Control method of floor cleaning device
By combining the lifting cleaning module and the sensing module, the problem of insufficient cleaning ability of robot vacuum cleaners for stubborn stains is solved, achieving efficient and low-noise cleaning of stubborn stains, improving user experience and cleaning efficiency.
Patent Information
- Application Number
- CN202410596457.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-05-14
- Publication Date
- 2025-11-25
AI Technical Summary
Existing robotic vacuum cleaners are not capable enough at cleaning stubborn stains, which affects the user experience and may cause problems such as excessive noise or floor scratches.
It adopts a liftable cleaning module and a sensing module. By controlling the cleaning module to press down on the stubborn stain area with the first humidity and soak for a certain period of time before cleaning, it combines the heating module to accelerate the dissolution of stains and performs self-cleaning before cleaning to ensure humidity and cleaning effect.
It improves the ability to clean stubborn stains, reduces secondary contamination of already cleaned floors, enhances the user experience, and improves cleaning efficiency through selective cleaning and power management.
Smart Images
Figure CN121003389A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of cleaning equipment technology, and more specifically to a control method for a floor cleaning device. Background Technology
[0002] Robotic vacuum cleaners, as a common smart home appliance, play a positive role in reducing housework and maintaining a clean environment. In daily life, stubborn stains may remain on the floor due to the type of stain, cleaning methods, or untimely cleaning. Existing robotic vacuum cleaners typically only clean once, which may result in stubborn stains not being completely removed, or even cause the vacuum cleaner to continue cleaning with dirt, thus polluting other areas.
[0003] In response, existing technologies typically employ methods to enhance the cleaning capabilities of robotic vacuum cleaners, enabling stubborn stains to be removed in a single pass. For example, some robotic vacuum cleaners clean the floor using a mop and pressure control, but this method has limited effectiveness against stains such as grease and rice grains. Other robotic vacuum cleaners improve their cleaning capabilities by increasing the rotation speed of the roller brush or using stiffer bristles, but this approach may result in increased noise during cleaning and scratches on the floor.
[0004] Accordingly, a new technical solution is needed in this field to solve the above problems. Summary of the Invention
[0005] To address at least one of the aforementioned problems in the prior art, namely, to resolve the issue of poor cleaning ability for stubborn stains and negative impact on user experience in existing robotic vacuum cleaners, this application provides a control method for a floor cleaning device. The floor cleaning device includes a main body and a cleaning module and a sensing module disposed on the main body. The cleaning module is liftable. The control method includes:
[0006] Control the body to move to the area of stubborn stains;
[0007] The cleaning module is controlled to press down on the stubborn stain area with a first humidity level;
[0008] After the first preset time period, the cleaning module is controlled to clean the stubborn stain area.
[0009] When using the above technical solution, the stubborn stains are first soaked through the first humidity cleaning module, and after soaking for a first preset time, the stubborn stain area is cleaned, thereby improving the floor cleaning device's ability to clean stubborn stains and enhancing the user experience.
[0010] In a preferred embodiment of the control method for the aforementioned floor cleaning device, the control method further includes:
[0011] Before controlling the ground cleaning device to perform cleaning operations on the stubborn stain area, the ground cleaning device is controlled to return to the base station for self-cleaning, so that the cleaning module reaches the first humidity.
[0012] When the above technical solution is adopted, the cleaning module can be self-cleaned before cleaning stubborn stains to avoid contamination of stubborn stains by the cleaning module, thereby improving the cleaning ability of the floor cleaning device for stubborn stains. Furthermore, humidifying the cleaning module to the first humidity level can provide a high water content to soak stubborn stains, and can also ensure that the cleaning module will not drip water and leave water stains on the floor during the movement of the floor cleaning device.
[0013] In a preferred embodiment of the control method for the aforementioned floor cleaning device, the control method further includes:
[0014] Determine whether there are stubborn stains in the area surrounding the floor cleaning device;
[0015] Based on the judgment result, the floor cleaning device is selectively controlled to perform cleaning operations on the stubborn stain area.
