Control method, control device, cleaning device, and storage medium

Abstract

The application discloses a kind of control method of cleaning equipment, control device, cleaning equipment and storage medium.The cleaning equipment includes at least two cleaning parts, the cleaning parameter of the at least two cleaning parts is different, the control method includes: according to the state of cleaning area, target cleaning part in at least two cleaning parts is selected to clean the cleaning area.The control method of the above-mentioned cleaning equipment can select target cleaning part in at least two cleaning parts to clean the cleaning area according to the state of cleaning area, the cleaning parameter of the at least two cleaning parts is different, so that the cleaning parameter of cleaning part can be self-adaptive to the state of cleaning area when cleaning equipment cleans the cleaning area, thereby improving the cleaning effect of ground to a certain extent.

Description

Technical Field

[0001] This invention relates to the field of cleaning equipment technology, and in particular to a control method, control device, cleaning equipment, and storage medium for cleaning equipment. Background Technology

[0002] In related technologies, robotic vacuum cleaners are typically equipped with a mopping function. This is achieved by having two rotating mop discs contact the floor and clean it at high speed. The mop discs are moistened before mopping. However, current robotic vacuum cleaners may experience uneven cleaning, leaving water stains or dirt behind, resulting in poor cleaning performance. Summary of the Invention

[0003] The present invention provides a control method, control device, cleaning equipment, and storage medium for cleaning equipment to solve at least one of the above-mentioned technical problems.

[0004] This invention provides a control method for a cleaning device, the cleaning device comprising at least two cleaning units, the cleaning parameters of the at least two cleaning units being different, and the control method comprising:

[0005] Based on the condition of the cleaning area, select at least two target cleaning sections to clean the cleaning area.

[0006] The control method of the above-mentioned cleaning equipment can select a target cleaning section from at least two cleaning sections to clean the cleaning area according to the state of the cleaning area. The cleaning parameters of the at least two cleaning sections are different, so that when the cleaning equipment cleans the cleaning area, the cleaning parameters of the cleaning section can adapt to the state of the cleaning area, thereby improving the cleaning effect of the floor to a certain extent.

[0007] In some implementations, the target cleaning section is a cleaning section among at least two cleaning sections whose cleaning parameters meet the set conditions.

[0008] In some implementations, selecting a target cleaning section from at least two cleaning sections to clean the cleaning area based on its condition includes:

[0009] When cleaning the cleaning area, the target cleaning part is controlled to contact the surface to be cleaned, and the non-target cleaning part is controlled to be lifted.

[0010] In some embodiments, the cleaning parameters include humidity, and selecting a target cleaning section from at least two cleaning sections to clean the area based on its condition includes:

[0011] The target cleaning strategy for the cleaning equipment is determined based on the condition of the cleaning area, and the target cleaning strategy includes a target humidity.

[0012] The cleaning equipment is controlled by the target cleaning strategy to select the target cleaning section from at least two cleaning sections to clean the cleaning area.

[0013] In some implementations, the target cleaning strategy is determined based on the mapping relationship between the cleaning strategy and the state of the cleaning area and the current state of the cleaning area.

[0014] In some implementations, the mapping relationship is obtained by using an image sensor to identify the degree of dirtiness on the ground through deep learning.

[0015] In some embodiments, controlling the cleaning device to select a target cleaning section from at least two cleaning sections to clean the area according to the target cleaning strategy includes:

[0016] Based on the target humidity of the target cleaning section, the cleaning equipment is controlled to return to the base station, so that the base station adjusts the humidity of the cleaning section to achieve the target humidity.

[0017] In some embodiments, controlling the cleaning device to select a target cleaning section from at least two cleaning sections to clean the area according to the target cleaning strategy includes:

[0018] If the target humidity of the target cleaning section is less than the set humidity, the cleaning device is controlled to return to the base station, so that the base station adjusts the humidity of the cleaning section to achieve the target humidity.

[0019] If the target humidity of the target cleaning section is greater than or equal to the set humidity, the cleaning device is controlled to return to the base station, so that the base station adjusts the humidity of the cleaning section to give the cleaning section a first humidity, which is less than the set humidity.

[0020] After the cleaning device leaves the base station and moves to the cleaning area, the cleaning device is controlled to adjust the humidity of the cleaning section so that the cleaning section has the target humidity.

[0021] In some embodiments, the cleaning device includes a first cleaning part, a second cleaning part, a first drive assembly, and a second drive assembly. The first drive assembly is connected to the first cleaning part, and the second drive assembly is connected to the second cleaning part. The first drive assembly is used to independently control the rotation and lifting of the first cleaning part, and the second drive assembly is used to independently control the rotation and lifting of the second cleaning part.

[0022] The target cleaning strategy for the cleaning equipment is determined based on the condition of the cleaning area. The target cleaning strategy includes a target humidity level.

[0023] The first target humidity of the first cleaning section and the second target humidity of the second cleaning section are determined based on the state of the cleaning area, wherein the first target humidity and the second target humidity are the same or different.

[0024] Controlling the cleaning equipment to select a target cleaning section from at least two cleaning sections to clean the area according to the target cleaning strategy includes:

[0025] The first driving component is driven by the first target humidity to drive the first cleaning unit to clean the cleaning area, and the second driving component is driven by the second target humidity to clean the cleaning area.

[0026] In some embodiments, the target cleaning strategy includes a step-by-step cleaning strategy, which includes first controlling the target cleaning part with higher target humidity to descend and the target cleaning part with lower target humidity to rise, so that the target cleaning part with higher target humidity cleans the cleaning area, and then controlling the target cleaning part with lower target humidity to descend and the target cleaning part with higher target humidity to rise, so that the target cleaning part with lower target humidity cleans the cleaning area.

[0027] In some implementations, the target cleaning strategy includes the number of cleaning cycles, and the control method includes at least one of the following steps:

[0028] When the state of the cleaning area is a first state, the target cleaning strategy of the cleaning equipment is determined to be a first target cleaning strategy. The first state is light solid stains. The first target cleaning strategy includes one target humidity of low water volume and another target humidity of standard water volume, and cleaning at least once.

[0029] When the state of the cleaning area is the second state, the target cleaning strategy of the cleaning equipment is determined to be the second target cleaning strategy. The second state is a light liquid stain. The second target cleaning strategy includes one target humidity of low water volume and another target humidity of standard water volume, and cleaning at least once.

[0030] When the state of the cleaning area is the third state, the target cleaning strategy of the cleaning equipment is determined to be the third target cleaning strategy. The third state is severe solid stains. The third target cleaning strategy includes at least one first repetitive operation. One first repetitive operation includes a first cleaning and a second cleaning. In the first cleaning, both target humidity levels are high water volume, and the first cleaning unit and the second cleaning unit rise and fall simultaneously. In the second cleaning, one target humidity level is low water volume, and the other target humidity level is standard water volume. The first cleaning unit and the second cleaning unit rise and fall separately.

[0031] When the state of the cleaning area is the fourth state, the target cleaning strategy of the cleaning equipment is determined to be the fourth target cleaning strategy. The fourth state is severe liquid stains. The fourth target cleaning strategy includes at least one second repetitive operation. One second repetitive operation includes a first cleaning and a second cleaning. In the first cleaning, both target humidity levels are at standard water volume, and the first cleaning unit and the second cleaning unit rise and fall simultaneously. In the second cleaning, one target humidity level is at low water volume, and the other target humidity level is at standard water volume. The first cleaning unit and the second cleaning unit rise and fall separately.

[0032] In some embodiments, the control method includes:

[0033] Based on the target cleaning strategy of the first cleaning unit and the second cleaning unit raising and lowering independently, the target cleaning unit with higher target humidity is first controlled to clean from the edge of the cleaning area to the inside along a preset cleaning route, and then the target cleaning unit with lower target humidity is controlled to clean from the inside of the cleaning area to the edge along the preset cleaning route. The preset cleaning route includes a spiral line and / or a zigzag line.

[0034] In some embodiments, the control method includes:

[0035] When the cleaning area includes an edge area, the cleaning unit with higher target humidity is first controlled to clean the edge area along the direction of the cleaning unit with higher target humidity, and then the cleaning unit with lower target humidity is controlled to clean the edge area along the direction of the cleaning unit with lower target humidity.

[0036] In some embodiments, the control method includes:

[0037] Perform residue testing on the cleaned areas;

[0038] If the cleaning area is still dirty, the cleaning equipment is controlled to return to the base station to clean the target cleaning area, and then the cleaning equipment is controlled to clean the cleaning area again.

[0039] A control device for a cleaning equipment according to an embodiment of the present invention includes:

[0040] Processor, and;

[0041] A memory storing a computer program, which, when executed by the processor, implements the steps of the control method described in any of the above embodiments.

[0042] A cleaning device according to an embodiment of the present invention includes the control device described in the above embodiment.

[0043] This invention provides a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the steps of the control method described in any of the above embodiments.

