distinguish between different devices and do not limit their order. Those skilled in the art will understand that words such as "first" and "second" do not limit the quantity or execution order, and words such as "first" and "second" do not necessarily mean that they are different.

[0041] It should be noted that, in this application, words such as "exemplary" or "for example" are used to indicate examples, illustrations, or descriptions. Any embodiment or design described in this application as "exemplary" or "for example" should not be construed as being preferred or advantageous over other embodiments or designs. Rather, the use of words such as "exemplary" or "for example" is intended to present the relevant concepts in a concrete manner.

[0042] In this application, "at least one" means one or more, and "more" means two or more. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural. The character " / " generally indicates that the previous and next associated objects are in an "or" relationship. "At least one of the following items" or similar expressions refers to any combination of these items, including any combination of single or plural items. For example, at least one of a, b, or c can mean: a, b, c, ab, ac, bc, or abc, where a, b, c can be single or plural.

[0043] Currently, cleaning equipment primarily relies on visual sensors (such as cameras) or lidar to collect environmental information, then relies on built-in image recognition algorithms or point cloud data processing algorithms to identify objects. However, this recognition method relies on a pre-set object model and feature library, and successful recognition is only possible when the collected object features match the pre-set features in the library.

[0044] However, when the cleaning device encounters unfamiliar objects, the features of the unfamiliar objects are not stored in the preset library, resulting in the cleaning device often being unable to identify the unfamiliar objects. For example, for users' newly purchased unique art sculptures, new creative ornaments, or temporarily placed packaging boxes, express boxes, children's building blocks, etc., the appearance of these unfamiliar objects is random and temporary, making it difficult for the cleaning device to identify these unfamiliar objects. If the cleaning device fails to identify the unfamiliar objects, on the one hand, the cleaning device may treat them as passable areas and cause collisions, damaging fragile unfamiliar objects such as glass crafts, ceramic vases, etc., and may also cause damage to the cleaning device itself, affecting normal operation and service life; on the other hand, the cleaning device cannot reasonably clean the areas surrounding the unidentified unfamiliar objects, resulting in the problem that dust and stains around the unfamiliar objects cannot be cleaned in time, thereby affecting the overall cleaning effect.

[0045] In addition, the cleaning strategies of current cleaning equipment are relatively simple. For example, some cleaning equipment only has simple path planning algorithms and can only clean according to fixed patterns, such as performing cleaning operations only according to limited strategies in a preset strategy library, and cannot be flexibly adjusted according to different objects and ground conditions. This situation seriously affects the cleaning effect of the cleaning equipment, especially when unfamiliar objects are detected. When the cleaning equipment encounters an unfamiliar object, it cannot identify the unfamiliar object and can only perform cleaning operations according to the existing cleaning strategy, resulting in the inability to use a cleaning strategy suitable for the unfamiliar object or the environment around the unfamiliar object for cleaning. There are often problems such as damage to the object and poor cleaning effect near the object, or the cleaning equipment cannot determine the appropriate cleaning path, causing the cleaning equipment to jam and repeatedly try, resulting in low cleaning effect and cleaning efficiency. In addition, even if there is a corresponding object database stored in the robot chip or in the cloud for an unfamiliar object, such as a vase, during the robot cleaning process, it can only recognize that it is a vase, but it cannot accurately distinguish whether the material is plastic or fragile glass, or whether it is valuable. It can only call the cleaning strategy for the vase stored in the robot chip in advance for cleaning. However, this is only a universal cleaning strategy for all vases. If the vase is very valuable and easy to tip over, it is very easy to touch or even knock over the valuable vase during the cleaning process of the area around the vase. Therefore, the inventor proposed a user-defined cleaning strategy for specific objects. For example, a user can customize the distance between the robot and a specific vase, which can be greater than the distance between the robot and other universal vases. This ensures that when cleaning the area near the specific vase, cleaning tools such as the side brush or rag will not touch the vase. The inventors also found that although this method of involving users allows users to customize cleaning strategies, novice users or elderly users, especially those using a sweeping robot for the first time, cannot accurately perceive the appropriate cleaning parameter settings. Therefore, the inventors considered incorporating the previously stored cloud strategy into the decision-making process. That is, the target strategy generated by the user-defined strategy and the cloud strategy is recommended to the robot to perform the cleaning task. This not only takes into account the user's customized strategy, but also avoids the unreasonable customization of the cleaning strategy by novice users, allowing the cloud strategy to be corrected.

[0046] In view of this, the present application provides a control method for a cleaning device, which enables the cleaning device to obtain a user-defined target object input so that the user-defined target object can be detected in real time during the cleaning task of the cleaning device, and when the target object is detected, the target strategy generated by the user-defined strategy and the cloud strategy associated with the target object is obtained, and the cleaning operation of the cleaning device is adjusted in real time based on the target strategy and the cleaning operation is performed on the surrounding area of ​​the target object, so that the cleaning device has the ability to identify unfamiliar objects other than pre-set objects, and can adjust the cleaning operation of the cleaning device according to the user-defined cleaning strategy corresponding to the unfamiliar object and the cloud strategy data corresponding to the unfamiliar object, so as to realize the function of performing the cleaning operation through the target strategy adapted to the target object. Compared with the prior art, this method reduces the problems of damaged objects, low cleaning effect, low cleaning efficiency, etc. caused by the inability to adopt a cleaning strategy adapted to unfamiliar objects, thereby improving the cleaning safety, cleaning effect, and cleaning efficiency of the cleaning device, thereby improving the applicability and scalability of the cleaning strategy of the cleaning device, and improving the adaptability to user needs, thereby improving the user experience.

[0047] The control method for cleaning equipment provided herein may be executed by, for example, a cleaning device such as a sweeping robot, a sweeping and mopping robot, a floor scrubber robot, or a pool cleaning robot, or may be hardware with computing capabilities, such as a chip in one of these cleaning devices. When the control method is executed by a cleaning device, a computer program for executing the control method may be deployed on the cleaning device. By executing the computer program, the cleaning device can implement the function of cleaning a user-defined target object using an appropriate target strategy.

[0048] The following specific embodiments describe in detail the technical solution of the present application and how the technical solution of the present application solves the above-mentioned technical problems. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0049] Figure 1 This is a flow chart of a control method for a cleaning device provided in an embodiment of the present application. Figure 1 As shown, the method may include:

[0050] S101 : When a cleaning device is performing a cleaning task, if a user-defined target object is detected, a target policy associated with the target object is obtained.

[0051] The target policy is generated based on the user-defined policy and cloud policy associated with the target object. This target policy is only used when cleaning the target object and / or the area within a preset range around the target object.

[0052] The target object is an unfamiliar object that is uploaded to the cleaning device in advance by the user through images, descriptive text, etc., and is not stored in the object library of the cleaning device (such as the object model library, object feature library). For example, it can be an art sculpture, creative ornaments, packaging boxes, express boxes, electronic scales, etc.

[0053] The cleaning device can determine the characteristics of the target object based on the pre-acquired image and description text of the target object uploaded by the user. During the cleaning task, the cleaning device detects surrounding objects using image sensors, lidar, etc. If an object corresponding to the characteristics of the target object is detected, it can be determined that the user-defined target object has been detected.

