Control method of floor cleaning device

Abstract

The invention relates to the technical field of cleaning equipment, in particular to a control method of a ground cleaning device. The problems that when an existing sweeping and mopping integrated robot cleans a large piece of liquid stains, the liquid stains are scattered, and the cleaning difficulty is increased are solved. In order to achieve the purpose, the control method of the ground cleaning device is provided, the ground cleaning device comprises a body and a cleaning module arranged on the body, the cleaning module is arranged in a liftable mode, and the control method comprises the steps that the body is controlled to move to a liquid stain area, so that the cleaning module is located above liquid stains; the cleaning module is controlled to be pressed downwards to the liquid stains, so that the cleaning module is used for absorbing the liquid stains; and after the liquid stains are absorbed, the cleaning module is controlled to clean the liquid stain area. According to the technical scheme, the static cleaning module firstly absorbs liquid stains and then cleans the liquid stains, so that the situation that the cleaning difficulty is increased due to dispersion of the liquid stains can be avoided.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of cleaning equipment, in particular to a control method of a floor cleaning device. BACKGROUND

[0002] The sweeping and mopping integrated robot as a common intelligent household appliance plays a certain positive role in reducing household chores and maintaining a clean environment. In daily life, there may be liquid stains on the ground. For small-area liquid stains, the dust collection device provided on the sweeping and mopping integrated robot can be used for cleaning, while for large-area liquid stains, since the sweeping assembly and the mopping assembly are usually arranged in front of and behind the bottom of the sweeping and mopping integrated robot, the sweeping assembly usually first contacts the liquid stains during the cleaning process, thereby causing liquid splashing and increasing the cleaning difficulty.

[0003] To this end, the patent document with publication number CN117179642A and the invention name of cleaning robot and its control method, device and storage medium proposes that when cleaning liquid stains, the cleaning robot is first rotated to face away from the stain area, then the cleaning robot is controlled to move backward, and then the cleaning robot is controlled to rotate back and forth in place, so that the stain area is cleaned by the mop assembly first contacting the stain, thereby avoiding scattering the liquid stains. However, the applicant has found through actual verification that although the above cleaning method can to some extent avoid liquid splashing, it may still cause the sweeping and mopping integrated robot to scatter large-area liquid stains due to the left and right swinging of the mop during the cleaning process, thereby increasing the cleaning difficulty.

[0004] Correspondingly, there is a need in the art for a new technical solution to solve the above problems. SUMMARY

[0005] In order to solve at least one of the above problems in the prior art, i.e. to solve the problem that the existing sweeping and mopping integrated robot scatters liquid stains and increases the cleaning difficulty when cleaning large-area liquid stains, the present application provides a control method of a floor cleaning device, the floor cleaning device comprising a body and a cleaning module arranged on the body, the cleaning module being arranged in a lifting manner, the control method comprising:

[0006] controlling the body to move to a liquid stain area, so that the cleaning module is located above the liquid stain;

[0007] controlling the cleaning module to press down to the liquid stain, so as to absorb the liquid stain by the cleaning module;

[0008] after the liquid stain is absorbed, controlling the cleaning module to clean the liquid stain area.

[0009] In the technical scheme, when the ground cleaning device cleans liquid stains, the cleaning module such as a mop can first absorb the liquid stains, and after the liquid stains are absorbed, the liquid stain area can be cleaned by swinging the mop, and the mop remains static during the absorption of the liquid stains, so that the liquid stains are prevented from being dispersed to increase the cleaning difficulty.

[0010] In the preferred technical scheme of the control method of the ground cleaning device, the control method further comprises:

[0011] During the control of the body to move to the liquid stain area, the cleaning module is controlled to be in a stop running and lifting state.

[0012] In the technical scheme, the running of the cleaning module is stopped to prevent the liquid stains from being dispersed due to the rotation of the cleaning module during the movement of the body, and the cleaning module is lifted to prevent the ground from being contaminated during the movement of the ground cleaning device.

[0013] In the preferred technical scheme of the control method of the ground cleaning device, the control method further comprises:

[0014] After the control of the cleaning module to be pressed to the liquid stain for a first preset time, it is judged whether the liquid stain is absorbed.

[0015] Based on the judgment result, the ground cleaning device is selectively controlled to return to the base station for self-cleaning.