[0044] The control device, cleaning equipment, and storage medium of the aforementioned cleaning equipment can select a target cleaning section from at least two cleaning sections to clean the cleaning area based on the condition of the cleaning area. The cleaning parameters of the at least two cleaning sections are different, so that when the cleaning equipment cleans the cleaning area, the cleaning parameters of the cleaning section can adapt to the condition of the cleaning area, thereby improving the cleaning effect of the floor to a certain extent.

[0045] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0046] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, wherein:

[0047] Figure 1 This is a schematic diagram of the cleaning equipment according to an embodiment of the present invention;

[0048] Figures 2 to 2a This is a flowchart illustrating the control method of the cleaning equipment according to an embodiment of the present invention;

[0049] Figures 3 to 7 This is a schematic diagram of the structure of the cleaning equipment according to an embodiment of the present invention;

[0050] Figures 8 to 11 This is a schematic diagram of the movement trajectory and direction of the cleaning unit according to an embodiment of the present invention;

[0051] Figures 12 to 13 This is a schematic diagram of the cleaning equipment for edge cleaning according to an embodiment of the present invention.

[0052] Explanation of key component symbols:

[0053] The cleaning equipment 100 includes a cleaning unit 12, a body 14, a first cleaning unit 16, a second cleaning unit 18, a first drive assembly 20, a second drive assembly 22, a control device 24, a sensor module 26, a user interface module 28, a second water pump 30, a processor 32, and a memory 34. Detailed Implementation

[0054] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the embodiments of the present invention, and should not be construed as limiting the embodiments of the present invention.

[0055] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0056] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0057] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection. They can refer to a mechanical connection or an electrical connection. They can refer to a direct connection or an indirect connection through an intermediate medium, and they can refer to the internal communication of two components or the interaction between two components. For those skilled in the art, the specific meaning of the above terms in this invention can be understood according to the specific circumstances.

[0058] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0059] This disclosure provides many different embodiments or examples for implementing various structures of the invention. To simplify the disclosure, specific examples of components and arrangements are described herein. These are merely examples and are not intended to limit the invention. Furthermore, reference numerals and / or letters may be repeated in different examples; such repetition is for simplification and clarity and does not in itself indicate a relationship between the various embodiments and / or arrangements discussed. In addition, examples of various specific processes and materials are provided in this invention, but those skilled in the art will recognize the application of other processes and / or the use of other materials.

[0060] Please refer to Figure 1 and Figure 3 This invention provides a control method for a cleaning device 100, the cleaning device 100 including at least two cleaning units 12, the cleaning parameters of the at least two cleaning units 12 being different. The control method includes:

[0061] 01. Based on the condition of the cleaning area, select at least two target cleaning sections 12 to clean the cleaning area.

[0062] The control method of the cleaning equipment 100 described above can select at least two target cleaning sections 12 to clean the cleaning area according to the state of the cleaning area. The cleaning parameters of the at least two cleaning sections 12 are different, so that when the cleaning equipment 100 cleans the cleaning area, the cleaning parameters of the cleaning section 12 can adapt to the state of the cleaning area, thereby improving the cleaning effect of the ground to a certain extent.

[0063] Specifically, the cleaning equipment 100 is, but is not limited to, a rotary cleaning equipment 100, a tracked cleaning equipment 100, etc. The cleaning equipment 100 shown in the figure is a rotary cleaning equipment 100. The cleaning equipment 100 includes a body 14 and cleaning sections 12, the cleaning sections 12 being connected to the bottom of the body 14. The number of cleaning sections 12 is at least two. Figure 3In this system, the cleaning device 100 includes two cleaning sections 12: a first cleaning section 16 and a second cleaning section 18. The cleaning device 100 also includes a first drive assembly 20 and a second drive assembly 22, which are mounted on the body 14. The first drive assembly 20 is connected to the first cleaning section 16. The first drive assembly 20 can independently control the rotation and lifting of the first cleaning section 16. The second drive assembly 22 is connected to the second cleaning section 18. The second drive assembly 22 can independently control the rotation and lifting of the second cleaning section 18. "Individual control" means that when one drive assembly drives the lifting and rotation of one cleaning section 12, it will not be affected by the other drive assembly driving the lifting and rotation of the other cleaning section 12, thus preventing it from rotating or lifting. It is understood that in other embodiments, the number of cleaning sections 12 is single, and the number of drive assemblies is also single.

[0064] At least two cleaning units 12 have different cleaning parameters. In one embodiment, the cleaning parameters include humidity, meaning that at least two cleaning units 12 have different humidity levels. This could mean that one or more cleaning units 12 have higher humidity levels, while one or more cleaning units 12 have lower humidity levels; or it could mean that one or more cleaning units 12 have higher humidity levels, one or more cleaning units 12 have lower humidity levels, or one or more cleaning units 12 have the same humidity level. The cleaning units 12 include, but are not limited to, rags, mops, etc.

[0065] At least two cleaning units 12 have different cleaning parameters. In one embodiment, the cleaning parameters include the degree of dirtiness, meaning that at least two cleaning units 12 have different degrees of dirtiness. This could mean that one or more cleaning units 12 have a higher degree of dirtiness, while one or more cleaning units 12 have a lower degree of dirtiness; or it could mean that one or more cleaning units 12 have a higher degree of dirtiness, while one or more cleaning units 12 have a lower degree of dirtiness, or that one or more cleaning units 12 have the same degree of dirtiness. In one embodiment, the degree of dirtiness of a cleaning unit 12 can be represented by the duration of cleaning the floor between two cleaning sessions. A longer cleaning time for a cleaning unit 12 indicates a higher degree of dirtiness.

[0066] At least two cleaning units 12 have different cleaning parameters. In one embodiment, the cleaning parameters include the downward pressure of the cleaning unit 12. Specifically, the downward pressure of the cleaning unit 12 refers to the vertically downward force applied by the cleaning unit 12 to the ground during the cleaning process of the cleaning device 100. This pressure has a significant impact on the cleaning effect. Appropriate downward pressure ensures that the cleaning unit 12 better adheres to the ground, improves cleaning efficiency, and removes stubborn stains. If the pressure is too low, the cleaning effect may be poor; while if the pressure is too high, it may damage the ground or shorten the service life of the cleaning cloth. This design allows the cleaning device 100 to adjust to the most suitable downward pressure according to different ground materials and the degree of stains during operation to achieve the best cleaning effect. The downward pressure of the cleaning unit 12 is achieved by a drive assembly.

[0067] The downward pressure of at least two cleaning parts 12 is different. It can be that one or more cleaning parts 12 have a larger downward pressure and one or more cleaning parts 12 have a smaller downward pressure; it can also be that one or more cleaning parts 12 have a larger downward pressure, one or more cleaning parts 12 have a smaller downward pressure, or one or more cleaning parts 12 have the same downward pressure, etc.

[0068] Optionally, in one embodiment, the cleaning device 100 further includes a control device 24 electrically connected to a first drive assembly 20 and a second drive assembly 22. The first drive assembly 20 is responsible for driving the first cleaning unit 16 to perform mopping (e.g., wet mopping or dry mopping), including lowering, raising, and rotating the first cleaning unit 16. The first drive assembly 20 includes a first drive mechanism and a first control unit. The first cleaning unit 16 is used to contact the ground (the surface to be cleaned) when lowering to perform rotating mopping (e.g., wet mopping). The first drive mechanism is used to control the lowering, raising, and rotating of the first cleaning unit 16. The first control unit is used to receive instructions from the control device 24 and control the operation of the first drive mechanism. The shape of the first cleaning unit 16 includes, but is not limited to, a disc shape.

[0069] The second drive assembly 22 is responsible for driving the second cleaning unit 18 to perform mopping (such as dry mopping or wet mopping), including the lowering, raising, and rotating of the second cleaning unit 18. The structure of the second drive assembly 22 is similar to that of the first drive assembly 20, and includes a second drive mechanism and a second control unit. The second cleaning unit 18 is used to contact the ground (the surface to be cleaned) when it lowers to perform rotating mopping (such as dry mopping). The second drive mechanism is used to control the lowering and raising of the second cleaning unit 18. The second control unit is used to receive instructions from the control device 24 and control the operation of the second drive mechanism. The terms "wet mopping" and "dry mopping" refer to the humidity of the cleaning unit 12; mopping with a cleaning unit 12 with high humidity is considered wet mopping, while mopping with a cleaning unit 12 with low humidity is considered dry mopping. The shape of the second cleaning unit 18 includes, but is not limited to, a disc shape.

[0070] The cleaning equipment 100 is typically used in conjunction with a base station. The cleaning equipment 100 can return to the base station to perform cleaning and drying, charging, and garbage removal operations on the cleaning unit 12. Optionally, the cleaning equipment 100 may include a sensor module 26. The sensor module 26 is responsible for detecting the cleaned area on the ground, providing decision-making information for the control device 24. The sensor module 26 includes a stain sensor and a signal processing circuit. The stain sensor is used to detect the cleaned area. The signal processing circuit is used to convert the signals detected by the sensor into digital signals and send them to the control device 24. The stain sensor includes, but is not limited to, image sensors, radar, and infrared sensors.