[0054] The user-defined strategy can be, for example, a customized cleaning strategy specifically for the target object input by the user according to his or her own needs on the application end of the cleaning device (such as a mobile phone, computer, tablet computer, or other electronic device with an application to control the cleaning device installed).

[0055] The cloud policy is cloud data stored in the cloud server of the cleaning device, which can be generated after processing and analyzing the user-defined policies associated with the target object or other objects similar to the target object based on the historical input of other users. For example, if the target object is a vase, the cloud policy associated with the target object may include vases that have been configured by other users using the same cleaning device, or user-defined policies associated with similar containers (for example, similar appearance, similar materials, etc.). Based on the user-defined policies associated with the target object or other objects similar to the target object that have been historically input by other users, a more suitable custom policy for the target object is determined, which is the cloud policy. For example, these custom policies stored in the cloud can be analyzed and processed based on the user's usage feedback results to obtain a cloud policy suitable for the target object; or simulated cleaning can be performed based on these custom policies to screen out cloud policies suitable for the target object, etc.

[0056] Optionally, the target policy can be obtained by the cleaning device from the cloud server of the cleaning device according to the target object, or it can be obtained from the application end of the cleaning device according to the target object. For example, the target policy can be a target policy generated based on the user-defined policy and cloud policy associated with the target object obtained in advance from the application end or the cloud server of the cleaning device according to the target object that the cleaning device has received or stored in advance. Alternatively, the target policy can also be a target policy generated by the cleaning device based on the user-defined policy and cloud policy after the cleaning device obtains the user-defined policy and cloud policy associated with the target object from the application end or the cloud server of the cleaning device according to the target object.

[0057] S102: Perform a cleaning operation on the surrounding area of ​​the target object based on the target strategy.

[0058] Among them, the target strategy includes various control parameters for controlling the cleaning equipment to perform cleaning operations, such as parameters for controlling the number of cleaning times of the cleaning equipment, parameters for cleaning strength, control parameters for one or more cleaning structures on the cleaning equipment, adjustment parameters for the cleaning path, etc.

[0059] In this step, after obtaining the target strategy, the cleaning device uses the various control parameters corresponding to the target strategy to control its cleaning operations when cleaning the target object and / or the area near the target object, so as to clean the target object and / or the surrounding area of ​​the target object (for example, the area within a preset distance from the target object, which can be a circular area, an elliptical area, a rectangular area, etc., and this application does not impose any restrictions on this).

[0060] The method provided by the embodiment of the present application is to obtain the target policy associated with the target object if a user-defined target object is detected during the cleaning task of the cleaning device, and perform a cleaning operation on the area surrounding the target object based on the target policy, so that the cleaning device has the ability to identify unfamiliar objects other than pre-set objects, and can adjust the cleaning operation of the cleaning device according to the user-defined cleaning policy corresponding to the unfamiliar object and the cloud policy data corresponding to the unfamiliar object, thereby reducing the problems of damaged objects, low cleaning effect, low cleaning efficiency, etc. caused by the inability to adopt a cleaning policy that is compatible with the unfamiliar object, thereby improving the cleaning safety, cleaning effect, and cleaning efficiency of the cleaning device. In addition, the applicability and scalability of the cleaning policy of the cleaning device are improved, and the adaptability to user needs is improved, thereby improving the user experience.

[0061] Next, taking the example of the cleaning device itself generating a target policy according to the cloud policy and the user-defined policy, how to obtain the target policy associated with the target object in the aforementioned step S101 is described in detail. Figure 2 This is a flow chart of another method for controlling a cleaning device provided in an embodiment of the present application. Figure 2 As shown, the aforementioned step S101 may further include:

[0062] S201 , obtaining a cloud strategy from a cloud server of a cleaning device according to a target object.

[0063] In this step, the cloud server may be searched for objects identical or similar to the target object based on the target object's identifier, features, etc. The identifier may include, for example, at least one of the target object's name and type. The features may include, for example, at least one of the target object's shape and material features.

[0064] The target object's identifiers and features are matched against the identifiers and features of user-defined objects stored in the cloud server to obtain a corresponding matching result. Based on the matching result, objects whose matching degree is greater than or equal to a preset matching degree threshold are then considered identical or similar to the target object.

[0065] Next, the user-defined policy associated with the object identical or similar to the target object in the cloud server is obtained and used as the cloud policy corresponding to the target object.

[0066] S202: Generate a target policy based on the cloud policy and the user-defined policy.

[0067] The user-defined policy may be received by the cleaning device from the application end, or may be obtained from the cloud server of the cleaning device, or may be input in advance by the user directly on the cleaning device body.

[0068] If the user-defined strategy is received from the application end, for example, the user can take an image of the target object through the electronic device corresponding to the application end, or enter a description text of the target object in the electronic device, and then the application end sends the image and / or description text of the target object to the cleaning device.

[0069] If the user-defined strategy is obtained from the cloud server, for example, the application sends the image and / or description text of the target object to the cloud server, and the cloud server actively updates it to the cleaning device, or the cleaning device requests updates from the cloud server according to a preset cycle, etc.

[0070] If the user-defined strategy is input in advance by the user directly on the cleaning device body, for example, it can be obtained by the user controlling the cleaning device body to capture images of the target object, or it can be obtained by the user directly inputting (for example, voice input) the description text of the target object on the cleaning device body, etc.

[0071] In this step, a target strategy can be generated based on the fusion of the cloud strategy and the user-defined strategy. For example, the various control parameters in the cloud strategy and the user-defined strategy can be weighted averaged, and the calculated result can be used as the corresponding control parameter of the target strategy. For example, for the distance value of the obstacle avoidance distance strategy, the distance value corresponding to the cloud strategy and the distance value corresponding to the user-defined strategy can be weighted averaged according to certain weights to obtain the obstacle avoidance distance value of the target strategy; for the side brush control strategy and the rag plate control strategy in the cleaning component control strategy, the corresponding control parameters (such as the rotation speed and swing angle of the side brush, the swing state of the rag plate, etc.) can be weighted averaged to generate a complete target strategy.

[0072] Alternatively, the rationality of the user-defined policy can be judged based on the cloud policy first. If the judgment result indicates that the user-defined policy is reasonable, the user-defined policy is directly used as the target policy; if the judgment result indicates that the user-defined policy is unreasonable, the user-defined policy adjusted based on the cloud policy is used as the target policy. Exemplarily, this implementation method can be achieved through the following sub-steps:

[0073] S2021. Based on the cloud policy, determine at least one control parameter difference between the user-defined policy and the cloud policy.

[0074] Among them, both the user-defined strategy and the cloud strategy include one or more control parameters, for example, they may include at least one of the obstacle avoidance distance value, cleaning force, cleaning suction force, etc. The control parameter difference is obtained by comparing the value of the control parameter in the user-defined strategy with the value of the corresponding control parameter in the cloud strategy. For example, the difference between the obstacle avoidance distance value in the user-defined strategy and the obstacle avoidance distance value in the cloud strategy can be used as the control parameter difference. Alternatively, the strategy includes control parameters for the side brush (such as whether the side brush can be controlled to swing outward or not, the swing angle, etc.). For non-numerical control parameters, whether there is a control parameter difference can be determined based on whether the two are the same. If they are the same, then there is no control parameter difference; if they are not the same, then there is.

[0075] S2022: If there is a target control parameter difference that is greater than or equal to a preset difference threshold, adjust the target control parameters in the user-defined strategy to the recommended parameters to generate a target strategy.