[0016] In the preferred technical scheme of the control method of the ground cleaning device, the selective control of the ground cleaning device to return to the base station for self-cleaning based on the judgment result further comprises:

[0017] If the liquid stain is not absorbed, the ground cleaning device is controlled to return to the base station for self-cleaning, and then the ground cleaning device is moved to the liquid stain area again and the cleaning module is controlled to be pressed.

[0018] If the liquid stain is absorbed, based on the stain type of the liquid stain, the ground cleaning device is selectively controlled to return to the base station for self-cleaning, and then the cleaning module is controlled to clean the liquid stain area.

[0019] In the preferred technical scheme of the control method of the ground cleaning device, the control method further comprises:

[0020] It is judged whether there is a liquid stain in the surrounding area of the ground cleaning device.

[0021] Based on the judgment result, the ground cleaning device is selectively controlled to clean the liquid stain area.

[0022] In the preferred technical solutions of the control method of the floor cleaning device, the floor cleaning device further comprises a sensing module arranged on the body, and the control method further comprises:

[0023] acquiring environmental information based on the sensing module;

[0024] judging whether there is a liquid stain in a surrounding area of the floor cleaning device based on the environmental information.

[0025] In the preferred technical solutions of the control method of the floor cleaning device, the selectively controlling the floor cleaning device to clean the liquid stain area based on the judgment result further comprises:

[0026] if there is a liquid stain, controlling the floor cleaning device to clean the liquid stain area; and / or

[0027] if there is no liquid stain, controlling the floor cleaning device to clean based on a preset path.

[0028] With the above technical solutions, the floor cleaning device can first clean according to a preset path, detect whether there is a liquid stain around during the cleaning process, and immediately process the liquid stain area when there is a liquid stain around, so that the floor cleaning device can discover and process the liquid stain as soon as possible under the premise of ensuring the cleaning efficiency of the to-be-cleaned area, thereby avoiding the increase of cleaning difficulty caused by the dry-up of the liquid stain due to long storage.

[0029] In the preferred technical solutions of the control method of the floor cleaning device, the control method further comprises:

[0030] if there is a liquid stain, acquiring area information of the liquid stain;

[0031] selectively controlling the floor cleaning device to clean the liquid stain area based on the area information of the liquid stain.

[0032] With the above technical solutions, only when a liquid stain with a large area is cleaned, the liquid stain can be first absorbed by a cleaning module such as a mop, and for a liquid stain with a small area, the mop can be swung or a dust collection device can be directly used for cleaning.

[0033] In the preferred technical solutions of the control method of the floor cleaning device, the controlling the floor cleaning device to clean the liquid stain area further comprises:

[0034] controlling the floor cleaning device to bypass the liquid stain so that the floor cleaning device faces away from the liquid stain;

[0035] controlling the ground cleaning device to retreat to the liquid stain area, and then controlling the cleaning module to lower to the liquid stain.

[0036] In the preferred technical solution of the control method of the ground cleaning device, the sensing module comprises a binocular camera.

[0037] In the case of adopting the above technical solution, the liquid stain can be more accurately identified and the distance between the liquid stain and the ground cleaning device can be more accurately determined through the binocular camera. BRIEF DESCRIPTION OF DRAWINGS

[0038] The control method of the ground cleaning device of the present application will be described below with reference to the accompanying drawings. In the drawings:

[0039] Figure 1 The main step flow chart of the control method of the ground cleaning device of one embodiment of the present application;

[0040] Figure 2 The step flow chart of the control method of the ground cleaning device of another embodiment of the present application;

[0041] Figure 3 The logic diagram of the control method of the ground cleaning device of one embodiment of the present application. DETAILED DESCRIPTION

[0042] The preferred embodiments of the present application will be described below with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are only used to explain the technical principles of the present application and are not intended to limit the protection scope of the present application. For example, although the present embodiments are introduced in combination with a mop robot, this is not intended to limit the protection scope of the present application, and those skilled in the art can apply the present application to other devices such as a sweeping and mopping integrated robot without deviating from the principles of the present application.

[0043] As described in the background, the sweeping and mopping integrated robot as a common intelligent household appliance plays a certain positive role in reducing household chores and keeping the environment clean. In daily life, there may be liquid stains on the ground. For small-area liquid stains, the dust collection device provided on the sweeping and mopping integrated robot can be used for cleaning, while for large-area liquid stains, since the sweeping assembly and the mopping assembly are usually arranged in front and back at the bottom of the sweeping and mopping integrated robot, the sweeping assembly usually contacts the liquid stain first during the cleaning process, thereby causing liquid splashing during the cleaning process and increasing the cleaning difficulty.