[0071] The cleaning device 100 includes a user interface module 28, which is responsible for interacting with the user, receiving user instructions, and displaying cleaning status and results. The user interface module 28 may include a display screen, buttons or a touchscreen, and control circuitry. The display screen is used to show the cleaning status and results. The buttons or touchscreen are used to receive user instructions. The control circuitry is used to process user instructions, send them to a control device 24, and receive information from the control device 24 and display it on the display screen.

[0072] The control device 24 is responsible for controlling the workflow of the first drive assembly 20 and the second drive assembly 22, as well as automatically adjusting the humidity of the cleaning section 12 and automatically identifying the status of the cleaning area. Optionally, the control device 24 includes a processor (such as a microprocessor), a memory, and an input / output interface. The processor processes information from the sensor module 26, makes decisions, and sends instructions to the first drive assembly 20 and the second drive assembly 22. The memory stores programs and data. The input / output interface communicates with the first drive assembly 20, the second drive assembly 22, and the user interface module 28.

[0073] In one implementation, please refer to Figure 2 The control methods also include:

[0074] 03. Obtain the status of the cleaned area.

[0075] Specifically, the control device 24 can automatically obtain the status of the cleaning area based on the data from the sensor module 26, and select at least two target cleaning sections 12 to clean the cleaning area based on the status of the cleaning area.

[0076] The state of the cleaning area includes at least one of the following: floor material, stain type, and degree of dirtiness. In one embodiment, the state of the cleaning area includes floor material, stain type, and degree of dirtiness. In another embodiment, the state of the cleaning area includes one or two of the following: floor material, stain type, and degree of dirtiness.

[0077] The flooring material may include, but is not limited to, tiles, wood flooring, and carpet. Stains may include, but are not limited to, solid stains (such as food scraps, dust, etc.) and liquid stains. The degree of soiling may include, but is not limited to, light, moderate, and severe.

[0078] Optionally, in one embodiment, the control device 24 can also obtain the status of the cleaning area from the output data of the sensor module 26. Optionally, in one embodiment, the status of the cleaning area can be input by a user through the user interface module 28, or through a terminal device that is communicatively connected to the cleaning device 100. The terminal device includes, but is not limited to, base stations, mobile phones, tablets, personal computers, wearable smart devices (such as smartwatches, smart helmets, and smart glasses), and servers (such as cloud servers).

[0079] In related technologies, the cleaning parameters of the cleaning unit of the cleaning equipment remain constant, especially when the cleaning parameters of two cleaning units are the same. For stains requiring different cleaning parameters, such as stubborn stains and light stains, the cleaning equipment cannot effectively clean them. This may result in stubborn stains not being completely removed, or water stains being left when cleaning light stains, leading to poor cleaning results.

[0080] The control method of this invention can select a target cleaning unit from at least two cleaning units 12 to clean the cleaning area according to the state of the cleaning area. The cleaning parameters of the at least two cleaning units 12 are different, so that when the cleaning equipment 100 cleans the cleaning area, the cleaning parameters of the cleaning unit 12 can adapt to the state of the cleaning area, thereby improving the cleaning effect of the ground to a certain extent, such as improving uneven ground cleaning, leaving water stains or dirt.

[0081] In some embodiments, the target cleaning section 12 is a cleaning section 12 among at least two cleaning sections 12 whose cleaning parameters meet the set conditions.

[0082] Therefore, the target cleaning section 12 can be identified.

[0083] Specifically, in one embodiment, the control device 24 can determine the target cleaning parameters based on the state of the cleaning area. The target cleaning parameters can be used as setting conditions. The target cleaning unit 12 is a cleaning unit 12 among at least two cleaning units 12 whose cleaning parameters meet the target cleaning parameters. Thus, the cleaning area can be cleaned using the target cleaning unit 12 that meets the target cleaning parameters, thereby improving the cleaning effect of the cleaning area.

[0084] In one embodiment, when there is no cleaning unit 12 that meets the set conditions, the control device 24 can control the cleaning equipment 100 to return to the base station. The base station can process the cleaning unit 12, such as washing or drying, so that the cleaning parameters of the cleaning unit 12 meet the target cleaning parameters. This cleaning unit 12 is then used as the target cleaning unit 12.

[0085] In some implementations, step 01 includes:

[0086] When cleaning the area, the target cleaning part 12 is controlled to contact the surface to be cleaned, and the non-target cleaning part 12 is controlled to be raised.

[0087] This avoids the non-target cleaning section 12 from causing adverse effects on the cleaning area.

[0088] Specifically, in one embodiment, the control device 24 can control the corresponding drive component to drive the target cleaning part 12 to descend to contact the surface to be cleaned, and control the corresponding drive component to drive the non-cleaning part 12 to rise to lift off the ground, so that when the target cleaning part 12 is used to clean the cleaning area, the non-target cleaning part 12 is lifted off the ground, and the non-target cleaning part 12 will not have an adverse effect on the cleaning process of the target cleaning part 12, thereby affecting the cleaning effect.

[0089] In one embodiment, the target cleaning section 12 is the first cleaning section 12, and the non-target cleaning section is the second cleaning section 12. The control device 24 can control the first driving component to drive the first cleaning section 12 to descend to contact the surface to be cleaned, and control the second driving component to drive the second cleaning section 12 to rise.

[0090] In one embodiment, the target cleaning section 12 is the second cleaning section 12, and the non-target cleaning section is the first cleaning section 12. The control device 24 can control the second drive component to drive the second cleaning section 12 to descend to contact the surface to be cleaned, and control the first drive component to drive the first cleaning section 12 to rise.

[0091] In some implementations, please refer to Figure 2a Cleaning parameters include humidity. Step 01 includes:

[0092] 011. Determine the target cleaning strategy for cleaning equipment 100 based on the condition of the cleaning area. The target cleaning strategy includes the target humidity.

[0093] 012, the cleaning equipment 100 is controlled by a target cleaning strategy to select a target cleaning section 12 from at least two cleaning sections 12 to clean the cleaning area.

[0094] Therefore, when the cleaning device 100 is mopping the floor, the humidity of the mop 12 can adapt to the state of the cleaning area, thereby improving the problem of uneven floor cleaning and leaving water stains or dirt to a certain extent.

[0095] Specifically, the control device 24 can determine the target cleaning strategy of the cleaning equipment 100 based on the state of the cleaning area. In one embodiment, the target cleaning strategy may include control parameters, including but not limited to the humidity and rotation speed of the cleaning unit 12. Of course, the user can individually set parameters such as humidity and rotation speed of each cleaning unit 12 through the user interface module 28. Optionally, the target cleaning strategy may also include a cleaning route, and the control device 24 controls the cleaning equipment 100 to clean the cleaning area along the cleaning route using the target cleaning unit 12.

[0096] In some implementations, the target cleaning strategy is determined based on the mapping relationship between the cleaning strategy and the state of the cleaning area and the current state of the cleaning area.

[0097] This allows for the rapid identification of target cleaning strategies, improving efficiency.

[0098] Specifically, the mapping relationship between cleaning strategies and the status of clean areas can be pre-set and stored in the cleaning device 100, or stored in the terminal device. The cleaning device 100 can communicate with the terminal device to obtain the mapping relationship between cleaning strategies and the status of clean areas.

[0099] During the operation of the cleaning equipment 100, the cleaning equipment 100 can acquire environmental data through the sensor module 26, and the control device 24 can acquire the environmental data output by the sensor module 26, analyze the environmental data output by the sensor module 26, thereby obtaining the current state of the cleaning area, and obtaining the target cleaning strategy according to the above mapping relationship.

[0100] Optionally, in one embodiment, the cleaning device 100 includes a first cleaning section 16 and a second cleaning section 18. The first cleaning section 16 and the second cleaning section 18 can serve as target cleaning sections. The target humidity of the cleaning section 12 includes a first target humidity of the first cleaning section 16 and a second target humidity of the second cleaning section 18. The first target humidity may be less than, equal to, or greater than the second target humidity.

[0101] In some implementations, the mapping is obtained by using an image sensor to identify the degree of dirtiness on the ground through deep learning.

[0102] Therefore, the method for obtaining the mapping relationship is highly reliable.

[0103] Specifically, deep learning technology is mature and widely applied, thus the method for obtaining mapping relationships is highly reliable. In one embodiment, sensor module 26 includes an image sensor that can acquire ground images in real time during the movement of the cleaning equipment 100. The trained deep learning model analyzes the real-time acquired ground images to obtain the current state of the cleaning area, and then the mapping relationship is used to obtain the corresponding target cleaning strategy.