[0076] Among them, the recommended parameters are determined based on cloud strategies.

[0077] If there is a target control parameter difference greater than or equal to a preset difference threshold, it indicates that the current user-defined policy is poorly suited to the target object. For example, this may be due to the user who set the user-defined policy having little experience or understanding of cleaning operations. In this case, the target control parameters in the user-defined policy can be adjusted using recommended parameters pre-determined based on the cloud policy to generate a target policy that is more suitable for the target object, thereby reducing the risk of damage to the target object or poor cleaning results caused by the poor rationality of the user-defined policy.

[0078] S2023: If there is no target control parameter difference greater than or equal to the preset difference threshold, the user-defined strategy is used as the target strategy.

[0079] If there is no target control parameter difference greater than or equal to the preset difference threshold, it indicates that the current user-defined strategy is a strategy with better adaptability to the target object. At this time, the probability of damaging the target object or having a poor cleaning effect is low, or there is no problem of damaging the target object or having a poor cleaning effect. Therefore, the user-defined strategy can be directly used as the target strategy.

[0080] Optionally, if it is necessary to first judge the rationality of the user-defined policy based on the cloud policy, a judgment result prompt can be issued to the user after the rationality is judged. For example, if it is judged that the user-defined policy is unreasonable, a judgment result prompt can be issued to the user, prompting the user that the current user-defined policy is unreasonable and needs to be adjusted; or regardless of whether the user-defined policy is reasonable, a judgment result prompt can be issued to the user after the judgment. Among them, the judgment result prompt can be issued, for example, through a push message of the application, applet, etc. corresponding to the cleaning device, or it can be prompted to the user through text messages, phone calls, etc., or it can be issued by the cleaning device itself through voice prompts, tone prompts, etc. In one embodiment, if the user believes that the prompt of the cloud policy is unreasonable, the user can choose to perform the cleaning operation with the user-defined policy.

[0081] The method provided in the embodiment of the present application obtains a cloud strategy from the cloud server of the cleaning device according to the target object, and generates a target strategy based on the cloud strategy and the user-defined strategy, so as to reduce the problem of poor matching between the user-defined strategy and the cleaning requirements of the target object, reduce the damage to the target object during the cleaning process, or reduce the poor cleaning effect and low cleaning efficiency, thereby further improving the cleaning effect and cleaning efficiency of the cleaning device.

[0082] For example, the user-defined policy described in the above method embodiment may include at least one of the following policies: an obstacle avoidance policy and a cleaning policy. Correspondingly, the cloud-based policy may include at least some of the same content as the user-defined policy. For example, the cloud-based policy may also include at least one of the following policies: an obstacle avoidance policy and a cleaning policy.

[0083] The obstacle avoidance strategy is used to avoid target objects on the cleaning path during the cleaning process. For example, if the target object is an object that would block the cleaning device from moving along the cleaning path, the obstacle avoidance strategy will be used to determine the cleaning device's strategy for passing the target object. For example, the obstacle avoidance strategy may include one or more of the following: obstacle avoidance distance strategy, obstacle avoidance path strategy, etc., to determine the safe distance the cleaning device needs to maintain from the target object.

[0084] Taking the obstacle avoidance distance strategy included in the obstacle avoidance strategy as an example, when the cleaning device detects the target object, it can adjust its own walking path according to the obstacle avoidance distance strategy. If the distance value specified by the obstacle avoidance distance strategy is large, for example, when the target object is detected to be a fragile object, in order to avoid damage caused by collision, the cleaning device will start to change its walking direction at a position farther away from the target object to ensure that it always maintains a safe distance greater than or equal to the specified distance from the target object. In the process of changing the path, the cleaning device will continuously monitor the distance from the target object through its own sensors to ensure safe obstacle avoidance. If the distance value specified by the obstacle avoidance distance strategy is small, for example, when the target object is a relatively solid object such as a base or a scale that has high cleaning requirements, the cleaning device can change its walking path at a relatively close distance. This way, it can avoid the target object and clean as close to the target object as possible, thereby improving the cleaning effect.

[0085] The cleaning strategy may include at least one of the cleaning component control strategy, the cleaning frequency strategy, and the cleaning suction strategy. The cleaning component control strategy is used to regulate the various cleaning components on the cleaning device to achieve different cleaning effects and meet the needs of different cleaning scenarios. For example, it may include at least one of the side brush control strategy and the rag plate control strategy. The side brush control strategy can control the rotation, swinging, lifting, and storage of the side brush. For example, when cleaning corners, the side brush is controlled to swing outward and rotate at high speed to sweep dust toward the suction port of the cleaning device; when passing through some objects that are easy to entangle the side brush, the side brush is controlled to lift or retract to avoid damage to the side brush. The rag plate control strategy can control the outward swing, inward retraction, and rotation of the rag plate. For example, when cleaning a large area of ​​the floor, the rag plate is swung outward to increase the cleaning area, and when cleaning a narrow area, the rag plate is retracted to facilitate smooth passage.

[0086] The cleaning frequency strategy determines how many times the cleaning device should repeat cleaning a specific area to ensure the area is cleaned to the desired level. The suction force strategy adjusts the suction force of the cleaning device's suction port to suit different cleaning scenarios for different target objects. Optionally, the cleaning strategy can also include a cleaning force strategy, which adjusts the contact pressure and friction between the cleaning device and the floor to improve cleaning effectiveness.

[0087] To facilitate understanding, the following describes user-defined policies using three example scenarios:

[0088] Scenario 1: The target object is of the first type.

[0089] The first type of target objects may include, for example, at least one of fragile objects, high-value objects, etc. For example, the first type of target objects may include, for example, vases, glassware, antiques, ceramic objects, etc.

[0090] The user-defined strategy includes at least one of the following: the distance value of the obstacle avoidance distance strategy is greater than or equal to the first distance value, the rag plate control strategy is that the rag plate does not swing outward, and the side brush control strategy includes at least one of the side brush not swinging outward, the side brush stopping, the side brush lifting, and the side brush storage.

[0091] The obstacle avoidance strategy uses a distance value greater than or equal to the first distance value to minimize the risk of collisions between the cleaning device and fragile or high-value objects. Upon detecting such objects, the cleaning device will adjust its path at a greater distance to ensure a safe distance from the object throughout the cleaning process. For example, the first distance value could be set to 12 cm. If the cleaning device detects a vase, it will change direction and clean around it at a distance of 12 cm or more.

[0092] The rag tray control strategy is to keep it in place. Because cleaning around fragile or high-value objects generally requires more careful attention, a rag tray swinging outward could inadvertently strike the object, causing damage. Therefore, when passing such objects, the rag tray is kept in place to minimize contact.

[0093] The side brush control strategy includes at least one of: preventing the side brush from swinging outward, stopping the side brush, raising the side brush, or stowing the side brush. When the side brush is swinging outward, rotating, or in a lowered position, there is a risk of contact with the target object. By preventing the side brush from swinging outward, stopping the side brush from rotating, raising the side brush, or stowing the side brush, contact with the target object can be avoided, further ensuring the safety of the target object. For example, when the cleaning device approaches a ceramic object, the side brush will stop rotating and stow away to prevent it from scratching the decorative object.

[0094] Scenario 2: The target object is of the second type.

