Cleaning equipment control method and device based on mop module in-place state and medium

Abstract

The invention discloses a cleaning equipment control method and device based on the in-place state of a mop module and a medium. The method comprises the steps that the in-place state of the mop module in cleaning equipment is monitored; when it is monitored that the mop module is in the falling state, the searching position of the mop module is determined; and controlling a mop module connecting mechanism of the cleaning equipment, and executing mop module mounting operation at the searching position so as to try to mount the mop module. According to the sweeping robot, the in-place state of the mop module is monitored, and when it is monitored that the mop module falls off, the mop module is automatically searched and tried to be installed, so that the problem that the mop of an existing sweeping robot falls off is solved, and the situation that the sweeping effect is affected due to falling of the mop is avoided.

Description

Technical Field

[0001] The present application relates to the technical field of smart home appliances, and in particular to a cleaning equipment control method and device, and a storage medium based on the in-place state of a mop module. Background Art

[0002] Cleaning equipment such as robot vacuums typically include a mop module, which attaches and uses the mop to perform cleaning operations. Existing robot vacuums typically use suction cups or a fitted design to secure the mop to the robot's base. However, during movement or cleaning, the mop may lose its secure hold due to vibrations or collisions. This can cause the mop to fall off, leaving some areas untouched and affecting cleaning performance. Summary of the Invention

[0003] In view of this, the embodiments of the present application provide a cleaning equipment control method, device, and storage medium based on the in-place status of the mop module. By monitoring the in-place status of the mop module and automatically searching for and attempting to install the mop module when the mop module is detected to have fallen, the problem of the mop falling off in the existing sweeping robot is solved, and the cleaning effect is avoided from being affected by the falling mop.

[0004] According to one aspect of the present application, a method for controlling a cleaning device based on the mop module being in place is provided, wherein the method comprises:

[0005] Monitor the status of the mop module in the cleaning equipment;

[0006] When it is detected that the mop module is in a falling state, determining a search position of the mop module;

[0007] The mop module connecting mechanism of the cleaning device is controlled to perform a mop module installation operation at the search position to attempt to install the mop module.

[0008] Optionally, when it is detected that the mop module is in a falling state, determining the search position of the mop module includes:

[0009] When it is monitored that the mop module is in a falling state and the cleaning device is currently in a stationary state, the current position of the cleaning device is determined as the fixed search position of the mop module, wherein the search position includes the fixed search position.

[0010] Optionally, when it is monitored that the mop module is in a falling state and the cleaning device is currently in a moving state, the moving trajectory of the cleaning device is determined as the search trajectory of the mop module, wherein the search position includes the search trajectory.

[0011] Optionally, when it is monitored that the mop module is in a falling state and the cleaning device is currently in a moving state, the search interval of the mop module is determined based on the detection data of a preset detection module of the cleaning device, wherein the preset detection module includes a visual module and / or an electronic tag sensing module, and the search position includes the search interval.

[0012] Optionally, when the search position is the fixed search position, controlling the mop module connection mechanism of the cleaning device to perform the mop module installation operation at the search position includes:

[0013] At the fixed search position, controlling the mop module connecting mechanism of the cleaning device to descend and performing the mop module installation operation;

[0014] When it is detected that the mop module is installed successfully, the cleaning device is controlled to perform an obstacle avoidance action, and when the obstacle avoidance action is completed, the mop module connecting mechanism is controlled to rise.

[0015] Optionally, the obstacle avoidance action includes a rotation obstacle avoidance action or a movement obstacle avoidance action.

[0016] Optionally, controlling the cleaning device to perform a rotation obstacle avoidance action includes:

[0017] Based on the relative position of the dropped mop module on the cleaning device, a target rotation direction is determined, and the cleaning device is controlled to rotate toward the target rotation direction by a preset angle.

[0018] Optionally, controlling the cleaning device to perform a moving obstacle avoidance action includes:

[0019] Based on the relative position of the dropped mop module on the cleaning device, a target moving direction is determined, and the cleaning device is controlled to move a preset distance in the target moving direction.

[0020] Optionally, when the search position is the search track, controlling the mop module connection mechanism of the cleaning device to perform a mop module installation operation at the search position includes:

[0021] The cleaning device is controlled to move along the search trajectory, and during the movement process, the mop module connecting mechanism is controlled to perform installation exploration every time a preset distance is moved until it is detected that the mop module is successfully installed or the movement along the search trajectory is completed, wherein the installation exploration includes controlling the mop module connecting mechanism to descend and perform the mop module installation operation, and controlling the mop module connecting mechanism to rise when the mop module is not detected to be successfully installed.

[0022] Optionally, when the search position is the search interval, controlling the mop module connection mechanism of the cleaning device to perform a mop module installation operation at the search position includes:

[0023] After controlling the cleaning device to move to the search interval, traverse the search interval to perform installation exploration until it is detected that the mop module is successfully installed or the traversal of the search interval is ended, wherein the installation exploration includes controlling the mop module connecting mechanism to descend and perform the mop module installation operation, and controlling the mop module connecting mechanism to rise when the mop module is not detected to be successfully installed.

[0024] Optionally, the method of controlling the mop module connection mechanism of the cleaning device, before performing the mop module installation operation at the search position, further comprises:

[0025] Recording the current equipment working data of the cleaning equipment, wherein the equipment working data includes working position and working progress;

[0026] Accordingly, the method for controlling the mop module connection mechanism of the cleaning device, after performing the mop module installation operation at the search position, further includes:

[0027] When it is detected that the mop module is installed successfully, the cleaning device is controlled to resume operation based on the device working data.

[0028] Optionally, the method of controlling the mop module connection mechanism of the cleaning device, after performing the mop module installation operation at the search position, further comprises:

[0029] If it is not detected that the mop module is installed successfully, a mop module drop prompt message is output based on the search position.

[0030] Optionally, the method further includes:

[0031] When it is detected that the mop module is in a falling state, obtaining the working state data of the cleaning device as falling state data;

[0032] When it is detected that the mop module is successfully installed, obtaining a drop position of the mop module, and determining drop information of the mop module based on the drop position and the drop status data;

[0033] Adding the drop information to the historical drop information, and updating the easy-to-drop area information corresponding to the mop module according to the historical drop information;

[0034] Accordingly, the method further comprises:

[0035] During operation of the cleaning device, detecting whether the cleaning device is located in an easy-to-fall area based on the easy-to-fall area information;

[0036] When the cleaning device is located in the easy-to-fall area, the mop module is controlled according to an anti-falling strategy.