[0104] Optionally, by using image sensors to identify the degree of dirt on the ground through deep learning and developing the optimal cleaning strategy, the following steps can be taken:

[0105] 1. Data Collection:

[0106] Collect a large amount of ground image data, including different types of stains (such as dust, liquid stains, solid stains, etc.) and different ground materials (such as tiles, wood flooring, carpets, etc.).

[0107] Label these ground images, indicating the location and type of stains, as well as the degree of soiling.

[0108] 2. Selection of pre-trained models:

[0109] Choose a pre-trained deep learning model as a starting point, such as a convolutional neural network (CNN) based model, like ResNet, VGG, or Inception.

[0110] 3. Model customization and training:

[0111] Adjust the model architecture according to the task requirements, such as adding or removing convolutional layers, fully connected layers, or using different activation functions.

[0112] The model is trained using collected image data, and its parameters are optimized through multiple iterations until the model can accurately identify the type of stain, the surface material, and the degree of dirtiness.

[0113] 4. Stain identification and severity assessment:

[0114] The trained model is used to process real-time acquired ground images, identify stains in the ground images, and assess their extent.

[0115] Based on the type and severity of the stain, the model can output a cleaning suggestion, such as whether wet mopping is needed and the number of times dry mopping is required.

[0116] 5. Strategy Formulation:

[0117] Based on the model's output, the optimal cleaning strategy is determined. The cleaning strategy includes whether to use a wet mop or a dry mop, the intensity of cleaning (including the number of cleaning cycles, the rotation speed of the cleaning unit, etc.), the time (including the travel speed of the cleaning equipment), and the cleaning route.

[0118] 6. Real-time feedback and adjustments:

[0119] During the cleaning process, the cleaning equipment 100 can continue to collect images of the ground and evaluate the cleaning effect in real time.

[0120] Based on real-time evaluation results, the cleaning equipment 100 can dynamically adjust its cleaning strategy to improve cleaning efficiency and effectiveness.

[0121] 7. User Interaction:

[0122] The cleaning device 100 can display cleaning progress and suggestions through a user interface, allowing users to adjust settings according to actual conditions.

[0123] In this way, image sensors and deep learning technology can help cleaning equipment 100 more intelligently identify and respond to different cleaning scenarios, providing personalized and efficient cleaning services.

[0124] The above method allows us to obtain the corresponding cleaning strategies for different cleaning areas under different states. Each cleaning area's state corresponds to a cleaning strategy, thus establishing a mapping relationship between cleaning strategies and cleaning area states.

[0125] Optionally, the terminal device can be equipped with a companion APP (application application) for the cleaning equipment 100. Users can set the operating mode of the cleaning section 12 on the user interaction page of the APP: simultaneous lifting and independent lifting. They can also set the humidity of the cleaning section 12, for example, with three levels: low water volume, standard water volume, and high water volume. When the cleaning equipment 100 cleans the cleaning section 12 in the base station, it will adjust the spin-drying time and rotation speed of the cleaning section 12 according to the set level to control the residual water in the cleaning section 12 trays, thereby controlling the humidity. Optionally, the base station has a drying function for the cleaning section; the base station can adjust the drying temperature and drying time of the cleaning section to control its humidity.

[0126] When set to simultaneous lifting mode, the first cleaning unit 16 and the second cleaning unit 18 cannot control humidity independently; the set humidity level is the same for both the first and second cleaning units 16. When set to independent lifting mode, the first cleaning unit 16 and the second cleaning unit 18 can control humidity independently. For example, the first cleaning unit 16 can be set to low water volume, and the second cleaning unit 18 to standard water volume; or the first cleaning unit 16 can be set to low water volume, and the second cleaning unit 18 to high water volume, etc. Of course, it can be set to automatic mode by default, where the control device 24 of the cleaning equipment 100 automatically configures the humidity based on the degree of dirt detected by the sensor module 26. Optionally, when the first cleaning unit 16 and the second cleaning unit 18 clean the cleaning area simultaneously, the rotation direction of the first cleaning unit 16 and the second cleaning unit 18 can be opposite or the same. Optionally, in independent lifting mode, when cleaning the cleaning area, the rotation direction of the first cleaning unit 16 and the second cleaning unit 18 can be opposite or the same.

[0127] In some implementations, the control method includes:

[0128] Based on the target humidity of the target cleaning section 12, the cleaning equipment 100 is controlled to return to the base station, so that the base station adjusts the humidity of the cleaning section 12 to achieve the target humidity.

[0129] Therefore, the base station can adjust the humidity of the cleaning unit 12 to obtain the target humidity of the target cleaning unit 12.

[0130] Specifically, in one embodiment, the cleaning device 100 includes two cleaning sections 12: a first cleaning section 16 and a second cleaning section 18. After determining the first target humidity and the second target humidity, the control device 24 can control the cleaning device 100 to return to the base station, or after the cleaning device 100 returns to the base station, the control device 24 can then determine the first target humidity and the second target humidity. In other embodiments, the cleaning device 100 may include more than two cleaning sections 12.

[0131] Optionally, in one embodiment, the base station may include a first water tank, a first water pump, and a first nozzle, with the first water pump connected to the first water tank and the first nozzle. The first water pump can supply water to the first nozzle using water from the first water tank. The base station can communicate with the cleaning device 100 to obtain the target humidity of the target cleaning section 12. After detecting the arrival of the cleaning device 100, the base station can control the on / off state of the first water pump and the spray volume of the first water jet to adjust the humidity of the cleaning section 12, thereby achieving the target humidity. It is understood that, in this embodiment, the relationship between the humidity of the cleaning section 12 and the spray volume of the first water jet can be pre-calibrated and stored in the base station or the cleaning device 100. For example, for humidity A1, the corresponding spray volume is B1; for humidity A2, the corresponding spray volume is B2. When the target humidity of the target cleaning section 12 is A1, the base station can determine the spray volume as B1, thereby controlling the operation of the first water pump. It is understood that the spray volume of the first nozzle can be determined by the on-time and / or rotation speed of the first water pump.

[0132] Optionally, the humidity of the cleaning section 12 is also related to the duration and rotation speed of the water-spinning process of the cleaning section 12. When the cleaning section 12 is used for humidity adjustment in the base station, the cleaning device 100 can rotate the cleaning section 12. On the one hand, rotating the cleaning section 12 can clean the cleaning section 12 and make it clean. On the other hand, it can also shake water off the cleaning section 12, thereby adjusting the humidity of the cleaning section 12.

[0133] Optionally, the base station has the function of drying the cleaning section 12. When performing humidity treatment on the cleaning section 12, the drying temperature and drying time of the cleaning section 12 can be adjusted to control the humidity of the cleaning section 12.

[0134] The relationship between humidity, spin-off time and rotation speed, water spray volume, drying humidity and drying time can be pre-calibrated and stored, so that the operation of the first water pump and drive components can be controlled according to the target humidity of the target cleaning section 12.

[0135] After the cleaning unit 12 has completed its processing at the base station and has reached the target humidity, the cleaning equipment 100 can leave the base station and proceed to the cleaning area to clean the area. It should be noted that during the process of the cleaning equipment 100 moving from the base station to the cleaning area, the control device 24 can control the drive assembly to lift all cleaning units 12 off the ground.

[0136] In some implementations, the control method includes:

[0137] If the target humidity of the target cleaning section 12 is less than the set humidity, the cleaning equipment 100 is controlled to return to the base station, so that the base station adjusts the humidity of the cleaning section 12 to achieve the target humidity.

[0138] When the target humidity of the target cleaning section 12 is greater than or equal to the set humidity, the cleaning equipment 100 is controlled to return to the base station, so that the base station adjusts the humidity of the cleaning section 12 so that the cleaning section 12 has a first humidity, which is less than the set humidity.

[0139] After the cleaning equipment 100 leaves the base station and moves to the cleaning area, the cleaning equipment 100 adjusts the humidity of the cleaning section 12 to make the cleaning section 12 have the target humidity.

[0140] This can, to some extent, prevent water droplets from the cleaning section 12 from falling onto the path of the cleaning equipment 100.

[0141] Specifically, setting the humidity can, to some extent, prevent the cleaning part 12 of the cleaning equipment 100 from having a high humidity after the base station has adjusted the humidity. As the cleaning equipment 100 leaves the base station and moves to the cleaning area, water from the cleaning part 12 with a high humidity may drip onto the route, causing the ground to become slippery.

[0142] If the target humidity of the cleaning section 12 is lower than the set humidity, the control device 24 can control the cleaning equipment 100 to return to the base station, so that the base station can adjust the humidity of the cleaning section 12 to achieve the target humidity. The base station's humidity adjustment of the cleaning section 12 can be found in the description of the above embodiment.