[0095] The second type of target objects may include at least one of a base, a scale, a floor plug, a shoe rack, etc. These target objects are usually relatively sturdy and can withstand a certain degree of contact and collision. They are often surrounded by areas that require key cleaning and have higher requirements for cleaning effects.

[0096] The user-defined strategy includes at least one of the following: the obstacle avoidance strategy's distance value is less than the second distance value, the dishcloth tray control strategy is an outward swing, and the side brush control strategy includes at least one of an outward swing, a continuous rotation, a non-lifting side brush, and a non-stowed side brush. The second distance is less than or equal to the first distance.

[0097] Because these objects are relatively solid, they don't require the same large obstacle avoidance distance as fragile ones. A smaller obstacle avoidance distance allows the cleaning device to get closer to the object, improving cleaning efficiency. For example, the second distance value can be set to 3 cm. When the cleaning device detects a scale, it will only change its path when it's within 3 cm of the scale, cleaning as close to it as possible.

[0098] The rag pan's control strategy is to swing outward. This allows the rag pan to expand the cleaning area, effectively cleaning the area surrounding the target object. When passing over a target object, such as a base or scale, the rag pan's outward swing allows for a more comprehensive wipe of the surrounding floor, removing dust and stains.

[0099] The side brush control strategy includes at least one of the following: outward swing, continuous rotation, non-lifting, or non-retracting. The outward swing and continuous rotation of the side brush sweep dust and debris around the target object toward the cleaning device's suction port, improving cleaning efficiency. The non-lifting and non-retracting side brush maintains the normal working state of the side brush, maximizing its cleaning effect. For example, when the cleaning device is cleaning around a shoe rack, the side brush swings outward and continuously rotates, sweeping dust and debris around the shoe rack toward the suction port, ensuring a clean floor around the shoe rack.

[0100] Scenario 3: The target object is of the third type.

[0101] The third type of target object includes at least one of the following: chair legs, table legs, and small plants. This type of target object does not require the same level of caution as the first type, nor does it require the same high cleaning efficiency as the second type. The third type of target object falls in a relatively intermediate state, requiring a certain degree of effective cleaning while ensuring safety.

[0102] The user-defined strategy includes at least one of the following: the distance value of the obstacle avoidance distance strategy is greater than or equal to the second distance value and less than the first distance value, the rag tray control strategy is outward swing, and the side brush control strategy includes side brush outward swing.

[0103] The obstacle avoidance strategy's distance value is greater than or equal to the second distance value and less than the first distance value. This distance range ensures that the cleaning device does not easily collide with the target object while still cleaning relatively close to the target object. For example, if the cleaning device detects a chair leg, it will adjust its path within a range of 3-12 cm to avoid the leg while still cleaning the area around it.

[0104] The outward-swinging rag tray allows you to wipe the floor around the target object for better cleaning results. When cleaning around chair legs or table legs, the outward-swinging rag tray provides better coverage to remove dust and stains.

[0105] The side brush swings outward to sweep dust and debris around the target object toward the suction port of the cleaning machine, enhancing cleaning results. When the cleaning machine passes over small plants, the side brush swings outward to sweep fallen leaves and dust around the plants toward the suction port, keeping the surrounding environment clean.

[0106] It should be understood that the above is merely an introduction to user-defined policies based on three possible scenarios. In actual scenarios, the user-defined policy is freely set by the user based on their cleaning needs for the target object. For example, the user can freely select any one or more of the aforementioned policies (i.e., obstacle avoidance distance policy, side brush control policy, dishcloth control policy, sweeping frequency policy, sweeping suction policy, or other policies available on the cleaning device), and is not limited to the three scenarios described above.

[0107] In one possible implementation, when the cleaning device is performing a cleaning task, if at least two conflicting target objects are detected, the cleaning operation corresponding to the user-defined policy associated with the conflicting target object with a higher priority is executed based on the type priority of the at least two conflicting target objects.

[0108] In this implementation, the conflicting target objects are target objects whose distance is less than the preset distance and whose associated user-defined policies are different. For example, when the distance between a vase and a weight scale is close, that is, less than the preset distance, and the cleaning requirements of the vase and the weight scale are quite different, they are usually associated with different user-defined policies to meet their respective cleaning requirements.

[0109] When the cleaning device faces such a conflict situation, it can make a decision based on the type priority of at least two conflicting target objects. Different types of target objects are given different priorities due to their different characteristics and importance. For example, fragile objects usually have a higher priority than ordinary solid objects because it is more critical to protect fragile objects from being damaged. The priority can be uploaded by the user at the same time as uploading the target object, or it can be obtained by the cleaning device based on the material, appearance and other characteristics of different target objects. At this time, the cleaning device can obtain the priority corresponding to each conflicting target object based on multiple conflicting target objects.

[0110] After determining the type priority of the conflicting target objects, the cleaning device can execute the cleaning operation corresponding to the user-defined policy associated with the conflicting target object with a higher priority. That is, when there is a conflict, the cleaning device will give priority to ensuring the safety and cleaning needs of the high-priority target object. For example, if it is detected that the distance between a fragile vase and an ordinary shoe rack is less than the preset distance, and the custom policy associated with the vase requires a larger obstacle avoidance distance and requires the shoe rack to be stored while brushing, etc., while the policy associated with the shoe rack requires a smaller obstacle avoidance distance and requires the shoe rack to be swung outward while brushing, etc., since the vase is a high-priority target object, the cleaning device will perform the cleaning operation according to the user-defined policy associated with the vase, that is, maintain a larger obstacle avoidance distance and store the shoe rack while brushing, to ensure the safety of the vase.

[0111] The method provided in the embodiments of this application, through a decision-making mechanism based on type priority, enables cleaning equipment to make reasonable choices in complex cleaning scenarios, balancing the cleaning needs and safety of different target objects, thereby improving the effectiveness and reliability of cleaning task execution. It also reflects the intelligent nature of cleaning equipment, enabling flexible adjustment of cleaning strategies based on actual conditions to better meet the personalized needs of users.

[0112] Optionally, for user-defined target objects, the cleaning device can also implement a search function during the execution of the cleaning task. For example, the user can determine the target object to be found by selecting a pre-uploaded user-defined target object or instantly uploading a user-defined target object while the cleaning device is performing a cleaning task or before the cleaning task begins. When the cleaning device detects a target object during the execution of a cleaning task, the cleaning device can output the location of the target object through voice prompts, tone prompts, output to the application end, etc., to realize the search function, provide users with a more convenient and efficient search experience, and further enhance the user's satisfaction and dependence on the cleaning device.

[0113] For example, the cleaning device can output a voice prompt through its own voice module to inform the user of the specific location of the target object. For example, the cleaning device can output a voice prompt: "The target object you customized has been detected, located next to the sofa in the living room"; or, the cleaning device can emit a specific prompt sound to attract the user's attention. Different target objects or different detection situations can correspond to different prompt sound patterns. The user can determine which target object the cleaning device has detected based on the characteristics of the prompt sound; or, the cleaning device can transmit the location information of the detected target object to the application end bound to it in real time. On the application end, the user can intuitively see the specific location of the target object on the map, etc.

[0114] Accordingly, this application also includes the details of the data processing method of the application end corresponding to the aforementioned cleaning equipment, as data support for the control method of the aforementioned cleaning equipment. The data processing method of the application end corresponding to the cleaning equipment is introduced in detail below.

