Cleaning apparatus, control method therefor, readable storage medium, program product

Abstract

This application provides a cleaning device and its control method, a readable storage medium, and a program product. The cleaning device includes: a body; a facade cleaning unit connected to the body; a floor cleaning unit connected to the body; and a control component connected to both the facade cleaning unit and the floor cleaning unit. The control component is configured to, in response to the cleaning device entering a facade cleaning mode, control the facade cleaning unit to a first position and the floor cleaning unit to a second position, such that at least a portion of the floor cleaning unit is located behind the facade cleaning unit in the direction of travel of the body; and to control the cleaning device to move forward along the facade, and to control the facade cleaning unit to clean the facade and the floor cleaning unit to clean the floor.

Description

Technical Field

[0001] This application relates to the field of computer technology, and in particular to a cleaning device and its control method, a readable storage medium, and a program product. Background Technology

[0002] As users' demands for indoor cleaning increase, the cleaning of vertical surfaces such as corners and baseboards is becoming increasingly prominent. Existing autonomous mobile cleaning equipment, such as robotic vacuum cleaners, mostly focuses on cleaning horizontal floors, lacking effective active cleaning methods for vertical or sloping surfaces, especially the baseboard area where walls meet the floor.

[0003] Existing cleaning equipment cannot effectively clean both the facade and the ground simultaneously while maintaining a normal forward direction when performing edge cleaning of facades. This can easily cause secondary pollution of the ground, which has become a significant technical bottleneck affecting the overall cleaning effect. Summary of the Invention

[0004] In view of the above, embodiments of this application provide a cleaning device and its control method, a readable storage medium, and a program product to at least partially solve the above problems.

[0005] According to a first aspect of the embodiments of this application, a cleaning device is provided, including a body; a facade cleaning unit connected to the body; a floor cleaning unit connected to the body; and a control component connected to both the facade cleaning unit and the floor cleaning unit. The control component is configured to, in response to the cleaning device entering a facade cleaning mode, control the facade cleaning unit to a first position and the floor cleaning unit to a second position, such that at least a portion of the floor cleaning unit is located behind the facade cleaning unit in the direction of travel of the body; and to control the cleaning device to move forward along the facade, and to control the facade cleaning unit to clean the facade and the floor cleaning unit to clean the floor.

[0006] According to a second aspect of the embodiments of this application, a control method for a cleaning device is provided, applied to the aforementioned cleaning device, the cleaning device including a body, a facade cleaning unit, and a floor sweeping unit, the method comprising: In response to the cleaning equipment entering the facade cleaning mode, the facade cleaning unit is controlled to be in a first position and the floor cleaning unit is controlled to be in a second position, so that at least a portion of the floor cleaning unit is located behind the facade cleaning unit in the direction of travel of the machine body; The cleaning equipment is controlled to move forward along the facade, and the facade cleaning unit is controlled to clean the facade, while the floor cleaning unit is simultaneously controlled to clean the floor.

[0007] According to a third aspect of the embodiments of this application, a cleaning device is provided, comprising: Memory; processor; The memory stores computer-executable instructions; the processor executes the computer-executable instructions stored in the memory to implement the above-described method.

[0008] According to a fourth aspect of the present application, a computer-readable storage medium is provided, wherein computer-executable instructions are stored therein, which, when executed by a processor, are used to implement the above-described method.

[0009] According to a fifth aspect of the embodiments of this application, a computer program product is provided, characterized in that it includes a computer program that, when executed by a processor, implements the above-described method.

[0010] According to the cleaning equipment provided in this application embodiment, when the cleaning equipment enters the facade cleaning mode, the control component responsively controls the facade cleaning unit to move to a first position and controls the floor cleaning unit to be in a second position, so that at least part of the floor cleaning unit is located behind the facade cleaning unit in the direction of travel of the machine body, forming a layout of front facade and rear floor; subsequently, the cleaning equipment is controlled to keep moving forward along the edge of the facade such as the wall or baseboard, and simultaneously drives the facade cleaning unit to perform facade cleaning operations such as brushing and vacuuming on the wall, and drives the floor cleaning unit to clean the floor. In this process, since the facade cleaning unit always contacts and cleans the facade first, the dust, hair and other pollutants that fall off the facade are immediately collected by the floor cleaning unit that follows, which avoids the problem of secondary pollution of the cleaned floor by dust falling on the wall in traditional operations. At the same time, this solution allows the cleaning equipment to complete a deep cleaning of the wall and floor in one pass without reversing or changing the direction of travel, using conventional forward movement, which greatly improves the cleaning efficiency and operation smoothness of the edge area. Attached Figure Description

[0011] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings.