[0016] In a preferred embodiment of the control method for the aforementioned floor cleaning device, the floor cleaning device further includes a sensing module disposed on the main body, and the control method further includes:
[0017] Based on the aforementioned sensing module, environmental information is acquired;
[0018] Based on the environmental information, it is determined whether there are stubborn stains in the area surrounding the floor cleaning device.
[0019] In a preferred embodiment of the control method for the aforementioned floor cleaning device, the step of selectively controlling the floor cleaning device to perform cleaning operations on the stubborn stain area based on the judgment result further includes:
[0020] If stubborn stains exist, the floor cleaning device is controlled to perform a cleaning operation on the area with the stubborn stains; and / or
[0021] If there are no stubborn stains, the floor cleaning device is controlled to clean according to a preset path.
[0022] With the above technical solution, the floor cleaning device can first clean according to the preset path. During the cleaning process, it can simultaneously detect whether there are stubborn stains in the surrounding area. If there are stubborn stains in the surrounding area, it can immediately treat the stubborn stain area. This allows the floor cleaning device to quickly find and treat stubborn stains while ensuring the cleaning efficiency of the area to be cleaned, and avoids the increased difficulty of cleaning stubborn stains due to prolonged storage.
[0023] In a preferred embodiment of the control method for the aforementioned floor cleaning device, the control method further includes:
[0024] If there are no stubborn stains, the cleaning module is controlled to clean with a second humidity level;
[0025] Wherein, the first humidity is greater than the second humidity.
[0026] In a preferred embodiment of the control method for the aforementioned floor cleaning device, the control method further includes:
[0027] After the cleaning module has cleaned the stubborn stain area for a second preset time, the ground cleaning device is controlled to return to the base station for self-cleaning, and it is determined whether the stubborn stain area is clean.
[0028] If so, the floor cleaning device is controlled to clean based on the preset path; otherwise, the floor cleaning device is controlled to return to the stubborn stain area and perform the cleaning operation again.
[0029] When the above technical solution is adopted, after cleaning the stubborn stain area for a second preset time, the ground cleaning device first determines whether the stubborn stain area is clean, and then selectively performs secondary cleaning on the stubborn stain area. It also controls the ground cleaning device to return to the base station for self-cleaning to prevent the cleaning module from causing secondary pollution to the cleaned ground.
[0030] In a preferred embodiment of the control method for the aforementioned floor cleaning device, the control method further includes:
[0031] During the process of controlling the body to move to the area of stubborn stains, the cleaning module is controlled to be in a stopped and / or raised state.
[0032] By adopting the above technical solution, the power consumption of the floor cleaning device can be reduced by selectively stopping the operation of the cleaning module, thus ensuring the cleaning efficiency of the floor cleaning device. Selectively controlling the lifting of the cleaning module can ensure that the floor is not polluted while only controlling the movement of the floor cleaning device.
[0033] In a preferred embodiment of the control method for the aforementioned floor cleaning device, the floor cleaning device further includes a heating module for heating the cleaning module, and the control method further includes:
[0034] While controlling the cleaning module to press down onto the stubborn stain area, or before or after controlling the cleaning module to heat the cleaning module, the heating module is controlled to heat the cleaning module.
[0035] When the above technical solution is adopted, the heating module helps to accelerate the dissolution of stubborn stains and reduce the difficulty of cleaning stubborn stains.
[0036] In the preferred embodiment of the control method for the above-mentioned ground cleaning device, the sensing module includes a binocular camera.
[0037] With the above technical solution, the binocular camera can more accurately identify stubborn stains and determine the distance between the stubborn stains and the floor cleaning device, thus determining the location information of the stubborn stains. Attached Figure Description
[0038] The control method of the floor cleaning device of this application will now be described with reference to the accompanying drawings. In the drawings:
[0039] Figure 1 This is a flowchart illustrating the main steps of a control method for a floor cleaning device according to an embodiment of this application.