[0115] The execution subject of the data processing method provided in this application is the application terminal corresponding to the cleaning device, for example, it can be a mobile phone, computer, tablet computer, wearable device or other electronic device installed with an application that can control the cleaning device. Alternatively, it can be hardware with computing capabilities such as the chip of the above-mentioned electronic device. When the execution subject is an electronic device, a computer program that executes the data processing method can be deployed on the electronic device, and by executing the computer program, the function of providing the cleaning device with user-defined target objects, user-defined strategies associated with target objects, and other data can be realized.

[0116] The following specific embodiments describe in detail the technical solution of the present application and how the technical solution of the present application solves the above-mentioned technical problems. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0117] Figure 3 This is a flow chart of a data processing method provided in an embodiment of the present application. Figure 3 As shown, the method may include:

[0118] S301: Receive object information of a user-defined target object.

[0119] The object information includes image information and / or text description information. This object information is used to match the unfamiliar object with the cleaning device when it detects the unfamiliar object to determine whether the target object has been detected. The specific method of performing object matching using image information and / or text description information can be referred to in the prior art and will not be described in detail in this application.

[0120] The image information may be, for example, a photo or video of the target object, or may be extracted from a photo or video of the target object (such as image features). The text description information may be, for example, text describing the material, size, shape, price, etc. of the target object.

[0121] In one possible implementation, the user may directly input object information into a relevant interface provided by the application. For example, a user may enter a text description into the interface provided by the application, or upload a photo, video, or other image information of the target object into the interface provided by the application (e.g., by selecting an image from an image library or uploading it through an image capture device such as a camera on an electronic device on the application).

[0122] In another possible implementation, object information can be input to the application by the user through another device. For example, a user might capture a photo or video of the target object using an image sensor on a cleaning device, and the application would receive the captured image information from the cleaning device. Another example is a text description of the target object that the user enters through a third-party device (such as a mobile phone or computer) and then sends to the application via that third-party device.

[0123] S302: Receive a user-defined policy associated with a target object.

[0124] In this step, the user-defined policy associated with the target object can be, for example, directly entered by the user in a relevant interface provided by the application. For example, the user-defined policy input interface provided by the application can be automatically displayed after receiving the object information of the user-defined target object, or can be displayed after the user selects an uploaded target object in the application and triggers the modification or addition of a user-defined policy associated with the existing target object.

[0125] After the user inputs the user-defined policy associated with the target object, the user-input information is received to obtain the user-defined policy associated with the target object.

[0126] S303: Send object information and user-defined strategy to the cleaning device.

[0127] One possible implementation method may be to directly send object information and user-defined strategies to the cleaning device.

[0128] Another possible implementation method is to synchronize the object information and user-defined policies to a cloud server, and the cloud server forwards the object information and user-defined policies to the corresponding cleaning devices.

[0129] Next, taking the case where the object information is directly input by the user in the relevant interface provided by the application end as an example, how to receive the object information of the user-defined target object in the aforementioned step S301 will be described in detail. Figure 4 A flow chart of another data processing method provided in an embodiment of the present application. Figure 4 As shown, the aforementioned step S301 may specifically include:

[0130] S401: In response to a user operation, display a target object management interface.

[0131] The target object management interface includes a target object addition component, which is used to manage user-defined target objects that can be identified by the cleaning device. Users can add, modify, delete, and other operations on target objects through the target object management interface.

[0132] In this step, the target object management interface may be triggered to display in response to the user's selection operation in the application side.

[0133] For example, Figure 5 This is a schematic diagram of the structure of an application interface provided in an embodiment of the present application. Figure 5 As shown, the application interface includes adding target object components, namely Figure 5 The component in the "Add custom item" position in the . This component is used to trigger the subsequent operation of adding the target object. Figure 5 If there is a target object that has been added, Figure 5 The middle area within the can display a list of added target objects (i.e. Figure 5 ), so that users can add, modify, delete, and other operations on target objects through the target object management interface.

[0134] Optionally, for the custom item 1 initially selected by the user (for example, when the user clicks on this part, the user-defined policy associated with the custom item 1 or part of the custom policy content will pop up).

[0135] Optionally, for each target object in the target object list (such as "Customized Item 1", "Customized Item 2", "Customized Item 3", etc.), the switch component on the right can be used to control whether the cleaning device enables its associated user-defined strategy when detecting the corresponding target object, so as to further improve user freedom.

[0136] S402: In response to the user triggering an operation of adding a target object component, a target object adding method sub-interface is displayed.

[0137] The target object adding method sub-interface includes at least one of a video recording component, a photo taking component, a local upload component, and a description text input component. The video recording component is used to trigger the image collector (such as a camera) on the application side to record a video to obtain a video including the target object; the photo taking component is used to trigger the image collector (such as a camera) on the application side to take a photo to obtain a photo including the target object; the local upload component is used to jump to the image library to obtain a video or photo including the target object based on the user's selection. The description text input component can be, for example, a text input box in which the user can directly enter the descriptive text information of the target object.

[0138] In this step, the user triggers the operation of adding the target object component, for example, by clicking the aforementioned Figure 5 After the user triggers the add target object component, the user can jump to the target object add method sub-interface, or pop up the target object add method sub-interface, etc., to display the target object add method sub-interface.

[0139] For example, Figure 6 This is a structural diagram of another application interface provided in the embodiment of the present application. Figure 6 As shown, the interface includes Figure 5 The "Add Custom Item" sub-interface pops up based on the previous interface. In this sub-interface, recording videos corresponds to the Record Video component, taking photos corresponds to the Take Photo component, and uploading locally corresponds to the Upload Local component. Users can trigger the corresponding process of uploading the target item by selecting one of these components.

[0140] S403: In response to the user's selection operation in the target object adding mode sub-interface, receive object information in the target object adding mode selected by the user.

[0141] Among them, the target object adding method is the video recording method, photo taking method, local upload method, and description text upload method mentioned in the previous step.

[0142] Optionally, when uploading the target object information by recording a video or taking a photo, a shooting guide sub-interface may be displayed to guide the user on how to record the video or take the photo. Figure 7 This is a structural diagram of another application interface provided in the embodiment of the present application. Figure 7 As shown, the shooting guidance sub-interface can be shown as the sub-interface corresponding to "How to add custom items" in the figure, which can include shooting guidance animated pictures, animations, etc., and can also include text guidance, attention prompts, etc.

[0143] Optionally, after the object information is uploaded, an information confirmation page may be displayed. On the information confirmation page, the name of the target object may be customized to more clearly identify the target object.

[0144] In the following, taking the case where the user-defined policy is directly input by the user in the relevant interface provided by the application end as an example, how to receive the user-defined policy associated with the target object in the aforementioned step S302 is described in detail. Figure 8 A flow chart of another data processing method provided in the embodiment of the present application. Figure 8 As shown, the aforementioned step S302 may specifically include:

[0145] S801: Display a custom policy configuration interface for a target object.

[0146] The custom strategy configuration interface includes a strategy parameter configuration component, which includes at least one of an obstacle avoidance strategy component and a cleaning strategy component. In one possible implementation, the obstacle avoidance strategy component includes an obstacle avoidance distance strategy subcomponent, and / or the cleaning strategy component includes at least one of a cleaning component control strategy subcomponent, a cleaning times strategy subcomponent, and a cleaning suction strategy subcomponent. The cleaning component control strategy subcomponent includes at least one of a side brush control strategy module and a rag tray control strategy module.