[0037] Optionally, updating the easy-to-drop area information corresponding to the mop module according to the historical drop information includes:

[0038] If the drop location corresponding to the newly added drop information is in any easy-to-drop area, then update the easy-to-drop area based on the drop area corresponding to the drop location;

[0039] If the drop location corresponding to the newly added drop information is within any historical drop area, then based on the drop area corresponding to the drop location, update the aforementioned historical drop area, and increase the number of drop statistics corresponding to the aforementioned historical drop area by one. When the number of drop statistics corresponding to the aforementioned historical drop area is greater than a preset number, mark the aforementioned historical drop area as a high-prone drop area.

[0040] Otherwise, a historical drop area is generated based on the drop area corresponding to the drop position.

[0041] Optionally, controlling the mop module according to the anti-drop strategy includes:

[0042] In response to a demand for raising or lowering the mop module, the cleaning device is controlled to stay in place, and the mop module is directly controlled to complete the raising or lowering action, or the cleaning device is controlled to perform an obstacle avoidance action and then the mop module is controlled to complete the raising or lowering action, and after the mop module completes the raising or lowering action, the cleaning device resumes operation; and / or,

[0043] In response to the lifting demand for the mop module, based on the easy-to-fall area, output mop module falling risk prompt information.

[0044] Optionally, the falling state data includes falling posture data of the cleaning device; the directly controlling the mop module to complete the lifting action, or controlling the cleaning device to perform an obstacle avoidance action and then controlling the mop module to complete the lifting action, includes:

[0045] If the current posture data of the cleaning device does not match the falling posture data, directly controlling the mop module to complete the lifting action;

[0046] If the current posture data of the cleaning device matches the falling posture data, the cleaning device is controlled to perform an obstacle avoidance action and then the mop module is controlled to complete a lifting action.

[0047] Optionally, the falling state data further includes information about a falling mop module; and controlling the cleaning device to perform an obstacle avoidance action and then controlling the mop module to complete a lifting action includes:

[0048] Determine the obstacle avoidance rotation direction according to the dropped mop module information, control the cleaning device to rotate based on the obstacle avoidance rotation direction, and then control the mop module to complete the lifting action; or,

[0049] The obstacle avoidance movement direction is determined according to the dropped mop module information, and after the cleaning device is controlled to move based on the obstacle avoidance movement direction, the mop module is controlled to complete the lifting action.

[0050] Optionally, when it is detected that the mop module is in a falling state, determining the search position of the mop module includes:

[0051] In a case where the current working mode of the cleaning device includes mopping, when it is detected that the mop module is not in the in-position state, determining that the mop module is in the dropped state;

[0052] In a case where the current working mode of the cleaning device does not include mopping, when it is monitored that the mop module is not in the in-place state, it is determined that the mop module is in the disassembled state.

[0053] Optionally, after determining that the mop module is in the disassembled state, the method further includes:

[0054] Recording the disassembly position of the mop module;

[0055] When the current working mode of the cleaning device is restored to include mopping work, the cleaning device is controlled to move to the disassembly position to perform the mop module installation operation, and after confirming that the mop module is successfully installed, the operation of the cleaning device is restored; or

[0056] When the cleaning device enters the return mode, the cleaning device is controlled to move to the disassembly position to perform the mop module installation operation, and after confirming that the mop module is successfully installed, the cleaning device is controlled to return to the pile; or,

[0057] When the cleaning device enters the return mode, the cleaning device is controlled to return to the pile, and a mop module disassembly prompt information is output based on the disassembly position.

[0058] According to another aspect of the present application, a cleaning equipment control device based on the mop module in-position state is provided, characterized in that the device includes:

[0059] A status monitoring module is used to monitor the status of the mop module in the cleaning equipment;

[0060] a position determination module, configured to determine a search position of the mop module when detecting that the mop module is in a falling state;

[0061] The mop installation module is used to control the mop module connection mechanism of the cleaning device to perform a mop module installation operation at the search position to try to install the mop module.

[0062] According to another aspect of the present application, a storage medium is provided, on which a computer program is stored. When the program is executed by a processor, the cleaning device control method based on the mop module in-place state is implemented.

[0063] According to another aspect of the present application, a cleaning device is provided, including a storage medium, a processor, and a computer program stored on the storage medium and executable on the processor. When the processor executes the program, the cleaning device control method based on the in-place state of the mop module is implemented.

[0064] By utilizing the above-mentioned technical solution, the embodiments of the present application provide a cleaning equipment control method, device, and medium based on the mop module's in-place status. By monitoring the mop module's in-place status and automatically searching for and attempting to install the mop module upon detecting its detachment, the method solves the problem of mop detachment in existing sweeping robots and prevents the impact of the mop detachment on the cleaning effect. Furthermore, upon detecting the detachment of the mop module, the embodiment first determines the search location and then searches for the mop module within the range defined by the search location, eliminating the need to search across the entire room, thus saving time and improving search efficiency.

[0065] The above description is only an overview of the technical solution of the present application. In order to more clearly understand the technical means of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0066] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0067] Figure 1 A flow chart of a method for controlling a cleaning device based on the mop module being in place is shown in an embodiment of the present application;

[0068] Figure 2 A flow chart of another method for controlling a cleaning device based on the mop module being in place is shown in an embodiment of the present application;

[0069] Figure 3 A flow chart of another method for controlling a cleaning device based on the mop module being in place is shown in an embodiment of the present application;

[0070] Figure 4 A flow chart of another method for controlling a cleaning device based on the mop module being in place is shown in an embodiment of the present application;

[0071] Figure 5 A flow chart of another method for controlling a cleaning device based on the mop module being in place is shown in an embodiment of the present application;

[0072] Figure 6 A flow chart of another method for controlling a cleaning device based on the mop module being in place is shown in an embodiment of the present application;

[0073] Figure 7 A structural schematic diagram of a cleaning equipment control device based on the in-place state of a mop module provided in an embodiment of the present application is shown. DETAILED DESCRIPTION

[0074] The present application will be described in detail below with reference to the accompanying drawings and in combination with embodiments. It should be noted that, unless there is a conflict, the embodiments and features in the embodiments of the present application can be combined with each other.