[0143] When the target humidity of the cleaning section 12 is greater than or equal to the set humidity, the humidity of the cleaning section 12 can be adjusted in stages. When adjusting the humidity at the base station, the cleaning section 12 can be made to have a first humidity level lower than the set humidity, allowing the cleaning device 100 to leave the base station and move to the cleaning area. During the process of the cleaning device 100 leaving the base station and moving to the cleaning area, the cleaning section 12 has a lower humidity, which to some extent prevents water droplets on the cleaning section 12 from falling onto the path of the cleaning device 100. After the cleaning device 100 reaches the cleaning area, the control device 24 can control the cleaning device 100 to adjust the humidity of the cleaning section 12 to achieve the target humidity. It should be noted that during the process of the cleaning device 100 moving from the base station to the cleaning area, the control device 24 can control the corresponding drive components to lift all cleaning sections 12 off the ground.

[0144] Optionally, in one embodiment, the base station may include a first water tank, a first water pump, and a first nozzle. The first water pump is connected to the first water tank and the first nozzle, and the first water pump can supply water to the first nozzle using water from the first water tank. The base station can communicate with the cleaning equipment 100 to obtain the target humidity of the target cleaning section 12. After detecting that the cleaning equipment 100 is in place, the base station can control the on / off state of the first water pump and the spray volume of the first water jet to adjust the humidity of the cleaning section 12, thereby enabling the humidity of the cleaning section 12 to reach the first humidity level.

[0145] Optionally, in one embodiment, the cleaning device 100 includes a second water tank, a second water pump 30, and a second nozzle, with the second water pump 30 connected to the second water tank and the second nozzle. The control device 24 can control the second water pump 30 to supply water to the second nozzle using water from the second water tank, and the second nozzle sprays water onto the cleaning section 12, thereby adjusting the humidity of the cleaning section 12.

[0146] Since the cleaning section 12 has a first humidity level after exiting the station, the humidity adjusted by the cleaning equipment 100 to the cleaning section 12 is the target humidity minus the first humidity level. It can be understood that, in this embodiment, the relationship between the humidity of the cleaning section 12 and the spray volume of the second spray can be pre-calibrated and stored in the cleaning equipment 100. Therefore, the control device 24 can control the operation of the second water pump 30 according to the humidity required by the cleaning section 12, thereby ensuring that the cleaning section 12 has the target humidity. The spray volume of the second nozzle can be determined by the operating duration and / or rotation speed of the second water pump 30.

[0147] In one example, the target humidity is 90%, and the set humidity is 80%, meaning the target humidity is higher than the set humidity. The base station can adjust the humidity of the cleaning unit 12 to achieve a humidity of 70%, while the cleaning device 100 can adjust the humidity of the cleaning unit 12 to achieve the target humidity of 90%. In other words, the cleaning device 100 raises the humidity of the cleaning unit 12 from the initial humidity of 70% to the target humidity of 90%.

[0148] In one example, the target humidity is 70%, and the set humidity is 80%, meaning the target humidity is lower than the set humidity. The base station adjusts the humidity of the cleaning unit 12 to achieve the target humidity of 70%. It is understandable that the humidity percentage can be mapped to different humidity levels.

[0149] In some embodiments, the cleaning device 100 includes a first cleaning part 16, a second cleaning part 18, a first drive assembly 20, and a second drive assembly 22. The first drive assembly 20 is connected to the first cleaning part 16, and the second drive assembly 22 is connected to the second cleaning part 18. The first drive assembly 20 is used to independently control the rotation and lifting of the first cleaning part 16, and the second drive assembly 22 is used to independently control the rotation and lifting of the second cleaning part 18.

[0150] Step 011 includes:

[0151] The first target humidity of the first cleaning section 16 and the second target humidity of the second cleaning section 18 are determined according to the state of the cleaning area. The first target humidity and the second target humidity may be the same or different.

[0152] Step 012 includes:

[0153] The first cleaning unit 16 is driven by the first target humidity control first driving component 20 to clean the cleaning area, and the second cleaning unit 18 is driven by the second target humidity control second driving component 22 to clean the cleaning area.

[0154] Thus, the cleaning equipment 100 can control the operation of the two cleaning sections 12 at two target humidity levels, both individually and simultaneously.

[0155] Optionally, in one embodiment, both the first driving element and the second driving element may include a motor or a linear driver.

[0156] Please combine Figures 3 to 7 The first cleaning section 16 and the second cleaning section 18 are respectively located at the bottom of the body 14. The first cleaning section 16 is the left cleaning section 12, and the second cleaning section 18 is the right cleaning section 12. The first drive assembly 20 is used to control the rotation and lifting of the first cleaning section 16 independently, and the second drive assembly 22 is used to control the rotation and lifting of the second cleaning section 18 independently.

[0157] In one embodiment, both the first cleaning unit 16 and the second cleaning unit 18 are target cleaning units. Since the first target humidity and the second target humidity are the same, two cleaning units 12 with the same humidity can be used to clean the area. For example, a heavily soiled area can be cleaned simultaneously by two cleaning units 12 with the same humidity. Figure 4 As shown, this improves the cleaning effect. While the first drive assembly 20 drives the first cleaning part 16 to descend to contact the cleaning area and rotate for cleaning, the second drive assembly 22 drives the second cleaning part 18 to descend to contact the cleaning area and rotate for cleaning.

[0158] In one embodiment, both the first cleaning unit 16 and the second cleaning unit 18 are target cleaning units. The first target humidity and the second target humidity are different. The first cleaning unit 16 and the second cleaning unit 18 can be controlled to rise and fall independently to clean the cleaning area.

[0159] In some embodiments, the target cleaning strategy includes a step-by-step cleaning strategy, which includes first controlling the target cleaning section 12 with higher target humidity to descend and the target cleaning section 12 with lower target humidity to rise so that the target cleaning section 12 with higher target humidity cleans the cleaning area, and then controlling the target cleaning section 12 with lower target humidity to descend and the target cleaning section 12 with higher target humidity to rise so that the target cleaning section 12 with lower target humidity cleans the cleaning area.

[0160] This can improve the cleaning effect.

[0161] Optionally, a step-by-step cleaning strategy may refer to different cleaning units 12 cleaning the cleaning area separately. In one embodiment, the cleaning device 100 includes two cleaning units 12: a first cleaning unit 16 and a second cleaning unit 18. The step-by-step cleaning strategy may refer to the first cleaning unit 16 and the second cleaning unit 18 cleaning the cleaning area separately. Specifically, firstly, the target cleaning unit 12 with higher target humidity is lowered and the target cleaning unit 12 with lower target humidity is raised, so that the target cleaning unit 12 with higher target humidity cleans the cleaning area and removes stubborn stains. Then, the target cleaning unit 12 with lower target humidity is lowered and the target cleaning unit 12 with higher target humidity is raised, so that the target cleaning unit 12 with lower target humidity cleans the cleaning area by dry mopping to remove residual water stains, thereby improving the cleaning effect.

[0162] In one embodiment, if the first target humidity is greater than the second target humidity, the cleaning area can be cleaned first using the first cleaning unit 16 (the target cleaning unit 12 with the higher target humidity), and then the cleaning area can be cleaned using the second cleaning unit 18 (the target cleaning unit 12 with the lower target humidity). Specifically, the first driving component 20 can drive the first cleaning unit 16 to descend to contact the cleaning area, and the second driving component 22 can drive the second cleaning unit 18 to rise to detach from the cleaning area. After the first cleaning unit 16 has finished cleaning, the process switches to the second cleaning unit 18. Specifically, the second driving component 22 can drive the second cleaning unit 18 to descend to contact the cleaning area, and the first driving component 20 can drive the first cleaning unit 16 to rise to detach from the cleaning area.

[0163] In one embodiment, if the second target humidity is greater than the first target humidity, the cleaning area can be cleaned first using the second cleaning unit 18 (the target cleaning unit 12 with the higher target humidity), and then the cleaning area can be cleaned using the first cleaning unit 16 (the target cleaning unit 12 with the higher target humidity). Specifically, the second drive assembly 22 can drive the second cleaning unit 18 to descend to contact the cleaning area, and the first drive assembly 20 can drive the first cleaning unit 16 to rise to detach from the cleaning area. After the second cleaning unit 18 has finished cleaning, the system switches to the first cleaning unit 16. Specifically, the first drive assembly 20 can drive the first cleaning unit 16 to descend to contact the cleaning area, and the second drive assembly 22 can drive the second cleaning unit 18 to rise to detach from the cleaning area.

[0164] In some implementations, the target cleaning strategy includes the number of cleaning cycles, and the control method includes at least one of the following steps:

[0165] When the state of the cleaning area is the first state, the target cleaning strategy of the cleaning equipment is determined as the first target cleaning strategy. The first state is light solid stains. The first target cleaning strategy includes one target humidity of low water volume and another target humidity of standard water volume, and cleaning is performed at least once.

[0166] When the state of the cleaning area is the second state, the target cleaning strategy of the cleaning equipment 100 is determined to be the second target cleaning strategy. The second state is light liquid stains. The second target cleaning strategy includes one target humidity of low water volume and another target humidity of standard water volume, and cleaning at least once.