[0147] It should be understood that the above is only an exemplary introduction to the content of a policy parameter configuration component. If the cleaning device includes other configurable policy parameters, the policy parameter configuration component may also include components corresponding to the other configurable policy parameters.

[0148] For example, Figure 9 This is a structural diagram of another application interface provided in the embodiment of the present application. Figure 9 As shown, the custom strategy configuration interface includes the obstacle avoidance distance strategy subcomponent (i.e., the obstacle avoidance distance component), the cleaning frequency strategy subcomponent (i.e., the cleaning frequency component), the cleaning suction strategy subcomponent (i.e., the suction component), the side brush control strategy module (i.e., the side brush component), and the rag plate control strategy module (i.e., the rag plate component). The obstacle avoidance distance strategy subcomponent offers three obstacle avoidance distance settings for users to choose from; the cleaning frequency strategy subcomponent allows users to freely select any cleaning frequency. The cleaning suction strategy subcomponent, side brush control strategy module, and rag plate control strategy module are similar to the previous two subcomponents and will not be further described here.

[0149] Optionally, the obstacle avoidance distance strategy subcomponent, cleaning frequency strategy subcomponent, and cleaning suction force strategy subcomponent can also allow users to enter specific obstacle avoidance distance, cleaning frequency, and cleaning suction force values ​​through numeric input boxes and sliders. The side brush control strategy module and the mop tray control strategy module can also add specific settings such as the swing angle and lift height.

[0150] S802: In response to the user's selection of a policy parameter configuration component, determine a user-defined policy associated with the target object.

[0151] The user can customize or select various parameters in various sub-components or modules included in the above-mentioned custom policy configuration interface to complete the setting of the user-defined policy associated with the target object.

[0152] The method provided in the embodiment of the present application receives object information of a user-defined target object, receives a user-defined policy associated with the target object, and then sends the object information and the user-defined policy to the cleaning device, so that the cleaning device has the ability to identify unfamiliar objects other than pre-set objects, and can control the cleaning device to execute the user-defined cleaning policy after detecting the unfamiliar object based on the user-defined cleaning policy corresponding to the unfamiliar object, thereby expanding the cleaning policy of the cleaning device, improving the applicability and scalability of the cleaning device, and improving the user experience.

[0153] Optionally, before receiving the user-defined policy associated with the target object, a recommended policy may be provided to the user based on the object information of the target object to assist the user in inputting the user-defined policy associated with the target object.

[0154] In this implementation, after receiving the object information of the user-defined target object and before receiving the user-defined policy associated with the target object, a recommended policy can be output based on the object information. The recommended policy can be presented, for example, by popping up a recommendation window or by providing corresponding recommended parameters in the area corresponding to each control parameter in the custom policy configuration interface.

[0155] Specifically, the target object's type can be determined by analyzing its object information, and different recommendation strategies can be set for different types of target objects. For example, the target object's type can be determined using image recognition technology and a pre-built object knowledge base. The specific methods for determining the target object's type using image recognition technology and a pre-built object knowledge base can be referenced in related prior art and will not be elaborated here.

[0156] Furthermore, the object information of the target object may be analyzed to determine at least one of a shape feature and a material feature of the target object, and the object type of the target object may be obtained based on the analysis of at least one of the shape feature and the material feature.

[0157] For example, image recognition technology can be used to analyze the target object's object information. If the object information includes an image of the target object, the image recognition algorithm can be used to extract the target object's shape features. If the target object is identified as having sharp features, it can be determined to be an object type that requires a longer obstacle avoidance distance. If the target object is identified as having regular shapes such as cubes or cylinders, it can be determined to be an object type that can maintain a closer obstacle avoidance distance.

[0158] The material characteristics of the target object can be obtained through the text description information in the object information. For target objects made of fragile materials, they can be judged as the object type that requires a longer obstacle avoidance distance; for target objects made of non-fragile materials, they can be judged as the object type that can maintain a shorter obstacle avoidance distance, etc.

[0159] Correspondingly, factors other than the obstacle avoidance distance can also be used to classify the target object based on similar concepts, and then the type of the target object can be determined based on the comprehensive analysis results of these classifications.

[0160] To facilitate understanding, the following introduces the recommendation strategy through three exemplary situations:

[0161] Case 1: The object type is the first type.

[0162] The recommended strategies include at least one of the following: the distance value of the recommended obstacle avoidance strategy is greater than or equal to the first distance value, the recommended rag plate control strategy is not to swing outward, and the recommended side brush control strategy includes at least one of the side brush not swinging outward, the side brush stopping, the side brush lifting, and the side brush storage.

[0163] Case 2: The object type is the second type.

[0164] The recommended strategies include at least one of the following: the distance value of the recommended obstacle avoidance strategy is less than the second distance value, the recommended rag plate control strategy is outward swing, and the recommended side brush control strategy includes at least one of side brush outward swing, side brush continuous rotation, side brush not lifting, and side brush not retracting.

[0165] Case 3: The object type is the third type.

[0166] The recommended strategies include at least one of the following: the distance value of the recommended obstacle avoidance strategy is greater than or equal to the second distance value and less than the first distance value, the recommended rag tray control strategy is outward swing, and the recommended side brush control strategy includes side brush outward swing.

[0167] The above three exemplary situations are essentially the same as the three exemplary scenarios corresponding to the aforementioned user-defined policies, and will not be repeated here. The only difference between the two is that the policy determined here is the recommended policy, while the aforementioned scenarios 1, 2, and 3 introduce three possible user-defined policies.

[0168] The method provided in the embodiment of the present application outputs a recommended strategy based on the object information after receiving the object information of the user-defined target object and before receiving the user-defined strategy associated with the target object, so as to assist the user in customizing a user-defined strategy that is more compatible with the target object, thereby reducing the problem of poor rationality of the user-defined strategy caused by insufficient user experience, thereby further improving the effect and efficiency of the cleaning equipment in cleaning the target object or the vicinity of the target object based on the user-defined strategy.

[0169] Figure 10 This is a schematic diagram of the structure of a control device for a cleaning device provided in an embodiment of the present application. Figure 10 As shown, the control device of the cleaning equipment may include: an acquisition module 11 and a control module 12.

[0170] The acquisition module 11 is used to acquire a target policy associated with the target object if a user-defined target object is detected during the cleaning task performed by the cleaning device. The target policy is generated based on the user-defined policy and the cloud policy associated with the target object.

[0171] The control module 12 is configured to perform a cleaning operation on the surrounding area of ​​the target object based on the target strategy.

[0172] Optionally, both the user-defined strategy and the cloud strategy include at least one of the following: obstacle avoidance strategy and cleaning strategy.

[0173] Optionally, the obstacle avoidance strategy includes an obstacle avoidance distance strategy. And / or, the cleaning strategy includes at least one of a cleaning component control strategy, a cleaning times strategy, and a cleaning suction strategy, and the cleaning component control strategy includes at least one of a side brush control strategy and a rag tray control strategy.