[0075] In this embodiment, a cleaning device control method based on the mop module in-place state is provided. Figure 1 As shown, the method includes:

[0076] Step 101: monitor the in-place status of the mop module in the cleaning device.

[0077] Step 102: When it is detected that the mop module is in a falling state, a search position of the mop module is determined.

[0078] Step 103: Control the mop module connecting mechanism of the cleaning device to perform a mop module installation operation at the search position to attempt to install the mop module.

[0079] The cleaning equipment control method based on the in-place state of the mop module provided in the embodiment of the present application is used to automatically find the fallen mop and reinstall it when the mop falls off, so as to solve the problem of the existing cleaning equipment that the mop falls off and affects the cleaning effect.

[0080] Specifically, in this embodiment, the cleaning device is equipped with a mop module, which is connected to the cleaning device via a mop module connection mechanism, which can be a suction cup or a fitted design. This means that the mop module may become detached from the cleaning device when passing over obstacles or uneven surfaces. Based on this, this embodiment provides a status monitoring module on the cleaning device, which monitors the mop module's position in real time. If the mop module is detected to be detached, the device automatically searches for and attempts to install the mop module. During the automatic search process, a search location can be determined based on the cleaning device's operating mode and motion trajectory, and then a concentrated search for the mop module can be conducted within an area defined by the search location. For example, the device can retrace its motion trajectory and search for the mop module along the return route; it can also traverse each location within the area and search for the mop module along the way; it can also use a dichotomy method to divide the area into two and gradually refine the search range. After locating the mop module, the cleaning device moves over the mop module, lowers the mop module connection mechanism, and attempts to install the mop module. Specifically, the mop module can be sucked up by the mop module connecting mechanism by means of magnetic adsorption; or the mop module can be snapped onto the mop module connecting structure by means of a snap fastener.

[0081] By applying the technical solution of this embodiment, the mop module's presence is monitored, and upon detecting a mop module drop, the robot automatically searches for and attempts to install the mop module. This solves the problem of mop dropouts in existing sweeping robots, preventing the impact of dropped mops on cleaning performance. Furthermore, upon detecting a dropped mop module, this embodiment first determines a search location, then searches for the mop module within the specified search location, eliminating the need to search the entire room extensively. This saves time and improves search efficiency.

[0082] Furthermore, as a refinement and expansion of the specific implementation of the above embodiment, in order to fully illustrate the specific implementation process of this embodiment, another cleaning device control method based on the mop module in-place state is provided, such as Figure 2 As shown, the method includes:

[0083] Step 201: monitor the in-place status of the mop module in the cleaning device.

[0084] Step 202: When it is detected that the mop module is in a falling state and the cleaning device is currently in a stationary state, the current position of the cleaning device is determined as the fixed search position of the mop module, wherein the search position includes the fixed search position.

[0085] Step 203, when the searching position is the fixed searching position, at the fixed searching position, the mop module connecting mechanism of the cleaning device is controlled to descend and the mop module installation operation is performed; when it is detected that the mop module is installed successfully, the cleaning device is controlled to perform an obstacle avoidance action, and when the obstacle avoidance action is completed, the mop module connecting mechanism is controlled to ascend.

[0086] In this embodiment, if the mop module is in a dropped state and the cleaning device is currently in a stationary state, it can be considered that the cleaning device has not moved after the mop module fell. Based on this, the mop module can be searched at the current location of the cleaning device and its surrounding locations.

[0087] Specifically, the current position of the cleaning device is used as the fixed search position of the mop module, the position of the cleaning device is kept unchanged, the mop module connection mechanism is directly controlled to descend and the mop module installation operation is performed, and the mop module installation is attempted. If the installation is not successful, the search position of the mop module can also be determined based on the fixed search position. The search position is an area containing the fixed search position. For example, after determining that the current position of the cleaning device is the fixed search position, a circular area with the fixed search position as the center and a radius of 0.5 meters is determined as the search position; a rectangle with the fixed search position as the center and a side length of 0.5 meters is determined as the search position. It can be understood that the shape and size of the search position can be set according to the actual application scenario and the device model.

[0088] In addition, after the mop module is found and installed successfully, in order to prevent it from falling off again due to the same obstacle, the cleaning equipment is first controlled to perform obstacle avoidance actions to avoid and bypass the obstacle, and then the mop module connection mechanism is controlled to rise.

[0089] Specifically, in step 203, the obstacle avoidance action includes a rotation obstacle avoidance action or a movement obstacle avoidance action. Accordingly, controlling the cleaning device to perform the rotation obstacle avoidance action includes:

[0090] Step 203-a, determining a target rotation direction based on the relative position of the dropped mop module on the cleaning device, and controlling the cleaning device to rotate toward the target rotation direction by a preset angle;

[0091] Controlling the cleaning device to perform a moving obstacle avoidance action includes:

[0092] Step 203 - b , based on the relative position of the dropped mop module on the cleaning device, determine the target moving direction, and control the cleaning device to move a preset distance in the target moving direction.

[0093] In this embodiment, the obstacle avoidance action can be a rotational obstacle avoidance action or a movement obstacle avoidance action. The rotational obstacle avoidance action involves rotating the cleaning device to allow the mop module to avoid the obstacle. For example, if a carpet is caught between the cleaning device and the mop module, causing the mop module to fall off, after the mop module is successfully reinstalled, the cleaning device can be rotated to a preset angle and the mop module connection mechanism can be lifted to avoid the carpet.

[0094] In addition, the mobile obstacle avoidance action is to control the cleaning equipment to move a certain distance to leave the current position. For example, if the mop scrapes the cabinet foot and causes the mop module to fall off, then after the mop module is successfully reinstalled, the cleaning equipment can be moved to a position away from the cabinet foot, and then the mop module connection mechanism can be lifted to avoid the cabinet foot.

[0095] In a specific application, the target rotation direction or target movement direction is first determined based on the relative position of the mop module on the cleaning device. For example, if the left mop falls, the right target rotation direction or target movement direction can be determined, and the cleaning device can rotate or move to the right to avoid the obstacle. Friction or inertia can also be used to more firmly fix the mop module to the cleaning device, improving the stability of the mop module. It is understandable that the specific target rotation direction or target movement direction may vary depending on the model of the cleaning device.