[0040] Figure 2 This is a flowchart illustrating the steps of a control method for a floor cleaning device according to another embodiment of this application.
[0041] Figure 3 This is a logic diagram of a control method for a floor cleaning device according to an embodiment of this application. Detailed Implementation
[0042] Preferred embodiments of this application are described below with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are merely illustrative of the technical principles of this application and are not intended to limit the scope of protection of this application. For example, although this embodiment is described in conjunction with a mopping robot, this is not intended to limit the scope of protection of this application. Without departing from the principles of this application, those skilled in the art can apply this application to other devices such as robot vacuums and mops.
[0043] As described in the background section, robotic vacuum cleaners, as a common smart home appliance, play a positive role in reducing housework and maintaining a clean environment. In daily life, stubborn stains may remain on the floor due to the type of stain, cleaning methods, or delayed cleaning. Existing robotic vacuum cleaners typically only clean once, which may leave stubborn stains unremoved or even cause the robot to carry dirt with it, thus polluting other areas.
[0044] In response, existing technologies typically employ methods to enhance the cleaning capabilities of robotic vacuum cleaners, enabling stubborn stains to be removed in a single pass. For example, some robotic vacuum cleaners clean the floor using a mop and pressure control, but this method has limited effectiveness against stains such as grease and rice grains. Other robotic vacuum cleaners improve their cleaning capabilities by increasing the rotation speed of the roller brush or using stiffer bristles, but this approach may result in increased noise during cleaning and scratches on the floor.
[0045] To address the aforementioned issues, this application provides a floor cleaning device comprising a main body, a cleaning module located at the bottom of the main body, and a sensing module located at the front of the main body. Specifically, the bottom of the main body is equipped with a cleaning module such as a roller brush or mop. This cleaning module cleans the floor as the device moves. The cleaning module is height-adjustable; controlling its height avoids secondary contamination of the cleaned floor and controls the downward pressure applied to stubborn stains. Additionally, the sensing module is a binocular camera located at the front of the main body. During the device's movement, the binocular camera acquires stereoscopic visual information, enabling better detection of stubborn stains. However, this is not intended to limit the scope of protection of this application; for example, a monocular camera or other sensing device combined with deep learning algorithms can also be used to detect stubborn stains.
[0046] The following reference Figure 1 The control method of the floor cleaning device of this application is described. Figure 1 This is a flowchart illustrating the main steps of a control method for a floor cleaning device according to an embodiment of this application.
[0047] like Figure 1 As shown, in order to solve the problems of poor cleaning ability of existing robotic vacuum cleaners in dealing with stubborn stains and affecting user experience, the control method of the floor cleaning device in this application mainly includes the following steps:
[0048] S101, control the body to move to the area of stubborn stains;
[0049] S102, control the cleaning module to press down on the stubborn stain area with the first humidity;
[0050] S103, after the first preset time, control the cleaning module to clean the stubborn stain area.
[0051] In this embodiment, stubborn stains include grease, rice grains, and dried liquid stains due to failure to clean in time. The stubborn stain area refers to the cleaning area containing the stubborn stain, and this cleaning area is usually larger than or equal to the area of the stubborn stain. Since stubborn stain areas are often irregular, if the area is large, the floor cleaning device can clean it in sections multiple times. When cleaning the stubborn stain area, the main body of the floor cleaning device first moves above the stubborn stain area, and then a mop with a controlled humidity level of a first set descends to touch the stubborn stain area. This soaks the stubborn stain while preventing water droplets from the mop during movement, thus avoiding water residue on the floor. After soaking for a first preset time, the mop begins cleaning the stubborn stain. In one possible embodiment, the first preset time is 20 seconds. After soaking the stubborn stain for 20 seconds, the mop begins to swing left and right to clean the stubborn stain. Of course, the specific setting of the first preset time is not necessary. Those skilled in the art can adjust it according to their needs. For example, the first preset time can be determined according to the different types of stubborn stains.