[0174] Optionally, when the target object is of the first type, the user-defined strategy includes at least one of the following: the distance value of the obstacle avoidance distance strategy is greater than or equal to the first distance value, the rag plate control strategy is that the rag plate does not swing outward, and the side brush control strategy includes at least one of the side brush not swinging outward, the side brush stopping, the side brush lifting, and the side brush storing.

[0175] Optionally, the first type of target object includes a fragile object.

[0176] Optionally, when the target object is of the second type, the user-defined strategy includes at least one of the following: the distance value of the obstacle avoidance distance strategy is less than the second distance value, the second distance is less than or equal to the first distance, the rag plate control strategy is outward swing, and the side brush control strategy includes at least one of the side brush outward swing, the side brush continuously rotating, the side brush not lifting, and the side brush not storing.

[0177] Optionally, the second type of target object includes at least one of a base and a weight scale.

[0178] Optionally, the acquisition module 11 is specifically configured to acquire a cloud policy from a cloud server of the cleaning device according to the target object, and generate a target policy based on the cloud policy and the user-defined policy.

[0179] Optionally, the acquisition module 11 is specifically configured to determine, based on the cloud policy, a difference in at least one control parameter between the user-defined policy and the cloud policy. If a target control parameter difference exists that is greater than or equal to a preset difference threshold, the target control parameter in the user-defined policy is adjusted to a recommended parameter to generate a target policy, where the recommended parameter is determined based on the cloud policy. If a target control parameter difference does not exist that is greater than or equal to the preset difference threshold, the user-defined policy is used as the target policy.

[0180] Optionally, the acquisition module 11 is specifically configured to acquire a target strategy from a cloud server of the cleaning device according to the target object, or acquire a target strategy from an application end of the cleaning device according to the target object.

[0181] Optionally, the control module 12 is also used to, when the cleaning device is performing a cleaning task, if at least two conflicting target objects are detected, execute the cleaning operation corresponding to the user-defined policy associated with the conflicting target object with a higher priority based on the type priority of the at least two conflicting target objects. The conflicting target object is a target object whose distance is less than a preset distance and whose associated user-defined policies are different.

[0182] Optionally, the control module 12 is further configured to output the position of the target object.

[0183] The control device for cleaning equipment provided in the embodiment of the present application can execute the control method for cleaning equipment in the above method embodiment. Its implementation principle and technical effects are similar and will not be repeated here.

[0184] Figure 11 This is a structural diagram of a data processing device provided in an embodiment of the present application. Figure 11 As shown, the data processing device may include: a first receiving module 21 , a second receiving module 22 , and a sending module 23 . In a possible implementation, it may further include a display module 24 and an output module 25 .

[0185] The first receiving module 21 is configured to receive object information of a user-defined target object, where the object information includes image information and / or text description information.

[0186] The second receiving module 22 is configured to receive a user-defined policy associated with a target object.

[0187] The sending module 23 is used to send object information and user-defined strategies to the cleaning device.

[0188] Optionally, a display module 24 is configured to display a custom policy configuration interface for the target object, the custom policy configuration interface including a policy parameter configuration component, which includes at least one of an obstacle avoidance policy component and a cleaning policy component. A second receiving module 22 is specifically configured to determine the user-defined policy associated with the target object in response to a user selection of a policy parameter configuration component.

[0189] Optionally, the obstacle avoidance strategy component includes an obstacle avoidance distance strategy sub-component, and / or the cleaning strategy component includes at least one of a cleaning component control strategy sub-component, a cleaning times strategy sub-component, and a cleaning suction strategy sub-component, and the cleaning component control strategy sub-component includes at least one of a side brush control strategy module and a rag plate control strategy module.

[0190] Optionally, before receiving the user-defined policy associated with the target object, the output module 25 is configured to output a recommended policy based on the object information, where the recommended policy is used to assist the user in inputting the user-defined policy associated with the target object.

[0191] Optionally, the recommendation strategy is related to the object type of the target object, and the object type is related to the object information.

[0192] Optionally, the object type is related to at least one of a shape feature and a material feature of the target object in the object information.

[0193] Optionally, the object type is the first type, and the recommended strategy includes at least one of the following: the distance value of the recommended obstacle avoidance strategy is greater than or equal to the first distance value, the recommended rag plate control strategy is not to swing outward, and the recommended side brush control strategy includes at least one of the side brush not swinging outward, the side brush stopping, the side brush lifting, and the side brush storing.

[0194] Optionally, the first type of target object includes a fragile object.

[0195] Optionally, the object type is the second type, and the recommended strategy includes at least one of the following: the distance value of the recommended obstacle avoidance strategy is less than the second distance value, the recommended rag plate control strategy is outward swing, and the recommended side brush control strategy includes at least one of side brush outward swing, side brush continuous rotation, side brush not lifting, and side brush not retracting.

[0196] Optionally, the second type of target object includes at least one of a base and a weight scale.

[0197] Optionally, the display module 24 is further configured to display a target object management interface in response to a user operation, the target object management interface including an add target object component. In response to a user triggering the add target object component, a target object adding method sub-interface is displayed, the target object adding method sub-interface including at least one of a video recording component, a photo capture component, a local upload component, and a description text input component. The first receiving module 21 is specifically configured to receive object information using the target object adding method selected by the user in response to a user selection in the target object adding method sub-interface.

[0198] Optionally, in the case where the object information includes image information, the image information is extracted from a received image, and the image is captured by a cleaning device.

[0199] The data processing device provided in the embodiment of the present application can execute the data processing method in the above method embodiment. Its implementation principle and technical effects are similar and will not be repeated here.

[0200] Figure 12 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. The electronic device is used to execute the control method or data processing method of the cleaning device mentioned above. Figure 12 As shown, the electronic device 1200 may include: at least one processor 1201 , a memory 1202 , and a communication interface 1203 .

[0201] The memory 1202 is used to store programs. Specifically, the programs may include program codes, and the program codes include computer operating instructions.

[0202] The memory 1202 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.

[0203] Processor 1201 is configured to execute computer-executable instructions stored in memory 1202 to implement the method described in the aforementioned method embodiment. Processor 1201 may be a CPU, an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present application.

[0204] Processor 1201 can communicate with external devices via communication interface 1203. These external devices may be, for example, the other electronic devices mentioned above. In a specific implementation, if communication interface 1203, memory 1202, and processor 1201 are implemented independently, they may be interconnected via a bus to facilitate communication. The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus. Buses can be categorized as address buses, data buses, and control buses, but this does not necessarily mean there is only one bus or only one type of bus.

[0205] Optionally, in a specific implementation, if the communication interface 1203, the memory 1202 and the processor 1201 are integrated on a chip, the communication interface 1203, the memory 1202 and the processor 1201 can complete communication through an internal interface.

[0206] The present application also provides a cleaning device, which is used to execute the control method of the cleaning device in the above embodiment.

[0207] The present application also provides a computer-readable storage medium, which may include: a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a disk or an optical disk, and other media that can store program codes. Specifically, the computer-readable storage medium stores program instructions, and the program instructions are used for the methods in the above embodiments.

[0208] The present application also provides a program product, which includes execution instructions stored in a readable storage medium. At least one processor of a computing device can read the execution instructions from the readable storage medium, and at least one processor executes the execution instructions so that the computing device implements the method in the above embodiment.