[0096] Furthermore, as a refinement and expansion of the specific implementation of the above embodiment, in order to fully illustrate the specific implementation process of this embodiment, another cleaning device control method based on the mop module in-place state is provided, such as Figure 3 As shown, the method includes:

[0097] Step 301: monitor the in-place status of the mop module in the cleaning device.

[0098] Step 302 : When it is detected that the mop module is in a falling state and the cleaning device is currently in a moving state, the moving trajectory of the cleaning device is determined as a search trajectory of the mop module, wherein the search position includes the search trajectory.

[0099] Step 303, when the search position is the search trajectory, controlling the cleaning device to move along the search trajectory, and controlling the mop module connecting mechanism to perform installation exploration every time the preset distance is moved during the movement, until it is detected that the mop module is successfully installed or the movement along the search trajectory is completed, wherein the installation exploration includes controlling the mop module connecting mechanism to descend and perform the mop module installation operation, and controlling the mop module connecting mechanism to ascend when the mop module is not detected to be successfully installed.

[0100] In this embodiment, if the mop module is in a dropped state and the cleaning device is currently in a moving state, it can be considered that the mop module has dropped during the movement, and the cleaning device has shifted after the mop module has dropped. Based on this, the mop module can be searched in the moving trajectory and surrounding positions of the cleaning device.

[0101] Specifically, the movement trajectory of the cleaning device is used as the search trajectory of the mop module, and the search position of the mop module is determined based on the search trajectory. The search position is an area containing a fixed search trajectory. For example, the search trajectory can be used as the central axis, and the area within a fixed range to the left and right of the search trajectory can be used as the search position.

[0102] During the search process, the cleaning device returns along the search path and conducts an installation exploration each time it moves a preset distance. The mop module connection mechanism is lowered and an attempt is made to install the mop module. If the mop module is successfully installed or has reached the end of the search path, the search ends. Otherwise, the mop module connection mechanism is raised, and the device continues to move along the search path and repeats the installation exploration process.

[0103] Furthermore, as a refinement and expansion of the specific implementation of the above embodiment, in order to fully illustrate the specific implementation process of this embodiment, another cleaning device control method based on the mop module in-place state is provided, such as Figure 4 As shown, the method includes:

[0104] Step 401: monitor the in-place status of the mop module in the cleaning device.

[0105] Step 402: When it is monitored that the mop module is in a falling state and the cleaning device is currently in a moving state, the search interval of the mop module is determined based on the detection data of the preset detection module of the cleaning device, wherein the preset detection module includes a visual module and / or an electronic tag sensing module, and the search position includes the search interval.

[0106] Step 403, when the search position is the search interval, after controlling the cleaning device to move to the search interval, traverse the search interval to perform installation exploration until it is detected that the mop module is successfully installed or the traversal of the search interval is ended, wherein the installation exploration includes controlling the mop module connecting mechanism to descend and perform the mop module installation operation, and controlling the mop module connecting mechanism to rise when the mop module is not detected to be successfully installed.

[0107] In this embodiment, if the mop module is in a dropped state and the cleaning device is currently in a moving state, it can be considered that the mop module has dropped during the movement, and the cleaning device has been displaced after the mop module has dropped. The mop module may not be found at the location of the cleaning device. Based on this, the visual module and / or the electronic tag sensing module can be used to find the mop module.

[0108] Specifically, the camera of the vision module captures an image of the environment surrounding the cleaning equipment, and image processing technology is used to identify the approximate position of the mop module in the image. This approximate position is then used as the search position, and a search interval for the mop module is determined based on the search position, where the search position is an area that includes the search interval. If the mop module has a built-in sensing tag, the electronic tag sensing module can also be used to sense the position of the mop module. It can be understood that the closer the distance to the mop module, the stronger the sensing. Based on this, the search position corresponding to the mop module can be delineated, and the search interval can be determined.

[0109] Alternatively, the visual module and the electronic tag sensing module can be combined to determine the search range. For example, if the visual module doesn't find the mop module within the camera's field of view, but captures the traces left by the mop module, the likely location of the mop module can be inferred based on the traces. The electronic tag sensing module can then be used to sense the mop module in its original location, then moved a certain distance toward that location and then used again to sense the mop module. If the sensing is stronger, the search direction can be considered correct, and the search range can be further determined based on that direction.

[0110] During the search process, the cleaning device traverses the location according to a preset traversal route. Each time it moves a preset distance, it conducts an installation exploration, controlling the mop module connection mechanism to lower and attempt to install the mop module. If the mop module is successfully installed or the entire search area has been traversed, the search ends; otherwise, the mop module connection mechanism is raised, the traversal operation continues, and the installation exploration process repeats. The preset traversal route can be set based on the cleaning device model or room layout. For example, the traversal route can be designed based on a depth-first or breadth-first algorithm.

[0111] Furthermore, as a refinement and expansion of the specific implementation of the above embodiment, in order to fully illustrate the specific implementation process of this embodiment, another cleaning device control method based on the mop module in-place state is provided, such as Figure 5 As shown, the method includes:

[0112] Step 501: monitor the in-place status of the mop module in the cleaning device.

[0113] Step 502: When it is detected that the mop module is in a falling state, the working state data of the cleaning device is obtained as falling state data.

[0114] Step 503: Record the current working data of the cleaning device, wherein the working data includes the working position and working progress; and determine the search position of the mop module.

[0115] Step 504 : Control the mop module connection mechanism of the cleaning device to perform a mop module installation operation at the search position to attempt to install the mop module.

[0116] Step 505 , when it is detected that the mop module is installed successfully, the cleaning device is controlled to resume operation based on the device working data; if it is not detected that the mop module is installed successfully, a mop module drop prompt message is output based on the search position.

[0117] Step 506: When it is detected that the mop module is installed successfully, the drop position of the mop module is obtained, and the drop information of the mop module is determined based on the drop position and the drop status data; the drop information is added to the historical drop information, and the easy-to-drop area information corresponding to the mop module is updated according to the historical drop information.