[0052] By using the method described in steps S101-S103 above, when cleaning stubborn stains, the stubborn stains are first soaked in the cleaning module with the first humidity, and after soaking for a first preset time, the stubborn stain area is cleaned. This makes the stubborn stains less difficult to clean because they are dissolved, thereby improving the cleaning ability of the floor cleaning device for stubborn stains and improving the user experience.
[0053] In some implementations, before controlling the ground cleaning device to perform cleaning operations on stubborn stain areas, the ground cleaning device is first controlled to return to the base station for self-cleaning, so that the cleaning module reaches the first humidity. At this time, the cleaning module can be humidified to the first humidity at the base station, for example, by spraying a certain amount of water onto the cleaning module through a water tank at the base station, thereby controlling the humidity of the cleaning module. Alternatively, when reaching the stubborn stain area, the water tank on the ground cleaning device can humidify the cleaning module to the first humidity, provided that the ground cleaning device is equipped with a water tank and related water channels for humidifying the cleaning module.
[0054] When using the above technical solution, self-cleaning the cleaning module before cleaning stubborn stains can prevent the cleaning module from contaminating the stubborn stains, thereby improving the cleaning ability of the floor cleaning device for stubborn stains. It also allows the cleaning module to be evenly humidified to a primary humidity level. Of course, the setting of self-cleaning before cleaning stubborn stains is not fixed. In one possible implementation, if the working time or cleaning route length of the floor cleaning device is less than a certain preset threshold before detecting stubborn stains, the floor cleaning device can directly clean the stubborn stain area upon detection.
[0055] See below. Figure 2 , Figure 2 This is a flowchart illustrating the steps of a control method for a floor cleaning device according to another embodiment of this application.
[0056] like Figure 2 As shown, the control method for the floor cleaning device also includes:
[0057] S201, Determine whether there are stubborn stains in the area surrounding the floor cleaning device;
[0058] S202, based on the judgment result, selectively control the floor cleaning device to perform cleaning operations on areas with stubborn stains. For example, if stubborn stains exist, control the floor cleaning device to perform cleaning operations on areas with stubborn stains; if there are no stubborn stains, control the floor cleaning device to clean according to a preset path.
[0059] In one possible implementation, the presence of stubborn stains in the area surrounding the floor cleaning device can be determined based on the following steps:
[0060] Based on the sensing module, environmental information is acquired;
[0061] Based on environmental information, determine whether there are stubborn stains in the area surrounding the floor cleaning device.
[0062] In this embodiment, the surrounding area of the floor cleaning device refers to the area that the sensing module can perceive. Preferably, the sensing module includes a binocular camera, which can capture images of the same object from different angles, thereby obtaining depth information about the object and giving the floor cleaning device stereoscopic vision. By combining stereoscopic vision with deep learning, it is possible to better determine whether there are stubborn stains in the surrounding area of the floor cleaning device.
[0063] In one possible implementation, the floor cleaning device is first controlled to clean along a preset path. While cleaning, a binocular camera mounted on the floor cleaning device, combined with a deep learning algorithm, is used to determine whether there are stubborn stains in the surrounding area. When stubborn stains are detected, the area with the stubborn stains is cleaned first. After cleaning is completed, the device returns to the interruption point of the preset path to continue cleaning. This allows the floor cleaning device to quickly detect and deal with stubborn stains while ensuring cleaning efficiency for the area to be cleaned, avoiding the increased difficulty of cleaning stubborn stains due to prolonged exposure.