[0044] To this end, the patent document with publication number CN117179642A, entitled "Cleaning robot and control method, device and storage medium thereof" proposes that when cleaning liquid stains, the cleaning robot is first rotated to face away from the stain area, then the cleaning robot is controlled to move backward, and then the cleaning robot is controlled to rotate back and forth in place, so that the stain area is cleaned by the mop assembly first contacting the stain, avoiding the scattering of liquid stains. However, the applicant has found through actual verification that although the above cleaning method can to some extent avoid liquid splashing, it may still cause the sweeping and mopping integrated robot to cause large liquid stains to spread during the cleaning process due to the left and right swinging of the mop, increasing the cleaning difficulty.

[0045] To solve the above problems, in the present application, the ground cleaning device includes a body, a cleaning module arranged at the bottom of the body, and a sensing module arranged at the front side of the body. Specifically, the bottom of the body is provided with a cleaning module such as a rolling brush or a mop, so that the ground is cleaned by the cleaning module during the walking process of the ground cleaning device, and the cleaning module is arranged in a lifting manner. By controlling the lifting of the cleaning module, on the one hand, it can avoid secondary pollution of the ground cleaning device to the cleaned ground, and on the other hand, it can avoid the scattering of liquid stains during the movement of the ground cleaning device. In addition, the sensing module is a binocular camera arranged at the front side of the body. During the walking process of the ground cleaning device, the binocular camera can obtain stereovision information, which can better detect liquid stains. Of course, this is not intended to limit the protection scope of the present application. For example, liquid stains can also be detected by monocular cameras or cameras and other sensing devices combined with deep learning algorithms.

[0046] Reference will now be made to Figure 1 The control method of the ground cleaning device of the present application is described, Figure 1 The main step flowchart of the control method of the ground cleaning device of one embodiment of the present application.

[0047] As Figure 1 shown, in order to solve the problem of poor cleaning ability for liquid stains and affecting user experience existing in the existing sweeping robot, the control method of the ground cleaning device of the present application mainly includes the following steps:

[0048] S101, controlling the body to move to the liquid stain area, so that the cleaning module is located above the liquid stain;

[0049] S102, controlling the cleaning module to press down to the liquid stain to absorb the liquid stain by the cleaning module;

[0050] S103, after the liquid stain is absorbed, controlling the cleaning module to clean the liquid stain area.

[0051] In the embodiment, the liquid stain includes water, coffee, and the like, and the liquid stain area refers to a cleaning area radiated outward by the liquid stain, which usually has an area greater than or equal to that of the liquid stain. Since the liquid stain area is usually irregular, if the area of the liquid stain area is large, the floor cleaning device can clean the liquid stain area in multiple stages. When cleaning the liquid stain area, the body of the floor cleaning device is first moved above the liquid stain, and then the mop is controlled to be pressed into the liquid stain to absorb the liquid stain. After the liquid stain is absorbed, the mop is controlled to clean the liquid stain area. In addition, when the cleaning module is above the liquid stain, the projection of the cleaning module should at least partially be inside the liquid stain.

[0052] Through the method described in steps S101-S103, when cleaning the liquid stain, the floor cleaning device can first absorb the liquid stain by the cleaning module such as the mop, and then clean the liquid stain area by swinging the mop and the like after the liquid stain is absorbed. The mop remains stationary during the absorption process to avoid the liquid stain from spreading and increasing the difficulty of cleaning.

[0053] In some embodiments, during the process of controlling the body to move to the liquid stain area, the cleaning module is controlled to be in a state of stopping operation and lifting. For example, in the case of cleaning only the liquid stain, the cleaning module is in a state of stopping operation and lifting during the process of moving only, such as moving the body to the liquid stain area and moving back and forth between the base station. For another example, in the case of detecting the liquid stain while cleaning, the state of the cleaning module needs to be changed in real time according to the working process of the floor cleaning device. In the case of adopting the above technical solution, by selectively stopping the operation of the cleaning module, on the one hand, the cleaning module can be prevented from causing the liquid stain to spread, and on the other hand, the power consumption of the floor cleaning device can be reduced, and the cleaning efficiency of the floor cleaning device can be ensured. By selectively controlling the cleaning module to lift, the floor can be prevented from being contaminated during the process of only controlling the floor cleaning device to move.