[0012] Figure 1 This is a schematic diagram of the structure of a cleaning device provided in an embodiment of this application; Figure 2 A schematic diagram of the structure of a facade cleaning unit of a cleaning device for cleaning facades, provided in an embodiment of this application; Figure 3 This is a structural schematic diagram of the facade cleaning section of a cleaning device provided in an embodiment of this application; Figure 4 A schematic diagram of the structure of a cleaning device whose facade cleaning section extends out of the body via a swing arm mechanism, provided in an embodiment of this application; Figure 5 This is a schematic diagram of the structure of a swing arm mechanism for a cleaning device provided in an embodiment of this application; Figure 6 A flowchart of a control method provided in an embodiment of this application; Figure 7 This is a schematic diagram of a cleaning device provided in an embodiment of this application.

[0013] 10: Cleaning equipment; 20: Body; 100: Floor sweeping section; 200: Swing arm mechanism; 210: First swing arm; 220: Second swing arm; 230: First end; 240: Second end; 300: Floor mopping section; 400: Facade cleaning section; 410: First connecting section; 420: Cleaning section; 500: Mounting base; 600: Obstacle detection component; 700: Front end; 800: Rear end; 900: Extension component; 901: Rear end of extension component; 902: Front end of extension component; 910: Extension arm. Detailed Implementation

[0014] To enable those skilled in the art to better understand the technical solutions in the embodiments of this application, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art should fall within the protection scope of the embodiments of this application.

[0015] The specific implementation of the embodiments of this application will be further described below with reference to the accompanying drawings.

[0016] This application addresses the technical problem that existing cleaning equipment, especially when moving along walls, baseboards, and other vertical surfaces, cannot simultaneously complete facade cleaning and floor cleaning in a single pass. Traditional solutions often require the equipment to switch between sweeping and mopping and facade cleaning, or rely on backward movement, making it impossible to simultaneously handle two cleaning dimensions during normal forward movement. This results in low cleaning efficiency, easy omissions, or secondary pollution.

[0017] For this reason, see Figure 1 and Figure 2This application provides a cleaning device 10, which can be a sweeping robot, a floor scrubbing robot, or other devices with autonomous movement and cleaning functions. The cleaning device 10 includes a body 20, a facade cleaning unit 400, a floor cleaning unit 100, and control components.

[0018] The main body 20 serves as a mobile base for supporting and driving other components, and may house drive wheels, a controller, a power supply, and a fan. For ease of description, the main direction of movement of the cleaning equipment 10 during normal operation is defined as forward. The main body 20 has a forward-facing front end 700 and a corresponding rear end 800. The facade cleaning unit 400 is connected to the main body 20 and is a functional module configured to perform cleaning operations on facade surfaces. Here, facade refers to a surface that is approximately perpendicular to the ground in space, such as interior walls, the front and top surfaces of baseboards, and the sides of furniture. The floor cleaning unit 100 is connected to the main body 20 and is a functional module configured to perform floor cleaning operations. Specifically, it may include at least one of the following components: a roller brush, a side brush, and a suction port. A control component is electrically or signal-connected to both the facade cleaning unit 400 and the floor cleaning unit 100. This control component may be integrated into the main controller within the main body 20 and is used to coordinate and control the operating status and spatial position of each component based on a preset program or sensor feedback.

[0019] In terms of spatial positioning and coordinated control, the facade cleaning unit 400 has a position configured to perform facade cleaning work, referred to as the first position. Similarly, the floor cleaning unit 100 has a position configured to perform floor cleaning work, referred to as the second position. The control component is configured to: in response to the cleaning device 10 entering the facade cleaning mode, control the facade cleaning unit 400 to be in the first position and control the floor cleaning unit 100 to be in the second position.

[0020] When the facade cleaning unit 400 is in the first position and the floor cleaning unit 100 is in the second position, viewed along the travel direction of the machine body 20, at least a portion of the working area of ​​the floor cleaning unit 100, such as the rotating coverage area of ​​its side brush or the opening area of ​​its suction port, is located behind the facade cleaning unit 400. In other words, the facade cleaning unit 400 is positioned closer to the front end 700 during operation, with at least a portion of the functional components of the floor cleaning unit 100 following closely behind. Simultaneously, the control components are also configured to control the cleaning equipment 10 to move forward along the facade, control the facade cleaning unit 400 to clean the facade, and control the floor cleaning unit 100 to clean the floor.