[0167] When the state of the cleaning area is the third state, the target cleaning strategy of the cleaning equipment 100 is determined to be the third target cleaning strategy. The third state is severe solid stains. The third target cleaning strategy includes at least one first repetitive operation. The first repetitive operation includes a first cleaning and a second cleaning. In the first cleaning, both target humidityes are high water volume, and the first cleaning section 16 and the second cleaning section 18 rise and fall simultaneously. In the second cleaning, one target humidity is low water volume, and the other target humidity is standard water volume. The first cleaning section 16 and the second cleaning section 18 rise and fall separately.

[0168] When the state of the cleaning area is the fourth state, the target cleaning strategy of the cleaning equipment 100 is determined to be the fourth target cleaning strategy. The fourth state is severe liquid stains. The fourth target cleaning strategy includes at least one second repetition operation. The second repetition operation includes a first cleaning and a second cleaning. In the first cleaning, both target humidity levels are at standard water volume, and the first cleaning unit 16 and the second cleaning unit 18 rise and fall simultaneously. In the second cleaning, one target humidity level is at low water volume, and the other target humidity level is at standard water volume. The first cleaning unit 16 and the second cleaning unit 18 rise and fall separately.

[0169] Therefore, different target cleaning strategies can be determined based on the condition of the cleaning area, which can improve the cleaning effect of the cleaning area.

[0170] Specifically, when the cleaning device 100 detects stains through the sensor module 26 (such as an image sensor), it uses a pre-trained deep learning network to determine information such as the stain type (solid stain, liquid stain) and the degree of soiling (light, moderate, severe). Based on this information, the control device 24 finds and executes a preset corresponding target cleaning strategy.

[0171] In one implementation, the state of the cleaned area includes light solid stains, light liquid stains, and severe liquid stains with severe solid stains. Target humidity includes low water volume, standard water volume, and high water volume. High water volume corresponds to a higher humidity than standard water volume, and standard water volume corresponds to a higher humidity than low water volume. The classification of the cleaned area's state and the target humidity can be pre-defined and stored in the corresponding cleaning strategy.

[0172] When the cleaning area is in a first state, the control device 24 can determine that the target cleaning strategy of the cleaning device 100 is a first target cleaning strategy. The first state is light solid stains. The first target cleaning strategy includes one target humidity of low water volume and another target humidity of standard water volume, and cleaning at least once. In one embodiment, cleaning is performed once. In another embodiment, cleaning is performed two or more times. One cleaning can be understood as the process in which each cleaning part 12 descends once, contacts the ground, cleans the cleaning area, and then rises once. For example, for a cleaning device 100 having a first cleaning part 16 and a second cleaning part 18, both the first cleaning part 16 and the second cleaning part 18 complete the process of descending once, contacting the ground, cleaning the cleaning area, and then rising once, thus completing one cleaning cycle.

[0173] When the cleaning area is in the second state, the control device 24 can determine that the target cleaning strategy of the cleaning device 100 is the second target cleaning strategy. The second state is light liquid stains. The second target cleaning strategy includes one target humidity of low water volume and another target humidity of standard water volume, and cleaning at least once. In one embodiment, cleaning is performed once. In another embodiment, cleaning is performed two or more times.

[0174] Optionally, please combine Figure 6 and Figure 7When the target humidity of the two cleaning sections 12 is different, the cleaning section 12 with higher humidity is used to clean the area first, and then the cleaning section 12 with lower humidity is used to clean the area. Optionally, in one embodiment, the first target humidity is a low water volume, and the second target humidity is a standard water volume. In another embodiment, the second target humidity is a low water volume, and the first target humidity is a standard water volume.

[0175] When the cleaning area is in a third state, the control device 24 can determine that the target cleaning strategy of the cleaning device 100 is a third target cleaning strategy. The third state is characterized by severe solid stains. The third target cleaning strategy includes at least one first repetitive operation. One first repetitive operation includes a first cleaning and a second cleaning. In the first cleaning, both target humidity levels are high water volume, and the first cleaning unit 16 and the second cleaning unit 18 rise and fall simultaneously. In the second cleaning, one target humidity level is low water volume, and the other second target humidity level is standard water volume; the first cleaning unit 16 and the second cleaning unit 18 rise and fall independently. In one embodiment, the third target cleaning strategy includes one first repetitive operation. In one embodiment, the third target cleaning strategy includes two or more first repetitive operations.

[0176] In the first cleaning, both cleaning units 12 clean the area simultaneously, removing a large amount of solid stains. In the second cleaning, cleaning units 12 with different humidity levels are used to clean the area, further improving the cleaning effect based on the first cleaning. Optionally, in the second cleaning, the area is first cleaned using the cleaning unit 12 with higher humidity, followed by the area cleaned using the cleaning unit 12 with lower humidity.

[0177] When the cleaning area is in state four, the control device 24 can determine that the target cleaning strategy of the cleaning device 100 is the fourth target cleaning strategy. State four represents severe liquid stains. The fourth target cleaning strategy includes at least one second repetitive operation. One second repetitive operation includes a first cleaning and a second cleaning. In the first cleaning, both target humidity levels are at standard water volume, and the first cleaning unit 16 and the second cleaning unit 18 rise and fall simultaneously. In the second cleaning, one target humidity level is at low water volume, and the other target humidity level is at standard water volume; the first cleaning unit 16 and the second cleaning unit 18 rise and fall independently. In one embodiment, the fourth target cleaning strategy includes one second repetitive operation. In one embodiment, the fourth target cleaning strategy includes two or more second repetitive operations.

[0178] In the first cleaning, both cleaning units 12 clean the area simultaneously, thereby removing a large amount of liquid stains. In the second cleaning, cleaning units 12 with different humidity levels are used to clean the area, thus continuing the cleaning process based on the first cleaning and improving the cleaning effect. Optionally, in the second cleaning, the area is first cleaned using the cleaning unit 12 with higher humidity, and then the area is cleaned using the cleaning unit 12 with lower humidity.

[0179] In one implementation, the condition of the cleaned area includes one or more of the following: light solid stains, light liquid stains, heavy solid stains, and heavy liquid stains. The target humidity includes one or two of the following: low water volume, standard water volume, and high water volume.

[0180] In other embodiments, the condition of the cleaned area also includes moderate solid stains and moderate liquid stains. The cleaning of moderate solid stains and moderate liquid stains can be referred to the above description and will not be elaborated upon here.

[0181] In one embodiment, independent lifting can refer to the process of first controlling the target cleaning part 12 with lower target humidity to lift and the target cleaning part 12 with higher target humidity to lower during the cleaning process, so that the target cleaning part 12 with higher target humidity cleans the cleaning area, and then controlling the target cleaning part 12 with higher target humidity to lift and the target cleaning part 12 with lower target humidity to lower during the cleaning process.

[0182] In one embodiment, separate lifting and lowering can refer to, during the cleaning process, first controlling the target cleaning section 12 with higher target humidity to rise and the target cleaning section 12 with lower target humidity to lower, so that the target cleaning section 12 with lower target humidity cleans the cleaning area; then controlling the target cleaning section 12 with lower target humidity to rise again and the target cleaning section 12 with higher target humidity to lower, so that the target cleaning section 12 with higher target humidity cleans the cleaning area. Figure 6 and Figure 7 As shown.

[0183] Simultaneous lifting and lowering can refer to controlling the descent of all target cleaning units 12 so that all target cleaning units 12 can clean the cleaning area simultaneously, such as... Figure 4 As shown. After cleaning is complete, control all target cleaning sections 12 to rise, as... Figure 5 As shown.

[0184] In some implementations, the control method includes:

[0185] According to the cleaning strategy of raising and lowering the first cleaning unit 16 and the second cleaning unit 18 separately, the cleaning unit 12 with higher target humidity is first controlled to clean from the edge of the cleaning area to the inside along a preset cleaning route, and then the cleaning unit 12 with lower target humidity is controlled to clean from the inside of the cleaning area to the edge along a preset cleaning route. The preset cleaning route includes a spiral line and / or a zigzag line.

[0186] This can improve the cleaning effect.

[0187] Specifically, in one embodiment, the cleaning device 100 detects that the cleaning area in front of it has a small amount of liquid stains, and controls the target humidity of one cleaning section 12 to be at a standard water volume, while the target humidity of the other cleaning section 12 is at a low water volume. Please refer to... Figure 8 In one embodiment, the preset cleaning route includes a spiral. The movement trajectory of the target cleaning part 12 with higher humidity from the edge of the cleaning area inward can be a spiral trajectory, which can be achieved by the movement of the cleaning device 100. Specifically, the target cleaning part 12 with lower humidity is raised, and the target cleaning part 12 with higher humidity is lowered to contact the ground. With the rotation center of the target cleaning part 12 with higher humidity as a reference, the cleaning device 100 moves so that the rotation center of the target cleaning part 12 moves in a spiral trajectory from the edge of the cleaning area inward. When the rotation center of the target cleaning part 12 with higher humidity reaches the center position of the spiral, the cleaning device 100 can stop moving. At this time, the target cleaning part 12 is located inside the cleaning area.