[0064] It should be explained that the above implementation methods are not fixed. In one alternative implementation, the stubborn stain area can be a region specified by the user, and then the floor cleaning device moves to the designated location to clean it. For example, the user can edit the map on a mobile terminal, marking or selecting the stubborn stain area. The floor cleaning device receives the returned map and then cleans the stubborn stain area. In another alternative implementation, the floor cleaning device can include multiple working modes. For example, when the floor cleaning device is in the stubborn stain cleaning mode, after cleaning all the stubborn stain areas, it directly returns to the base station for standby. In addition, the method of obtaining stubborn stains is not static. In one alternative implementation, the stain type can be obtained by using image sensing devices such as monocular cameras or cameras in conjunction with deep learning algorithms. For example, environmental images can be captured by image sensing devices and then input into a trained image recognition model to obtain the stain type.
[0065] In some implementations, after the cleaning module has cleaned the stubborn stain area for a second preset time, the ground cleaning device is controlled to return to the base station for self-cleaning, and it is determined whether the stubborn stain area is clean. If so, the ground cleaning device is controlled to clean according to a preset path; otherwise, the ground cleaning device is controlled to return to the stubborn stain area and perform the cleaning operation again.
[0066] In this embodiment, when the floor cleaning device detects stubborn stains, it first controls the cleaning module to soak the stubborn stain area with a first humidity level for a first preset time. Then, the cleaning module begins cleaning, for example, by swinging the mop left and right or rotating the roller brush to clean the stubborn stain area. After cleaning for a second preset time, the floor cleaning device is controlled to return to the base station for self-cleaning. For example, after cleaning with the mop swinging left and right for 30 seconds, the floor cleaning device returns to the base station for self-cleaning. During the movement of the floor cleaning device towards the base station, a sensing module located at the rear of the floor cleaning device can determine whether the stubborn stain area has been cleaned. If the stubborn stain area has been cleaned, it returns directly to the interruption point of the preset path after self-cleaning and continues cleaning; otherwise, it returns to the stubborn stain area after self-cleaning and continues cleaning until the stubborn stain area is cleaned. Of course, the setting of the sensing module at the rear of the floor cleaning device is not necessary. For example, after cleaning for a second preset time, the floor cleaning device is first controlled to retreat a certain distance, and then the sensing module at the front of the floor cleaning device detects whether the stubborn stain area has been cleaned. In addition, the specific setting of the second preset duration is not mandatory. Those skilled in the art can adjust it according to their needs. For example, the corresponding second preset duration can be determined according to the different types of stubborn stains.
[0067] In some implementations, if there are no stubborn stains, the cleaning module is controlled to clean at a second humidity level; wherein the first humidity level is greater than the second humidity level.
[0068] In this embodiment, when cleaning a general area, the cleaning module cleans the area to be cleaned with a second humidity level. Since the first humidity level is greater than the second humidity level, when the cleaning module cleans stubborn stains with the first humidity level, it can accelerate the dissolution of stubborn stains by soaking. When the cleaning module performs general cleaning with the second humidity level, it can ensure the cleaning effect while ensuring that the cleaned floor is not prone to water stains.
[0069] In some embodiments, the control method for the floor cleaning device further includes:
[0070] Obtain environmental information;
[0071] Based on environmental information, obtain the location information of areas with stubborn stains;
[0072] Based on location information, the floor cleaning device is controlled to perform cleaning operations on areas with stubborn stains.
[0073] In this embodiment, when stubborn stains are detected, the ambient information of objects such as sofas and refrigerators can be determined by recognizing them using a binocular camera. Then, the location information of the stubborn stain is determined using a pre-built semantic map, and this location information is stored. After the floor cleaning device returns to the base station for self-cleaning, the location information is used to control the floor cleaning device to move to the area of the stubborn stain. Using the above technical solution, the binocular camera can more accurately identify the type of stain and determine the distance between the stubborn stain and the floor cleaning device, providing a basis for identifying stubborn stains and accurately moving the floor cleaning device.