[0118] Step 507 : During the operation of the cleaning device, based on the easy-to-fall area information, detect whether the cleaning device is located in the easy-to-fall area; if the cleaning device is located in the easy-to-fall area, control the mop module according to the anti-falling strategy.

[0119] In this embodiment, if there are obstacles such as carpets and wires in the room, the cleaning equipment is likely to fall frequently at the location of the obstacles. Based on this, the areas where the mop module is prone to falling can be recorded, and then the cleaning work can be optimized according to the information of the areas where it is prone to falling. In this area, the mop module is controlled according to the anti-falling strategy to avoid frequent falling of the mop module and achieve better cleaning effects.

[0120] The cleaning device monitors the status of the mop module in real time. If it detects that the mop module is in a dropped state, the current working status data of the cleaning device is obtained and recorded as dropped state data, which can be used to optimize the cleaning work to reduce the dropping of the mop module. The dropped mop module information is used to. At the same time, the equipment working data of the cleaning device is obtained, so that after the mop module is successfully reinstalled, the cleaning work can be resumed based on the working position and work progress in the equipment working data; on the contrary, if the mop module fails to be installed, the mop module drop prompt information can be output based on the search position. The prompt information may include the search position of the mop module, the drop time, the current work progress, etc. The user can find the mop module and install it based on the prompt information. After the mop module is successfully installed, the cleaning device can automatically resume the cleaning work.

[0121] In the specific optimization process, based on the drop position and drop status data of the mop module, the drop information of the mop module can be determined, and the historical drop information of the mop module can be counted to determine which areas are prone to drop areas of the mop module, and then the corresponding anti-drop strategy is implemented in the area. For example, if the mop module falls at the table leg, the position of the table leg is recorded as the drop position, and the drop status data corresponding to this drop is recorded, and these data are added as new drop information to the historical drop information of the mop module. If it is found based on the historical drop information that the mop module falls at the table leg many times or with a high frequency, an easy-to-drop area can be determined based on the position of the table leg. The easy-to-drop area is an area that includes the position of the table leg.

[0122] In step 506, updating the easy-to-drop area information corresponding to the mop module according to the historical drop information includes:

[0123] Step 5061: If the drop location corresponding to the newly added drop information is in any easy-to-drop area, then based on the drop area corresponding to the drop location, update the any easy-to-drop area; if the drop location corresponding to the newly added drop information is in any historical drop area, then based on the drop area corresponding to the drop location, update the any historical drop area, and add one to the drop statistics corresponding to the any historical drop area, wherein, when the drop statistics corresponding to any historical drop area is greater than the preset number, mark the any historical drop area as an easy-to-drop area; otherwise, generate a historical drop area based on the drop area corresponding to the drop location.

[0124] In this step, the easy-to-drop area is updated according to the historical drop information of the mop module. Specifically, if the drop position corresponding to the newly added drop information is in a certain easy-to-drop area, it is determined whether the nearby area of ​​the new drop position is in the easy-to-drop area. If not, the easy-to-drop area is expanded accordingly to the nearby area containing the drop position. For example, when a new drop position is in the easy-to-drop area, and a part of the nearby area of ​​the drop position is not in the easy-to-drop area, this part is added to the easy-to-drop area to obtain an updated easy-to-drop area. Among them, the nearby area of ​​the drop position can be a circle or polygon with the drop position as the center and a preset length as the radius. If the drop position corresponding to the newly added drop information is in a certain historical drop area, and the historical drop area is not an easy-to-drop area, the drop statistics corresponding to the historical drop area are increased by one until the drop statistics corresponding to the historical drop area is greater than the preset number, and the historical drop area is upgraded to an easy-to-drop area. If the newly added drop location is an area where the mop module has never dropped, a corresponding historical drop area is generated based on the drop location.

[0125] For example, there is a socket on the floor of a restaurant, and the mop module has fallen off from the socket many times. The location of the socket is a prone-to-fall zone. In addition, the mop module has fallen off from a table leg in the restaurant. The location of the table leg is a historical falling zone. If the mop module of the cleaning equipment falls off again, and the falling position is at the socket, the area around the falling position is divided into a circle with a radius of 30cm, with the falling position as the center. If part of the nearby area is not in the current prone-to-fall zone, the union of this part and the current prone-to-fall zone is used as the new prone-to-fall zone. Otherwise, the range of the prone-to-fall zone is not adjusted.

[0126] If the mop module of the cleaning device falls off again, and the falling position is at the table leg, the falling statistics corresponding to the historical falling area corresponding to the table leg position are increased by one, and it is determined whether the falling statistics reach the preset number. If so, the historical falling area corresponding to the table leg position is marked as a high-prone falling area;

[0127] If the mop module of the cleaning equipment falls off again, and the falling position is somewhere sticky and oily, then the position is recorded as a historical falling area.

[0128] Among them, in step 507, controlling the mop module according to the anti-drop strategy includes:

[0129] Step 5071, in response to the lifting demand for the mop module, control the cleaning device to stay in place, directly control the mop module to complete the lifting action, or control the cleaning device to perform obstacle avoidance action and then control the mop module to complete the lifting action, and after the mop module completes the lifting action, resume the operation of the cleaning device; and / or, in response to the lifting demand for the mop module, output the mop module falling risk warning information based on the easy-to-fall area.

[0130] During the cleaning process, an anti-drop strategy is implemented in areas prone to falling. Specifically, if a request for the mop module to be raised or lowered is received in the anti-drop area, the cleaning device is controlled to stay in place and move after the mop module completes the lifting action. Through such a control strategy, if the mop module falls during the lifting process, it will definitely fall back to the original place, making it easier to retrieve the fallen mop module and reinstall it. In addition, the cleaning device can also be controlled to perform an obstacle avoidance action before completing the lifting action. Through such a control strategy, the cleaning device is prevented from performing a lifting operation while moving in areas prone to falling, causing the mop module to get stuck and then fall. In addition, if a request for the mop module to be raised or lowered is received in the anti-drop area, a corresponding mop module falling risk warning message can be output to remind the user that there is a risk of the mop falling when raising or lowering the mop module in the current area. If the user issues a request to continue the lifting operation, the cleaning device can complete the corresponding lifting operation based on the user's request information. If the mop module falls during the lifting process, the user can also know the approximate falling position of the mop module based on the risk warning information.