[0188] Please combine Figure 9 Then, the control device 24 can control the target cleaning section 12 with higher target humidity to rise, and the target cleaning section 12 with lower target humidity to descend and contact the ground. Using the end point of the target cleaning section 12 with higher target humidity as the starting point of the target cleaning section 12 with lower target humidity, and the starting point of the target cleaning section 12 with higher target humidity as the end point of the target cleaning section 12, the control device 24 controls the cleaning device 100 to move the target cleaning section 12 with lower target humidity along a spiral motion trajectory, so that the target cleaning section 12 with lower target humidity cleans from the inside of the cleaning area to the edge. When the target cleaning section 12 with lower target humidity reaches its end point, the cleaning device 100 can stop moving; at this time, the target cleaning section 12 is located at the edge of the cleaning area.

[0189] Please combine Figure 10In one embodiment, the preset cleaning route includes a U-shaped line. The movement trajectory of the target cleaning part 12 with higher target humidity from the edge of the cleaning area inward can be a U-shaped movement trajectory, which can be achieved by the movement of the cleaning device 100. Specifically, the target cleaning part 12 with lower target humidity is raised, and the target cleaning part 12 with higher target humidity is lowered to contact the ground. With the rotation center of the target cleaning part 12 with higher target humidity as a reference, the cleaning device 100 moves so that the rotation center of the target cleaning part 12 cleans from the edge of the cleaning area inward in a U-shaped trajectory. When the rotation center of the target cleaning part 12 with higher target humidity reaches the end of the U-shaped line, the cleaning device 100 can stop moving. At this time, the target cleaning part 12 is located inside the cleaning area.

[0190] Please combine Figure 11 Then, the control device 24 can control the target cleaning section 12 with higher target humidity to rise, and the target cleaning section 12 with lower target humidity to descend and contact the ground. Using the end point of the target cleaning section 12 with higher target humidity as the starting point of the target cleaning section 12 with lower target humidity, and the starting point of the target cleaning section 12 with higher target humidity as the end point of the target cleaning section 12, the control device 24 controls the cleaning device 100 to move the target cleaning section 12 with lower target humidity along a U-shaped movement trajectory, so that the target cleaning section 12 with lower target humidity cleans from the inside of the cleaning area to the edge. When the target cleaning section 12 with lower target humidity reaches its end point, the cleaning device 100 can stop moving; at this time, the target cleaning section 12 is located at the edge of the cleaning area.

[0191] The cleaning process begins by cleaning from the edge of the cleaning area inwards, allowing dirt to accumulate and preventing it from spreading. Most of the dirt adheres to the target cleaning section 12 with higher humidity. Then, the target cleaning section 12 with lower humidity is cleaned from the inside of the cleaning area towards the edge, further cleaning any remaining dirt. Even if dirt spreads, it can be covered by the target cleaning section 12, thus improving the cleaning effect to some extent.

[0192] Optionally, the control device 24 can control the movement trajectory of the cleaning section 12 so that the spacing between spiral lines and the spacing between zigzag lines or other shaped lines is such that the cleaning areas of the cleaning section partially overlap, so as to avoid missing any gaps that have not been cleaned.

[0193] It is understood that in other embodiments, the movement trajectory of the cleaning unit is not limited to a spiral movement trajectory or a zigzag movement trajectory, but may be other regular or irregular movement trajectories, and the present invention does not make specific limitations in this regard.

[0194] In some implementations, the control method includes:

[0195] When the cleaning area includes the edge area, the target cleaning section 12 with higher target humidity is first controlled to clean the edge area along the direction of the target cleaning section 12 with higher target humidity, and then the target cleaning section 12 with lower target humidity is controlled to clean the edge area along the direction of the target cleaning section 12 with lower target humidity.

[0196] This can improve the cleaning effect of the edge area.

[0197] Specifically, in one embodiment, the edge region can be the area where the edge of a table, chair, or stool leg is located. In another embodiment, the edge region can be the area where the edge of a wall is located.

[0198] When the cleaning device 100 encounters the legs of tables and chairs, it triggers the edge-cleaning mode. The edge-cleaning mode includes a first edge-cleaning mode and a second edge-cleaning mode, which are performed sequentially. In the first edge-cleaning mode, the target cleaning section 12 with higher target humidity cleans the edge area along the direction of the target cleaning section 12 with higher target humidity. In the second edge-cleaning mode, the target cleaning section 12 with lower target humidity cleans the edge area along the direction of the target cleaning section 12 with lower target humidity.

[0199] The cleaning equipment 100 includes a first cleaning section 16 and a second cleaning section 18, both of which are target cleaning sections 12. Figure 12 and Figure 13 In this system, the cleaning device 100 moves forward to perform cleaning. The first cleaning section 16 is the left cleaning section 12, and the second cleaning section 18 is the right cleaning section 12. In one embodiment, the first target humidity is less than the second target humidity; that is, the cleaning section 12 with higher humidity is the second cleaning section 18, and the cleaning section 12 with lower humidity is the first cleaning section 16. When the cleaning device 100 encounters table or chair legs, it triggers a first edge-keeping mode (right edge-keeping mode), where the humidity of the first cleaning section 16 (left) is low, and the humidity of the second cleaning section 18 (right) is standard. It is understood that in another embodiment, the cleaning device 100 can move backward to perform cleaning.

[0200] Please combine Figure 12 The cleaning equipment 100 controls the second cleaning section 18 to descend and the first cleaning section 16 to rise, performing right-side cleaning. The second cleaning section 18 uses a standard volume of water to perform the first cleaning along the right edge, primarily removing stains. Please refer to... Figure 13 When returning to the starting point of the right edge, the cleaning device 100 enters the second edge mode, controls the second cleaning section 18 to rise, controls the first cleaning section 16 to fall, and performs left edge cleaning. The first cleaning section 16 with a low water volume performs a second cleaning on the left edge, mainly to remove residual water stains.

[0201] In some implementations, the control method includes:

[0202] Perform residue testing on the cleaned areas;

[0203] If the cleaning area is still dirty, the cleaning equipment 100 is controlled to return to the base station to clean the cleaning unit 12, and then the cleaning equipment 100 is controlled to clean the cleaning area again.

[0204] This can improve the cleaning effect of the cleaning area.

[0205] Specifically, after the cleaning device 100 has cleaned the cleaning area a preset number of times, its angle can be adjusted so that the camera (which includes an image sensor) of the cleaning device 100 can capture images of the cleaning area and detect any remaining dirt. If dirt still exists in the cleaning area, the control device 24 can control the cleaning device 100 to return to the base station, clean the cleaning unit 12, and bring the cleaning unit 12 to the target humidity level. The cleaning device 100 then returns to the cleaning area and cleans it again according to the target cleaning strategy, thereby improving the cleaning effect of the cleaning area.

[0206] Please combine Figure 2 The control device 24 of a cleaning device 100 according to an embodiment of the present invention includes a processor 32 and a memory 34. The memory 34 stores a computer program. When the computer program is executed by the processor 32, it implements the steps of the control method of any of the above embodiments.

[0207] Specifically, the control device 24 includes, but is not limited to, a controller, control board, main control board, computer board, mobile phone, tablet computer, personal computer, server (including cloud server, etc.).

[0208] Please combine Figure 2 A cleaning device 100 according to an embodiment of the present invention includes the control device 24 described in the above embodiment.

[0209] The present invention provides a computer-readable storage medium storing a computer program thereon, which, when executed by a processor 32, implements the steps of the control method of any of the above embodiments.

[0210] In one implementation, when the computer program is executed by the processor 32, the control method includes:

[0211] 01. Based on the condition of the cleaning area, select at least two target cleaning sections to clean the cleaning area.

[0212] In summary, the cleaning device 100 according to the embodiments of the present invention has the following technical solutions:

[0213] 1. Independent lifting control system:

[0214] Two independent drive components are designed for the cleaning equipment 100, each of which is responsible for controlling the lifting and lowering of a cleaning section 12.

[0215] 2. Independent humidity control device:

[0216] An independent humidity control system is designed for each cleaning section 12, including adjustment devices (such as water pumps, nozzles, etc.). The humidity of the cleaning section 12 is adjusted according to the cleaning strategy by establishing relationships between humidity and factors such as the water pump, water volume, rotation speed of the cleaning section 12, and the duration of water removal by the cleaning section 12. For example, humidity is adjusted by controlling the on / off state of the water pump and the water volume of the nozzles.

[0217] 3. Intelligent control algorithm:

[0218] Develop or integrate intelligent control algorithms to analyze sensor data (such as stain type and floor material) and formulate corresponding cleaning strategies.