[0074] In some implementations, the cleaning module is kept in a stopped and / or raised state while the floor cleaning device is being moved to an area of stubborn stains. For example, when cleaning only stubborn stains, the cleaning module remains stopped and raised throughout the movement of the floor cleaning device. Alternatively, when stubborn stains are detected while cleaning, the state of the cleaning module needs to be changed in real time according to the progress of the floor cleaning device. By employing the above technical solutions, selectively stopping the operation of the cleaning module reduces the power consumption of the floor cleaning device, ensuring its cleaning efficiency, while selectively controlling the raising of the cleaning module ensures that the floor is not contaminated while only the movement of the floor cleaning device is being controlled.
[0075] In some embodiments, the floor cleaning device also includes a heating module for heating the cleaning module, which is controlled to heat the cleaning module while, before, or after the cleaning module is pressed down onto the area of stubborn stains.
[0076] In this embodiment, the heating module can be installed on the mop. When soaking stubborn stains, the mop can be preheated to a certain temperature, or it can be electrically heated when or after the mop touches the stubborn stain area, thereby accelerating the dissolution of stubborn stains and improving the cleaning efficiency of the floor cleaning device. Of course, the heating module can also be omitted, in which case soaking alone can dissolve stubborn stains. Furthermore, the method of heating the mop is not fixed. In an alternative embodiment, without the heating module, the cleaning module can be heated by directly spraying hot water onto it, thereby accelerating the dissolution of stubborn stains.
[0077] See below. Figure 3 , Figure 3 This is a logic diagram of a control method for a floor cleaning device according to an embodiment of this application.
[0078] like Figure 3As shown, in one possible implementation, the control method of the ground cleaning device of this application mainly includes the following steps:
[0079] S301, Obtain environmental information;
[0080] S302, determine whether there are stubborn stains in the area surrounding the floor cleaning device; if so, proceed to S303; otherwise, proceed to S308.
[0081] S303, control the ground cleaning device to return to the base station for self-cleaning so that the cleaning module reaches the first humidity, and then execute S304;
[0082] S304, control the body to move to the area of stubborn stains, and then execute S305;
[0083] S305, control the cleaning module to press down on the stubborn stain area with a first humidity and continue for a first preset time, and then execute S306;
[0084] S306, control the cleaning module to clean the stubborn stain area for a second preset time, and then execute S307.
[0085] S307, Control the ground cleaning device to return to the base station to perform self-cleaning and determine whether the stubborn stain area is clean. If yes, execute S308; otherwise, execute S304.
[0086] S308, control the floor cleaning device to clean according to the preset path, and then end the execution program.
[0087] In this embodiment, taking a mopping robot as an example, while cleaning along a preset path, the mopping robot acquires environmental information through a binocular camera on its body. Based on the environmental information and a deep learning algorithm, it detects whether there are stubborn stains in its surrounding area. After detecting stubborn stains, it first controls the mopping robot to return to the base station for self-cleaning and replenishes cleaning fluid (water or a mixture of water and cleaning agent). Then, using the stored location information of the stubborn stains, it controls the body to move above the stubborn stain area, humidifies the mop to a first humidity level, and controls the mop to press against the stubborn stain and continue for a first preset time to dissolve the stubborn stain. Then, it starts controlling the mop to clean the floor. After cleaning for a second preset time, it controls the mopping robot to return to the base station for self-cleaning. At the same time, it determines whether the stubborn stain area is clean. If the stubborn stain area is clean, it returns directly to the interruption point of the preset path after self-cleaning to continue cleaning. Otherwise, it returns to the stubborn stain area after self-cleaning to continue cleaning until the stubborn stain area is clean, and then returns to the interruption point of the preset path to continue cleaning.