[0131] The falling state data includes falling posture data of the cleaning device. Accordingly, in step 5071, directly controlling the mop module to complete the lifting action, or controlling the cleaning device to perform the obstacle avoidance action and then controlling the mop module to complete the lifting action, includes:

[0132] Step 50711: If the current posture data of the cleaning device does not match the falling posture data, the mop module is directly controlled to complete the lifting action; if the current posture data of the cleaning device matches the falling posture data, the cleaning device is controlled to perform an obstacle avoidance action and then the mop module is controlled to complete the lifting action.

[0133] In this step, the drop status data includes the dropping posture data of the cleaning device, such as the mop module dropping during the ascent process, dropping after rising, dropping during the descent process, dropping after descent, speed and acceleration during the drop, etc. This data can be used to optimize the lifting and lowering action of the mop module in areas prone to dropping. Specifically, if the cleaning device receives a lifting request from the mop module, and the current posture data of the cleaning device does not match the dropping posture data, it is considered that the probability of the mop dropping is low if the lifting operation is performed in the current posture, and the lifting and lowering action of the mop module is directly completed; otherwise, it is considered that the probability of the mop dropping is high if the lifting and lowering operation is performed in the current posture, and the cleaning device is controlled to perform an obstacle avoidance operation, and the lifting and lowering action of the mop module is performed only after avoiding the obstacle.

[0134] Among them, in step 50711, after executing the obstacle avoidance action, controlling the mop module to complete the lifting action includes:

[0135] The obstacle avoidance rotation direction is determined according to the dropped mop module information, and after the cleaning device is controlled to rotate based on the obstacle avoidance rotation direction, the mop module is controlled to complete the lifting action; or, the obstacle avoidance movement direction is determined according to the dropped mop module information, and after the cleaning device is controlled to move based on the obstacle avoidance movement direction, the mop module is controlled to complete the lifting action.

[0136] Specifically, if the cleaning equipment receives a request to lift the mop module in an area prone to falling, and the current posture data of the cleaning equipment matches the falling posture data, it is considered that performing the lifting operation under the current circumstances is likely to cause the mop module to fall. Therefore, an obstacle avoidance operation is first performed based on the mop module falling information, and the mop module is lifted and lowered after avoiding the obstacle. The specific execution process of the obstacle avoidance action is similar to the above steps and will not be repeated here.

[0137] Furthermore, as a refinement and expansion of the specific implementation of the above embodiment, in order to fully illustrate the specific implementation process of this embodiment, another cleaning device control method based on the mop module in-place state is provided, such as Figure 6 As shown, the method includes:

[0138] Step 601: monitor the in-place status of the mop module in the cleaning device.

[0139] Step 602, when the current working mode of the cleaning device includes mopping, when it is monitored that the mop module is not in the in-position state, determining that the mop module is in a dropped state; determining the search position of the mop module; controlling the mop module connecting mechanism of the cleaning device, performing the mop module installation operation at the search position, to attempt to install the mop module.

[0140] Step 603: When the current working mode of the cleaning device does not include mopping, and it is detected that the mop module is not in place, determine that the mop module is in a disassembled state; and record the disassembled position of the mop module.

[0141] Step 604: when the current working mode of the cleaning device is restored to include mopping work, the cleaning device is controlled to move to the disassembly position to perform the mop module installation operation, and after confirming that the mop module is successfully installed, the cleaning device is restored to work; or, when the cleaning device enters the return-to-pile mode, the cleaning device is controlled to move to the disassembly position to perform the mop module installation operation, and after confirming that the mop module is successfully installed, the cleaning device is controlled to return to the pile; or, when the cleaning device enters the return-to-pile mode, the cleaning device is controlled to return to the pile, and a mop module disassembly prompt message is output based on the disassembly position.

[0142] In this embodiment, the mop module being out of place may include a variety of different situations. For example, in order to prevent the wet mop from wetting the carpet, the automatic cleaning device may actively remove the mop module and install the mop module after the carpet cleaning is completed. Based on this, the mop module's out-of-place state can be refined. For example, if the current working mode of the cleaning device includes mopping, that is, the cleaning device needs to use the mop module to complete the current work, then if the mop module is not in place, it can be considered that the mop module has fallen, and the method in the above embodiment can be used to find and reinstall the mop module; if the current working mode of the cleaning module does not include mopping, that is, the cleaning device does not need to use the mop module to complete the current work, then if the mop module is not in place, it can be considered that the mop module is actively removed, and there is no need to perform the operation of finding the mop module.

[0143] If the mop module is actively disassembled, that is, the mop module is in the disassembled state, the disassembly position of the mop module is first recorded. If the current working mode of the cleaning device changes to include mopping, the cleaning device can be controlled to move to the disassembly position and reinstall the mop module to complete the mopping work. In addition, if the working mode changes to the return to charging station mode, the cleaning device can be controlled to move to the disassembly position and reinstall the mop module. The mop module is then returned to the charging station together with the mop module to charge and enter standby mode, awaiting the next cleaning work. The cleaning device can also be controlled to return directly to the charging station and output a disassembly prompt message to inform the user of the disassembly position of the mop module, so that the user can manually pick up the mop module.

[0144] By applying the technical solution of this embodiment, by monitoring the presence status of the mop module, and when it is detected that the mop module is not in place, it is further determined according to the working mode whether the mop module has fallen or been actively removed, and different processing strategies are set according to the judgment results to meet the business needs of multiple different cleaning modes. When the mop module is detected to have fallen, the application automatically searches for and attempts to install the mop module, solving the problem of mop falling off in existing sweeping robots and avoiding the impact of mop falling on the cleaning effect. On this basis, when the mop module is detected to have fallen off, the search position is first determined, and then the search operation for the mop module is performed within the range limited by the search position, without having to search the entire room in a large area, saving time and improving search efficiency. In addition, the embodiment of the application designs a mark for the position where the mop is likely to fall, and updates the easy-to-fall area or historical drop area according to the drop situation of the mop module. Through this design, the area where the mop module is likely to fall is updated in real time, and then the mop module is controlled to adopt an anti-fall strategy in this area. The anti-fall strategy reduces the probability of the mop falling in this area, further improving the stability of the cleaning work and improving the cleaning efficiency.