[0219] The algorithm should be able to learn user habits and automatically adjust cleaning strategies according to different cleaning scenarios. For example, it could adjust the humidity of the cleaning section 12 based on the degree of dirtiness of the stains and the floor material.

[0220] 4. Step-by-step cleaning process:

[0221] First, use the higher humidity cleaning section 12 to clean the floor and remove stubborn stains. After cleaning, switch to the lower humidity cleaning section 12 disc and dry mop to remove any remaining water.

[0222] The technical solution of this embodiment has at least the following technical effects:

[0223] 1. Improved Cleaning Efficiency: By independently adjusting the humidity of the cleaning section 12 according to the different conditions of the cleaning area, this invention significantly improves the cleaning efficiency of the cleaning equipment 100. The cleaning section 12 with high humidity can effectively handle stubborn stains, while the cleaning section 12 with low humidity can quickly dry the floor and reduce water residue.

[0224] 2. Improved Cleaning Results: Through a step-by-step cleaning process, this invention ensures thorough floor cleaning. The wet mopping step effectively removes stubborn stains, while the dry mopping step removes residual water, preventing watermarks or stains from being left on the floor, thereby improving the overall cleaning effect.

[0225] 3. Reduced water stains and stains: Because the humidity of the cleaning section 12 can be independently controlled, this invention effectively reduces water stains and stains caused by unsuitable humidity in the cleaning section 12. This helps protect the floor, reduces the risk of slipping, and improves user satisfaction with the cleaning effect.

[0226] 4. Enhanced Intelligence and Adaptability: Through intelligent control algorithms, this invention enables the cleaning equipment 100 to automatically adjust cleaning parameters according to different cleaning needs and environmental conditions, enhancing the robot's intelligence and adaptability. This allows the robot to better meet users' personalized cleaning needs.

[0227] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with an embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0228] Any process or method description in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or more steps for implementing a particular logical function or process, and the scope of the preferred embodiments of the invention includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functions involved, as will be understood by those skilled in the art to which embodiments of the invention pertain.

[0229] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, combinations, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A control method for a cleaning device, the cleaning device comprising at least two cleaning units, wherein the cleaning parameters of the at least two cleaning units are different, characterized in that, The control method includes: Based on the condition of the cleaning area, select at least two target cleaning sections to clean the cleaning area; The cleaning parameters include humidity. Based on the condition of the cleaning area, selecting a target cleaning section from at least two cleaning sections to clean the area includes: The target cleaning strategy for the cleaning equipment is determined based on the condition of the cleaning area, and the target cleaning strategy includes a target humidity. The cleaning equipment is controlled by the target cleaning strategy to select the target cleaning section from at least two cleaning sections to clean the cleaning area; Controlling the cleaning equipment to select a target cleaning section from at least two cleaning sections to clean the area according to the target cleaning strategy includes: If the target humidity of the target cleaning section is less than the set humidity, the cleaning device is controlled to return to the base station, so that the base station adjusts the humidity of the target cleaning section to achieve the target humidity. If the target humidity of the target cleaning section is greater than or equal to the set humidity, the cleaning device is controlled to return to the base station, so that the base station adjusts the humidity of the target cleaning section to give the target cleaning section a first humidity, which is less than the set humidity. After controlling the cleaning device to leave the base station and move to the cleaning area, the cleaning device is controlled to adjust the humidity of the target cleaning area so that the target cleaning area has the target humidity.

2. The control method according to claim 1, characterized in that, The target cleaning section is the cleaning section among at least two cleaning sections whose cleaning parameters meet the set conditions.

3. The control method according to claim 1, characterized in that, Based on the condition of the cleaning area, selecting a target cleaning section from at least two cleaning sections to clean the cleaning area includes: When cleaning the cleaning area, the target cleaning part is controlled to contact the surface to be cleaned, and the non-target cleaning part is controlled to be lifted.

4. The control method according to claim 1, characterized in that, The target cleaning strategy is determined based on the mapping relationship between the cleaning strategy and the state of the cleaning area and the current state of the cleaning area.

5. The control method according to claim 4, characterized in that, The mapping relationship is obtained by using an image sensor to identify the degree of dirtiness on the ground through deep learning.

6. The control method according to claim 1, characterized in that, Controlling the cleaning equipment to select a target cleaning section from at least two cleaning sections to clean the area according to the target cleaning strategy includes: Based on the target humidity of the target cleaning section, the cleaning equipment is controlled to return to the base station, so that the base station adjusts the humidity of the target cleaning section to achieve the target humidity.

7. The control method according to claim 1, characterized in that, The cleaning device includes a first cleaning part, a second cleaning part, a first drive assembly, and a second drive assembly. The first drive assembly is connected to the first cleaning part, and the second drive assembly is connected to the second cleaning part. The first drive assembly is used to independently control the rotation and lifting of the first cleaning part, and the second drive assembly is used to independently control the rotation and lifting of the second cleaning part. The target cleaning strategy for the cleaning equipment is determined based on the condition of the cleaning area. The target cleaning strategy includes a target humidity level. The first target humidity of the first cleaning section and the second target humidity of the second cleaning section are determined based on the state of the cleaning area, wherein the first target humidity and the second target humidity are the same or different. Controlling the cleaning equipment to select a target cleaning section from at least two cleaning sections to clean the area according to the target cleaning strategy includes: The first driving component is driven by the first target humidity to drive the first cleaning unit to clean the cleaning area, and the second driving component is driven by the second target humidity to clean the cleaning area.

8. The control method according to claim 7, characterized in that, The target cleaning strategy includes a step-by-step cleaning strategy, which includes first controlling the target cleaning part with higher target humidity to descend and the target cleaning part with lower target humidity to rise, so that the target cleaning part with higher target humidity cleans the cleaning area, and then controlling the target cleaning part with lower target humidity to descend and the target cleaning part with higher target humidity to rise, so that the target cleaning part with lower target humidity cleans the cleaning area.

9. The control method according to claim 7, characterized in that, The target cleaning strategy includes the number of cleaning cycles, and the control method includes at least one of the following steps: When the state of the cleaning area is a first state, the target cleaning strategy of the cleaning equipment is determined to be a first target cleaning strategy. The first state is light solid stains. The first target cleaning strategy includes one target humidity of low water volume and another target humidity of standard water volume, and cleaning at least once. When the state of the cleaning area is the second state, the target cleaning strategy of the cleaning equipment is determined to be the second target cleaning strategy. The second state is a light liquid stain. The second target cleaning strategy includes one target humidity of low water volume and another target humidity of standard water volume, and cleaning at least once. When the state of the cleaning area is the third state, the target cleaning strategy of the cleaning equipment is determined to be the third target cleaning strategy. The third state is severe solid stains. The third target cleaning strategy includes at least one first repetitive operation. One first repetitive operation includes a first cleaning and a second cleaning. In the first cleaning, both target humidity levels are high water volume, and the first cleaning unit and the second cleaning unit rise and fall simultaneously. In the second cleaning, one target humidity level is low water volume, and the other target humidity level is standard water volume. The first cleaning unit and the second cleaning unit rise and fall separately. When the state of the cleaning area is the fourth state, the target cleaning strategy of the cleaning equipment is determined to be the fourth target cleaning strategy. The fourth state is severe liquid stains. The fourth target cleaning strategy includes at least one second repetitive operation. One second repetitive operation includes a first cleaning and a second cleaning. In the first cleaning, both target humidity levels are at standard water volume, and the first cleaning unit and the second cleaning unit rise and fall simultaneously. In the second cleaning, one target humidity level is at low water volume, and the other target humidity level is at standard water volume. The first cleaning unit and the second cleaning unit rise and fall separately.

10. The control method according to claim 9, characterized in that, The control method includes: Based on the target cleaning strategy of the first cleaning unit and the second cleaning unit raising and lowering independently, the target cleaning unit with higher target humidity is first controlled to clean from the edge of the cleaning area to the inside along a preset cleaning route, and then the target cleaning unit with lower target humidity is controlled to clean from the inside of the cleaning area to the edge along the preset cleaning route. The preset cleaning route includes a spiral line and / or a zigzag line.

11. The control method according to claim 7, characterized in that, The control method includes: When the cleaning area includes an edge area, the target cleaning part with higher target humidity is first controlled to clean the edge area along the direction of the target cleaning part with higher target humidity, and then the target cleaning part with lower target humidity is controlled to clean the edge area along the direction of the target cleaning part with lower target humidity.

12. The control method according to claim 1, characterized in that, The control method includes: Perform residue testing on the cleaned areas; If the cleaning area is still dirty, the cleaning equipment is controlled to return to the base station to clean the target cleaning area, and then the cleaning equipment is controlled to clean the cleaning area again.

13. A control device for cleaning equipment, characterized in that, include: Processor, and; A memory storing a computer program, which, when executed by the processor, implements the steps of the control method according to any one of claims 1-12.

14. A cleaning device, characterized in that, Includes the control device as described in claim 13.

15. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the control method according to any one of claims 1-12.

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