[0054] The following refers to Figure 2 , Figure 2 a step flow chart of a control method of a floor cleaning device of another embodiment of the present application.

[0055] As Figure 2 shown, the control method of the floor cleaning device further includes:

[0056] S201, the cleaning module is pressed into the liquid stain and lasts for a first preset time, and then it is judged whether the liquid stain is absorbed.

[0057] S202, based on the judgment result, selectively controlling the ground cleaning device to return to the base station for self-cleaning. For example, if the liquid stain is not completely absorbed, the ground cleaning device is controlled to return to the base station for self-cleaning, and then move to the liquid stain area again and control the cleaning module to press down; if the liquid stain is completely absorbed, based on the stain type of the liquid stain, the ground cleaning device is selectively controlled to return to the base station for self-cleaning, and then the cleaning module is controlled to clean the liquid stain area.

[0058] In this embodiment, after the cleaning module presses down the liquid stain for 10s, the ground cleaning device can determine whether the liquid stain is completely absorbed through the sensing module at the tail or through the sensing module at the front side after reversing the body. If not, the ground cleaning device first returns to the base station for self-cleaning, and then returns to the liquid stain area to continue absorbing the liquid stain by the cleaning module until the absorption is completed. And after the absorption is completed, the ground cleaning device can be selectively controlled to return to the base station for self-cleaning according to the stain type of the liquid stain, for example, if the liquid stain is ice cream, grease, etc., the ground cleaning device needs to be controlled to return to the base station for self-cleaning, and if the liquid stain is water, the cleaning module is directly controlled to clean.

[0059] It should be explained that the above setting of determining whether the liquid stain is completely absorbed is not necessary. In an alternative embodiment, those skilled in the art can adjust the first preset time according to the needs, for example, according to the area of the liquid stain and different types of liquid stains to determine the corresponding first preset time, at this time, the liquid stain is defaulted to be completely absorbed after the first preset time. In addition, the setting of selectively controlling the ground cleaning device to return to the base station for self-cleaning according to the stain type of the liquid stain is also not necessary, for example, the cleaning module is directly controlled to clean after the liquid stain is completely absorbed, or the ground cleaning device is directly controlled to return to the base station for self-cleaning.

[0060] In some embodiments, the control method of the ground cleaning device further comprises:

[0061] determining whether there is a liquid stain in the surrounding area of the ground cleaning device;

[0062] based on the judgment result, selectively controlling the ground cleaning device to clean the liquid stain area. For example, if there is a liquid stain, the ground cleaning device is controlled to perform cleaning operation on the liquid stain area; if there is no liquid stain, the ground cleaning device is controlled to clean based on the preset path.

[0063] In one possible embodiment, whether there is a liquid stain in the surrounding area of the ground cleaning device can be determined according to the following steps:

[0064] based on the sensing module, obtaining environmental information;

[0065] Based on the environmental information, it is determined whether there is a liquid stain in the surrounding area of the floor cleaning device.

[0066] In the present embodiment, the surrounding area of the floor cleaning device refers to the area that can be perceived by the perception module. Preferably, the perception module comprises a binocular camera, through which images of the same object can be captured from different angles, thereby obtaining depth information about the object so that the floor cleaning device has stereoscopic vision. Through stereoscopic vision combined with deep learning, it can be better determined whether the surrounding area of the floor cleaning device has a liquid stain.

[0067] In one possible implementation, the floor cleaning device can be controlled to clean the liquid stain area according to the following steps:

[0068] The floor cleaning device is controlled to bypass the liquid stain so that the floor cleaning device faces away from the liquid stain.

[0069] The floor cleaning device is controlled to retreat to the liquid stain area, and then the cleaning module is controlled to be pressed down to the liquid stain.

[0070] In the present embodiment, the floor cleaning device is first controlled to clean based on a preset path, and at the same time of cleaning, it is determined whether there is a liquid stain in the surrounding area of the floor cleaning device through the binocular camera provided on the floor cleaning device combined with a deep learning algorithm. When a liquid stain is detected, the absorption position can be determined according to the shape of the liquid stain, the body is controlled to bypass the liquid stain while adjusting the orientation of the body so that the cleaning module faces the liquid stain, and then the floor cleaning device is controlled to retreat to the liquid stain area so that the cleaning module is above the determined absorption position. Through the above embodiment, the efficiency of single absorption of the cleaning module can be ensured, and the cleaning rate is improved.