[0145] Further, as Figure 1The specific implementation of the method, the embodiment of the present application provides a cleaning equipment control device based on the mop module in place state, such as Figure 7 As shown, the device includes:

[0146] A status monitoring module is used to monitor the status of the mop module in the cleaning equipment;

[0147] a position determination module, configured to determine a search position of the mop module when detecting that the mop module is in a falling state;

[0148] The mop installation module is used to control the mop module connection mechanism of the cleaning device to perform a mop module installation operation at the search position to try to install the mop module.

[0149] In a specific application scenario, optionally, the location determination module is used to:

[0150] When it is detected that the mop module is in a falling state and the cleaning device is currently in a stationary state, the current position of the cleaning device is determined as a fixed search position of the mop module, wherein the search position includes the fixed search position;

[0151] When it is detected that the mop module is in a falling state and the cleaning device is currently in a moving state, the moving trajectory of the cleaning device is determined as the search trajectory of the mop module, wherein the search position includes the search trajectory; or

[0152] When it is monitored that the mop module is in a falling state and the cleaning device is currently in a moving state, the search interval of the mop module is determined based on the detection data of the preset detection module of the cleaning device, wherein the preset detection module includes a visual module and / or an electronic tag sensing module, and the search position includes the search interval.

[0153] In a specific application scenario, optionally, the mop installation module is used to:

[0154] At the fixed search position, controlling the mop module connecting mechanism of the cleaning device to descend and performing the mop module installation operation;

[0155] When it is detected that the mop module is installed successfully, the cleaning device is controlled to perform an obstacle avoidance action, and when the obstacle avoidance action is completed, the mop module connecting mechanism is controlled to rise.

[0156] In a specific application scenario, optionally, the obstacle avoidance action includes a rotation obstacle avoidance action or a movement obstacle avoidance action.

[0157] In a specific application scenario, optionally, the mop installation module is further used to:

[0158] Determining a target rotation direction based on the relative position of the dropped mop module on the cleaning device, and controlling the cleaning device to rotate a preset angle toward the target rotation direction;

[0159] Controlling the cleaning device to perform a moving obstacle avoidance action includes:

[0160] Based on the relative position of the dropped mop module on the cleaning device, a target moving direction is determined, and the cleaning device is controlled to move a preset distance in the target moving direction.

[0161] In a specific application scenario, optionally, the mop installation module is further used to:

[0162] The cleaning device is controlled to move along the search trajectory, and during the movement process, the mop module connecting mechanism is controlled to perform installation exploration every time a preset distance is moved until it is detected that the mop module is successfully installed or the movement along the search trajectory is completed, wherein the installation exploration includes controlling the mop module connecting mechanism to descend and perform the mop module installation operation, and controlling the mop module connecting mechanism to rise when the mop module is not detected to be successfully installed.

[0163] In a specific application scenario, optionally, the mop installation module is further used to:

[0164] After controlling the cleaning device to move to the search interval, traverse the search interval to perform installation exploration until it is detected that the mop module is successfully installed or the traversal of the search interval is ended, wherein the installation exploration includes controlling the mop module connecting mechanism to descend and perform the mop module installation operation, and controlling the mop module connecting mechanism to rise when the mop module is not detected to be successfully installed.

[0165] In a specific application scenario, optionally, the device further includes a cleaning control module for:

[0166] Recording the current equipment working data of the cleaning equipment, wherein the equipment working data includes a working position and a working progress; and when it is detected that the mop module is successfully installed, controlling the cleaning equipment to resume work based on the equipment working data.

[0167] In a specific application scenario, the device may optionally further include a prompt module for:

[0168] If it is not detected that the mop module is installed successfully, a mop module drop prompt message is output based on the search position.

[0169] In a specific application scenario, optionally, the device further includes an optimization module for:

[0170] When it is detected that the mop module is in a falling state, obtaining the working state data of the cleaning device as falling state data;

[0171] When it is detected that the mop module is successfully installed, obtaining a drop position of the mop module, and determining drop information of the mop module based on the drop position and the drop status data;

[0172] Adding the drop information to the historical drop information, and updating the easy-to-drop area information corresponding to the mop module according to the historical drop information;

[0173] and, during operation of the cleaning device, detecting whether the cleaning device is located in an easy-to-fall area based on the easy-to-fall area information;

[0174] When the cleaning device is located in the easy-to-fall area, the mop module is controlled according to an anti-falling strategy.

[0175] In a specific application scenario, optionally, the optimization module is used to:

[0176] If the drop location corresponding to the newly added drop information is in any easy-to-drop area, then update the easy-to-drop area based on the drop area corresponding to the drop location;

[0177] If the drop location corresponding to the newly added drop information is within any historical drop area, then based on the drop area corresponding to the drop location, update the aforementioned historical drop area, and increase the number of drop statistics corresponding to the aforementioned historical drop area by one. When the number of drop statistics corresponding to the aforementioned historical drop area is greater than a preset number, mark the aforementioned historical drop area as a high-prone drop area.

[0178] Otherwise, a historical drop area is generated based on the drop area corresponding to the drop position.

[0179] In a specific application scenario, optionally, the optimization module is used to:

[0180] In response to a demand for raising or lowering the mop module, the cleaning device is controlled to stay in place, and the mop module is directly controlled to complete the raising or lowering action, or the cleaning device is controlled to perform an obstacle avoidance action and then the mop module is controlled to complete the raising or lowering action, and after the mop module completes the raising or lowering action, the cleaning device resumes operation; and / or,

[0181] In response to the lifting demand for the mop module, based on the easy-to-fall area, output mop module falling risk prompt information.

[0182] In a specific application scenario, optionally, the falling state data includes falling posture data of the cleaning device; and the optimization module is used to:

[0183] If the current posture data of the cleaning device does not match the falling posture data, directly controlling the mop module to complete the lifting action;

[0184] If the current posture data of the cleaning device matches the falling posture data, the cleaning device is controlled to perform an obstacle avoidance action and then the mop module is controlled to complete a lifting action.

[0185] In a specific application scenario, optionally, the drop status data also includes dropped mop module information; the optimization module is used to:

[0186] Determine the obstacle avoidance rotation direction according to the dropped mop module information, control the cleaning device to rotate based on the obstacle avoidance rotation direction, and then control the mop module to complete the lifting action; or,

[0187] The obstacle avoidance movement direction is determined according to the dropped mop module information, and after the cleaning device is controlled to move based on the obstacle avoidance movement direction, the mop module is controlled to complete the lifting action.