[0088] It should be explained that although the steps in the above embodiments are described in the above sequence, those skilled in the art will understand that, in order to achieve the effect of this embodiment, different steps do not necessarily need to be executed in this order. They can be executed simultaneously (in parallel) or in reverse order, and these simple variations are all within the scope of protection of this application. In an alternative embodiment, the mopping robot first observes the area to be cleaned, obtains the location information of all stubborn stains, and then cleans them sequentially. After all stubborn stain areas are cleaned, the mopping robot plans a path for the area to be cleaned and cleans according to that path. In another alternative embodiment, after the main body moves above the stubborn stain area, the mop is first controlled to touch the stubborn stain area, and then the mop is moistened to a first humidity level. In addition, although this embodiment is described in conjunction with a mopping robot, it is not intended to limit the scope of protection of this application. Those skilled in the art can apply this application to a sweeping and mopping robot without departing from the principle of this application.
[0089] Those skilled in the art will understand that although some embodiments described herein include certain features included in other embodiments but not others, combinations of features from different embodiments are intended to be within the scope of this application and form different embodiments. For example, any of the claimed embodiments in the claims of this application can be used in any combination.
[0090] The technical solutions of this application have been described above with reference to the preferred embodiments shown in the accompanying drawings. However, it will be readily understood by those skilled in the art that the scope of protection of this application is obviously not limited to these specific embodiments. Without departing from the principles of this application, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will all fall within the scope of protection of this application.
Claims
1. A control method for a floor cleaning device, characterized in that, The ground cleaning device includes a main body and a cleaning module disposed on the main body, the cleaning module being liftable, and the control method including: Control the body to move to the area of stubborn stains; The cleaning module is controlled to press down on the stubborn stain area with a first humidity level; After the first preset time period, the cleaning module is controlled to clean the stubborn stain area.
2. The control method for the floor cleaning device according to claim 1, characterized in that, The control method further includes: Before controlling the ground cleaning device to perform cleaning operations on the stubborn stain area, the ground cleaning device is controlled to return to the base station for self-cleaning, so that the cleaning module reaches the first humidity.
3. The control method for the floor cleaning device according to claim 1, characterized in that, The control method further includes: Determine whether there are stubborn stains in the area surrounding the floor cleaning device; Based on the judgment result, the floor cleaning device is selectively controlled to perform cleaning operations on the stubborn stain area.
4. The control method for the floor cleaning device according to claim 3, characterized in that, The floor cleaning device further includes a sensing module disposed on the main body, and the control method further includes: Based on the aforementioned sensing module, environmental information is acquired; Based on the environmental information, it is determined whether there are stubborn stains in the area surrounding the floor cleaning device.
5. The control method for the floor cleaning device according to claim 3, characterized in that, The selective control of the floor cleaning device to perform cleaning operations on the stubborn stain area based on the judgment result further includes: If stubborn stains exist, the floor cleaning device is controlled to perform a cleaning operation on the area with the stubborn stains; and / or If there are no stubborn stains, the floor cleaning device is controlled to clean according to a preset path.
6. The control method for the floor cleaning device according to claim 5, characterized in that, The control method further includes: If there are no stubborn stains, the cleaning module is controlled to clean with a second humidity level; Wherein, the first humidity is greater than the second humidity.
7. The control method for the floor cleaning device according to claim 1, characterized in that, The control method further includes: After the cleaning module has cleaned the stubborn stain area for a second preset time, the ground cleaning device is controlled to return to the base station for self-cleaning, and it is determined whether the stubborn stain area is clean. If so, the floor cleaning device is controlled to clean according to a preset path; otherwise, the floor cleaning device is controlled to return to the stubborn stain area and perform the cleaning operation again.
8. The control method for the floor cleaning device according to claim 1, characterized in that, The control method further includes: During the process of controlling the body to move to the area of stubborn stains, the cleaning module is controlled to be in a stopped and / or raised state.
9. The control method for the floor cleaning device according to claim 1, characterized in that, The floor cleaning device further includes a heating module for heating the cleaning module, and the control method further includes: While controlling the cleaning module to press down onto the stubborn stain area, or before or after controlling the cleaning module to heat the cleaning module, the heating module is controlled to heat the cleaning module.
10. The control method for the floor cleaning device according to claim 4, characterized in that, The sensing module includes a binocular camera.