[0071] Of course, the above cleaning method is not necessarily required. In an alternative implementation, the water absorption position can be determined according to the distance between the floor cleaning device and the liquid stain. In another alternative implementation, the liquid stain area can be an area designated by the user, and then the floor cleaning device travels to the designated position for cleaning. For example, the user can edit a map on a mobile terminal to mark or frame the liquid stain area, and the floor cleaning device receives the returned map to clean the liquid stain area. In another alternative implementation, the floor cleaning device can include multiple operating modes, for example, when the floor cleaning device is in the liquid stain cleaning mode, the floor cleaning device returns to the base station after cleaning all the liquid stain areas. In addition, the method of obtaining the liquid stain is not fixed. In an alternative implementation, the stain type can be obtained by a monocular camera or image sensing device cooperating with a deep learning algorithm, for example, by collecting environmental images through an image sensing device, and then inputting the environmental images into a trained image recognition model to obtain the stain type.

[0072] In some embodiments, the control method of the floor cleaning device further comprises:

[0073] If there is a liquid stain, obtaining the area information of the liquid stain;

[0074] Based on the area information of the liquid stain, selectively controlling the floor cleaning device to clean the liquid stain area.

[0075] In this embodiment, the area information of the liquid stain can be determined by the sensing module. When the area of the liquid stain is greater than or equal to a certain threshold, the liquid stain is first absorbed by the cleaning module, and then the liquid stain area is cleaned. When the area of the liquid stain is less than the threshold, the liquid stain can be cleaned by swinging the mop or by the suction device. Of course, the above implementation is not necessarily required, for example, when all liquid stains are cleaned, the liquid stain is first absorbed and processed.

[0076] Reference will now be made to Figure 3 , Figure 3 the logic diagram of the control method of the floor cleaning device of one embodiment of the present application.

[0077] As Figure 3 shown, in one possible implementation, the control method of the floor cleaning device of the present application mainly includes the following steps:

[0078] S301, obtaining environmental information;

[0079] S302, determining whether there is a liquid stain in the surrounding area of the floor cleaning device, if yes, performing S303, otherwise performing S309;

[0080] S303, controlling the body to bypass the liquid stain so that the cleaning module is located above the liquid stain, and then performing S304;

[0081] S304, controlling the cleaning module to press down to the liquid stain to absorb the liquid stain by the cleaning module, and then performing S305;

[0082] S305, judging whether the liquid stain is completed to be absorbed, if yes, performing S307, otherwise performing S306;

[0083] S306, controlling the floor cleaning device to return to the base station for self-cleaning, and then performing S303;

[0084] S307, controlling the cleaning module to clean the liquid stain area, and then performing S308;

[0085] S308, judging whether the liquid stain area is cleaned, if yes, performing S309, otherwise performing S307.

[0086] S309, controlling the floor cleaning device to clean based on the preset path, and then ending the program.

[0087] In the embodiment, the floor cleaning robot is taken as an example. The floor cleaning robot obtains environmental information by the binocular camera arranged on the body while cleaning in the preset path, detects whether there is a liquid stain in the surrounding area based on the environmental information and the deep learning algorithm, controls the body to bypass the liquid stain after detecting the liquid stain so that the mop is above the determined absorption position of the liquid stain, controls the mop to be immersed in the liquid stain by controlling the mop to descend, controls the floor cleaning device to return to the base station for self-cleaning after the liquid stain is completed to be absorbed by the mop, and then returns to the liquid stain area and starts to control the mop to swing to clean the floor, judges whether the liquid stain area is cleaned, if the liquid stain area is cleaned, directly returns to the breakpoint of the preset path to continue cleaning after self-cleaning is completed, otherwise, returns to the liquid stain area to continue cleaning after self-cleaning is completed until the liquid stain area is cleaned, and then returns to the breakpoint of the preset path to continue cleaning.