[0209] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some or all of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A method for controlling a cleaning device, characterized in that: The method comprises: During the process of the cleaning device performing a cleaning task, if a user-defined target object is detected, a target policy associated with the target object is obtained, where the target policy is generated based on the user-defined policy and the cloud policy associated with the target object; A cleaning operation is performed on the surrounding area of ​​the target object based on the target strategy.

2. The method according to claim 1, characterized in that The user-defined strategy and the cloud strategy both include at least one of the following: an obstacle avoidance strategy and a cleaning strategy.

3. The method according to claim 2, characterized in that The obstacle avoidance strategy includes an obstacle avoidance distance strategy; And / or, the cleaning strategy includes at least one of a cleaning component control strategy, a cleaning times strategy, and a cleaning suction strategy, and the cleaning component control strategy includes at least one of a side brush control strategy and a rag plate control strategy.

4. The method according to claim 3, characterized in that When the target object is of the first type, the user-defined strategy includes at least one of the following: the distance value of the obstacle avoidance distance strategy is greater than or equal to the first distance value, the rag plate control strategy is that the rag plate does not swing outward, and the side brush control strategy includes at least one of the side brush not swinging outward, the side brush stopping, the side brush lifting, and the side brush storing.

5. The method according to claim 4, characterized in that The first type of target objects includes fragile objects.

6. The method according to claim 3, characterized in that When the target object is of the second type, the user-defined strategy includes at least one of the following: the distance value of the obstacle avoidance distance strategy is less than the second distance value, the second distance is less than or equal to the first distance, the rag plate control strategy is outward swing, and the side brush control strategy includes at least one of side brush outward swing, side brush continuous rotation, side brush not lifting, and side brush not storage.

7. The method according to claim 6, characterized in that The second type of target object includes at least one of a base and a weight scale.

8. The method according to claim 1, characterized in that The acquiring the target policy associated with the target object includes: Obtaining the cloud strategy from the cloud server of the cleaning device according to the target object; The target policy is generated based on the cloud policy and the user-defined policy.

9. The method according to claim 8, characterized in that The generating the target policy based on the cloud policy and the user-defined policy includes: Based on the cloud policy, determining a difference in at least one control parameter between the user-defined policy and the cloud policy; If there is a target control parameter difference that is greater than or equal to a preset difference threshold, adjusting the target control parameter in the user-defined policy to a recommended parameter to generate the target policy, where the recommended parameter is determined based on the cloud policy; If there is no target control parameter difference greater than or equal to the preset difference threshold, the user-defined strategy is used as the target strategy.

10. The method according to claim 1, characterized in that The acquiring the target policy associated with the target object includes: Obtaining the target strategy from the cloud server of the cleaning device according to the target object; Alternatively, the target strategy is obtained from the application end of the cleaning device according to the target object.

11. The method according to claim 1, wherein The method further comprises: During the process of the cleaning device performing a cleaning task, if at least two conflicting target objects are detected, the cleaning operation corresponding to the user-defined policy associated with the conflicting target object with a higher priority is executed based on the type priority of the at least two conflicting target objects. The conflicting target object is a target object whose distance is less than a preset distance and whose associated user-defined policies are different.

12. The method according to claim 1, characterized in that The method further comprises: Output the position of the target object.

13. A data processing method, characterized in that: The method comprises: Receiving object information of a user-defined target object, wherein the object information includes image information and / or text description information; receiving a user-defined policy associated with the target object; The object information and the user-defined strategy are sent to the cleaning device.

14. The method according to claim 13, characterized in that The receiving the user-defined policy associated with the target object includes: Displaying a custom strategy configuration interface for the target object, wherein the custom strategy configuration interface includes a strategy parameter configuration component, and the strategy parameter configuration component includes at least one of an obstacle avoidance strategy component and a cleaning strategy component; In response to the user's selection of the policy parameter configuration component, the user-defined policy associated with the target object is determined.

15. The method according to claim 14, characterized in that The obstacle avoidance strategy component includes an obstacle avoidance distance strategy subcomponent; And / or, the cleaning strategy component includes at least one of a cleaning component control strategy subcomponent, a cleaning times strategy subcomponent, and a cleaning suction strategy subcomponent, and the cleaning component control strategy subcomponent includes at least one of a side brush control strategy module and a rag plate control strategy module.

16. The method according to claim 13, characterized in that Before receiving the user-defined policy associated with the target object, the method further includes: A recommended strategy is output according to the object information, where the recommended strategy is used to assist the user in inputting a user-defined strategy associated with the target object.

17. The method according to claim 16, characterized in that The recommendation strategy is related to the object type of the target object, and the object type is related to the object information.

18. The method according to claim 17, characterized in that The object type is related to at least one of a shape feature and a material feature of the target object in the object information.

19. The method according to claim 18, characterized in that The object type is the first type, and the recommended strategy includes at least one of the following: the distance value of the recommended obstacle avoidance strategy is greater than or equal to the first distance value, the recommended rag plate control strategy is not to swing outward, and the recommended side brush control strategy includes at least one of the side brush not swinging outward, the side brush stopping, the side brush lifting, and the side brush storing.

20. The method according to claim 19, characterized in that The first type of target objects includes fragile objects.

21. The method according to claim 19, wherein The object type is the second type, and the recommended strategy includes at least one of the following: the distance value of the recommended obstacle avoidance strategy is less than the second distance value, the recommended rag plate control strategy is outward swing, and the recommended side brush control strategy includes at least one of side brush outward swing, side brush continuous rotation, side brush not lifting, and side brush not storing.

22. The method according to claim 21, characterized in that The second type of target object includes at least one of a base and a weight scale.

23. The method according to claim 13, wherein The receiving of the object information of the user-defined target object includes: In response to the user's operation, displaying a target object management interface, wherein the target object management interface includes an add target object component; In response to the user triggering the operation of adding the target object component, displaying a target object adding method sub-interface, wherein the target object adding method sub-interface includes at least one of a video recording component, a photo taking component, a local upload component, and a description text input component; In response to the user's selection operation in the target object adding mode sub-interface, the object information is received in the target object adding mode selected by the user.

24. The method according to claim 23, wherein In the case where the object information includes the image information, the image information is extracted from a received image, and the image is captured by the cleaning device.

25. A control device for cleaning equipment, characterized in that: The device comprises: an acquisition module, configured to acquire a target policy associated with a user-defined target object if a user-defined target object is detected during the cleaning task performed by the cleaning device, wherein the target policy is generated based on a user-defined policy and a cloud policy associated with the target object; A control module is configured to perform a cleaning operation on an area surrounding the target object based on the target strategy.

26. A data processing device, characterized in that: The device comprises: A first receiving module is configured to receive object information of a user-defined target object, wherein the object information includes image information and / or text description information; A second receiving module is used to receive a user-defined policy associated with the target object; The sending module is used to send the object information and the user-defined strategy to the cleaning device.

27. An electronic device, characterized in that: include: a processor, and a memory communicatively connected to the processor; The memory stores computer-executable instructions; The processor executes the computer-executable instructions stored in the memory to implement the method according to any one of claims 1 to 24.

28. A cleaning device, characterized in that: The cleaning device is used to perform the method according to any one of claims 1 to 12.

29. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer-executable instructions, which are used to implement the method according to any one of claims 1 to 24 when executed by a processor.

30. A computer program product, characterized in that When the computer program product is executed by a processor, it is used to implement the method according to any one of claims 1 to 24.

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