[0188] In a specific application scenario, optionally, the location determination module is further configured to:

[0189] In a case where the current working mode of the cleaning device includes mopping, when it is detected that the mop module is not in the in-position state, determining that the mop module is in the dropped state;

[0190] In a case where the current working mode of the cleaning device does not include mopping, when it is monitored that the mop module is not in the in-place state, it is determined that the mop module is in the disassembled state.

[0191] In a specific application scenario, optionally, the mop installation module is further used to:

[0192] Recording the disassembly position of the mop module;

[0193] When the current working mode of the cleaning device is restored to include mopping work, the cleaning device is controlled to move to the disassembly position to perform the mop module installation operation, and after confirming that the mop module is successfully installed, the operation of the cleaning device is restored; or

[0194] When the cleaning device enters the return mode, the cleaning device is controlled to move to the disassembly position to perform the mop module installation operation, and after confirming that the mop module is successfully installed, the cleaning device is controlled to return to the pile; or,

[0195] When the cleaning device enters the return mode, the cleaning device is controlled to return to the pile, and a mop module disassembly prompt information is output based on the disassembly position.

[0196] It should be noted that for other corresponding descriptions of the functional units involved in the cleaning equipment control device based on the mop module in-place state provided in the embodiment of the present application, please refer to Figures 1 to 6 The corresponding description in the method will not be repeated here.

[0197] The present application also provides a cleaning device, which may be a robot vacuum cleaner, etc., connected to a mop module via a mop module connection mechanism. The cleaning device includes a processor and a memory. The processor of the cleaning device is configured to provide computing and control capabilities. The memory of the cleaning device stores an operating system, a computer program, and a database. When executed by the processor, the computer program implements the steps of each method embodiment.

[0198] Those skilled in the art will understand that the structure of the above-mentioned cleaning equipment is merely a block diagram of a partial structure related to the scheme of the present application, and does not constitute a limitation on the cleaning equipment to which the scheme of the present application is applied. The specific cleaning equipment may include more or fewer components than shown in the figure, or combine certain components, or have a different arrangement of components.

[0199] In one embodiment, a computer-readable storage medium is provided. The computer-readable storage medium may be non-volatile or volatile, and stores a computer program thereon. When the computer program is executed by a processor, the steps in the above-mentioned method embodiments are implemented.

[0200] In one embodiment, a computer program product is provided, including a computer program, which implements the steps in the above method embodiments when executed by a processor.

[0201] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties.

[0202] Those skilled in the art will appreciate that all or part of the processes in the above-mentioned embodiment methods can be implemented by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, database or other media used in the embodiments provided in this application may include at least one of non-volatile and volatile memory. Non-volatile memory may include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory may include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in the various embodiments provided herein may include at least one of a relational database and a non-relational database. Non-relational databases may include, but are not limited to, distributed databases based on blockchains. The processor involved in the various embodiments provided herein may be, but are not limited to, a general-purpose processor, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, and the like.

[0203] The technical features of the above embodiments can be combined arbitrarily. In order to make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0204] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present application. It should be noted that a person of ordinary skill in the art may make various modifications and improvements without departing from the spirit of the present application, and these modifications and improvements fall within the scope of protection of the present application. Therefore, the scope of protection of the present application shall be determined by the appended claims.

Claims

1. A cleaning equipment control method based on the mop module in-place state, characterized in that: The method comprises: Monitor the status of the mop module in the cleaning equipment; When it is detected that the mop module is in a falling state, determining a search position of the mop module; The mop module connecting mechanism of the cleaning device is controlled to perform a mop module installation operation at the search position to attempt to install the mop module.

2. The method according to claim 1, characterized in that When it is detected that the mop module is in a falling state, determining the search position of the mop module includes: When it is monitored that the mop module is in a falling state and the cleaning device is currently in a stationary state, the current position of the cleaning device is determined as the fixed search position of the mop module, wherein the search position includes the fixed search position.

3. The method according to claim 1, characterized in that When it is detected that the mop module is in a falling state, determining the search position of the mop module includes: When it is monitored that the mop module is in a falling state and the cleaning device is currently in a moving state, the moving trajectory of the cleaning device is determined as the search trajectory of the mop module, wherein the search position includes the search trajectory.

4. The method according to claim 1, wherein When it is detected that the mop module is in a falling state, determining the search position of the mop module includes: When it is monitored that the mop module is in a falling state and the cleaning device is currently in a moving state, the search interval of the mop module is determined based on the detection data of the preset detection module of the cleaning device, wherein the preset detection module includes a visual module and / or an electronic tag sensing module, and the search position includes the search interval.

5. The method according to any one of claims 2 to 4, characterized in that In a case where the search position is the fixed search position, controlling the mop module connection mechanism of the cleaning device to perform the mop module installation operation at the search position includes: At the fixed search position, controlling the mop module connecting mechanism of the cleaning device to descend and performing the mop module installation operation; When it is detected that the mop module is installed successfully, the cleaning device is controlled to perform an obstacle avoidance action, and when the obstacle avoidance action is completed, the mop module connecting mechanism is controlled to rise.

6. The method according to claim 4, characterized in that The obstacle avoidance action includes a rotation obstacle avoidance action or a movement obstacle avoidance action.

7. The method according to claim 6, characterized in that Controlling the cleaning device to perform a rotation obstacle avoidance action includes: Based on the relative position of the dropped mop module on the cleaning device, a target rotation direction is determined, and the cleaning device is controlled to rotate toward the target rotation direction by a preset angle.

8. A cleaning equipment control device based on the mop module in-position state, characterized in that: The device comprises: A status monitoring module is used to monitor the status of the mop module in the cleaning equipment; a position determination module, configured to determine a search position of the mop module when detecting that the mop module is in a falling state; The mop installation module is used to control the mop module connection mechanism of the cleaning device to perform a mop module installation operation at the search position to try to install the mop module.

9. A storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 7 is implemented.

10. A cleaning device comprising a storage medium, a processor, and a computer program stored on the storage medium and executable on the processor, wherein: When the processor executes the computer program, the method according to any one of claims 1 to 7 is implemented.

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