[0088] It should be explained that, although the above-mentioned embodiments are described in the above-mentioned order, those skilled in the art can understand that, in order to achieve the effect of the embodiments, the different steps do not have to be executed in such an order, and can be executed simultaneously (in parallel) or in a reversed order, and these simple changes are within the protection scope of the present application. In an alternative embodiment, the floor cleaning robot first performs a traversal observation on the cleaning area to obtain the position information of all liquid stains, and then cleans them in sequence, and after all the liquid stain areas are cleaned, the floor cleaning robot performs path planning on the cleaning area and cleans according to the path. In another alternative embodiment, the liquid stains with a small area can be directly cleaned after being absorbed, and in this case, the floor cleaning robot does not need to return to the base station for self-cleaning. In addition, although the present embodiment is introduced in combination with the floor cleaning robot, this is not intended to limit the protection scope of the present application, and those skilled in the art can apply the present application to a sweeping and mopping integrated robot without departing from the principles of the present application.

[0089] Those skilled in the art can understand that, although some embodiments described herein include certain features but not others included in other embodiments, the combination of features of different embodiments means to be within the scope of the present application and forms different embodiments. For example, in the claims of the present application, any one of the claimed embodiments can be used in any combination.

[0090] So far, the technical solution of the present application has been described in combination with the preferred embodiments shown in the drawings, but those skilled in the art can easily understand that the protection scope of the present application is obviously not limited to these specific embodiments. Those skilled in the art can make equivalent changes or replacements to the related technical features without departing from the principles of the present application, and the technical solutions after the changes or replacements will fall within the protection scope of the present application.

Claims

1. A control method of a floor cleaning device, characterized by, The ground cleaning device comprises a body and a cleaning module arranged on the body, the cleaning module is arranged in a lifting manner, and the control method comprises the following steps: controlling the body to move to a liquid stain area, so that the cleaning module is located above the liquid stain; controlling the cleaning module to press down to the liquid stain, so as to absorb the liquid stain by the cleaning module; after the liquid stain is absorbed, controlling the cleaning module to clean the liquid stain area.

2. The control method of the floor cleaning device according to claim 1, characterized by, The control method further comprises: during the process of controlling the body to move to the liquid stain area, controlling the cleaning module to be in a stop running and lifting state.

3. The control method of the floor cleaning device according to claim 2, characterized by, The control method further comprises: after controlling the cleaning module to press down to the liquid stain for a first preset time, judging whether the liquid stain is absorbed or not; based on the judgment result, selectively controlling the ground cleaning device to return to the base station for self-cleaning.

4. The control method of the floor cleaning device according to claim 3, characterized by, The selective control of the ground cleaning device to return to the base station for self-cleaning based on the judgment result further comprises: if the liquid stain is not absorbed, controlling the ground cleaning device to return to the base station for self-cleaning, and then moving to the liquid stain area again and controlling the cleaning module to press down; if the liquid stain is absorbed, based on the stain type of the liquid stain, selectively controlling the ground cleaning device to return to the base station for self-cleaning, and then controlling the cleaning module to clean the liquid stain area.

5. The control method of the floor cleaning device according to any one of claims 1-4, characterized in that, The control method further comprises: judging whether there is a liquid stain in the surrounding area of the ground cleaning device or not; based on the judgment result, selectively controlling the ground cleaning device to clean the liquid stain area.

6. The control method of the floor cleaning device according to claim 5, characterized by, The ground cleaning device further comprises a sensing module arranged on the body, and the control method further comprises: based on the sensing module, obtaining environmental information; based on the environmental information, judging whether there is a liquid stain in the surrounding area of the ground cleaning device or not.

7. The control method of the floor cleaning device according to claim 5, wherein The selective control of the ground cleaning device to clean the liquid stain area based on the judgment result further comprises: if there is a liquid stain, controlling the ground cleaning device to clean the liquid stain area; and / or if there is no liquid stain, controlling the ground cleaning device to clean based on a preset path.

8. The control method of the floor cleaning device according to claim 7, characterized by, The control method further comprises: if there is a liquid stain, obtaining area information of the liquid stain; based on the area information of the liquid stain, selectively controlling the ground cleaning device to clean the liquid stain area.

9. The control method of the floor cleaning device according to claim 7, characterized by, The control of the ground cleaning device to clean the liquid stain area further comprises: controlling the ground cleaning device to bypass the liquid stain, so that the ground cleaning device faces away from the liquid stain; controlling the ground cleaning device to retreat to the liquid stain area, and then controlling the cleaning module to press down to the liquid stain.

10. The control method of the floor cleaning device according to claim 6, characterized by, The sensing module comprises a binocular camera.

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