[0021] Through the coordinated control of the aforementioned control components and the specific spatial layout where "the ground cleaning unit is at least partially located behind the facade cleaning unit," this equipment can move along the facade in a conventional forward motion. The specific working scenario is as follows: the control components control the cleaning equipment 10 to move close to the wall with its front end 700 facing the direction of travel. During this process, the facade cleaning unit 400 at the front first contacts the wall surface, using brushing, scraping, or suction to remove dust, hair, and other contaminants adhering to the facade, causing them to fall to the ground under gravity. Immediately afterward, as the equipment continues to move forward, the ground cleaning unit 100 at the rear follows, covering the dust-covered area and collecting the contaminants that have just detached from the facade, along with existing dirt on the ground, and sucking them into the dust box. This fully realizes the integrated and simultaneous cleaning of walls and floors in a single forward movement, which involves "washing the walls in the front and sweeping the floor in the back". This avoids the drawback of traditional solutions where the floor is swept first and then the walls are washed, which causes the dust on the walls to re-contaminate the cleaned floor. It significantly improves the efficiency and cleanliness of cleaning edges and corners.

[0022] Optionally, see Figures 2-5 In this embodiment, the cleaning device 10 also includes a swing arm mechanism 200. The swing arm mechanism 200 has a first end 230 and a second end 240. Its first end 230 is movably connected to the body 20, for example, through a rotating connection structure such as a rotating shaft or a hinge seat, and is rotatably connected to the mounting base 500 on the body 20.

[0023] To achieve a continuous cleaning process of "facade cleaning - dry sweeping - wet mopping", the cleaning equipment 10 also includes a floor mopping unit 300. The floor mopping unit 300 is mounted on the swing arm mechanism 200 and is used to mop the floor. Its mop can be configured to be in a raised or detached state to adapt to the functional switching needs of different cleaning modes.

[0024] The swing arm mechanism 200 has multiple functions, such as being configured to move the facade cleaning unit 400 or the floor mopping unit 300: on the one hand, the swing arm mechanism 200 moves the facade cleaning unit 400 to a first position where it performs facade cleaning work; on the other hand, the swing arm mechanism 200 moves the floor mopping unit 300 to a third position, which is configured such that the floor mopping unit 300 is located behind the floor sweeping unit 100 in the direction of travel of the machine body 20. By integrating the facade cleaning unit 400 and the floor mopping unit 300 onto the same swing arm mechanism 200, the transmission and deployment structure is simplified, allowing the swing arm mechanism to be compatible with both the facade cleaning unit 400 and the floor mopping unit 300 simultaneously, thus simplifying the design structure.

[0025] In addition, the facade cleaning unit 400 and the floor mopping unit 300 can be selectively configured on the swing arm structure 200, depending on the cleaning needs, and are all within the scope of protection of this application.

[0026] To ensure that the facade cleaning unit 400 can effectively contact the facade when needed, while minimizing its impact on equipment accessibility when not in use, the swing arm mechanism 200 is also configured to extend the facade cleaning unit 400 laterally from the side of the body 20 to the first position. This first position refers to the position where the cleaning surface of the facade cleaning unit 400 effectively contacts the facade surface to be cleaned. Specifically, the facade cleaning unit 400 includes a first connecting part 410 and a cleaning part 420, with the cleaning part 420 connected to the first connecting part 410. The cleaning part 420 is used at least to clean the outer surface of the baseboard. The cleaning part 420 may include a cleaning brush or a cleaning cloth, made of soft material, capable of fully contacting the vertical, inclined surfaces and top area of ​​the baseboard, avoiding scratches and abrasions to the wall, baseboard, and other decorative surfaces. The cleaning coverage height of the cleaning part 420 in the height direction of the body 20 can be configured from 4 cm to 11 cm to adapt to the conventional height of household baseboards and to cover the top area of ​​the baseboard. As an end-point extension, the cleaning coverage height can be selected as 4 cm, 7.5 cm, or 11 cm. When the cleaning coverage height is less than 3.5 cm, it is difficult to cover the dust accumulation area above the baseboard; when it is more than 12 cm, it is easy to interfere with low spaces such as the bottom of furniture and door frames.

[0027] To reliably achieve the aforementioned lateral extension and forward positioning actions, the cleaning device 10 also includes an extension assembly 900. The extension assembly 900 has a rear end 901 and a front end 902. The rear end 901 is connected to the second end 240 of the swing arm mechanism 200, and the front end 902 is connected to the facade cleaning section 400. The first connecting part 410 of the facade cleaning section 400 and the extension assembly 900 can be detachably connected via magnetic attraction, adhesive bonding, or snap-fit. For example, when using magnetic attraction, the first connecting part 410 and the extension assembly 900 are respectively embedded with permanent magnets or soft magnetic materials, allowing for installation and disassembly without the need for tools. The extension component 900 is spatially configured such that the second end 240 of the self-swinging arm mechanism 200 extends forward of the body 20 and rises vertically to form a shape that spans above the ground cleaning section 100. This positions the facade cleaning section 400 at a first position near the front end 700 of the ground cleaning section 100, achieving a forward layout of the facade cleaning section and avoiding the ground cleaning section 100.

[0028] The aforementioned swing arm mechanism 200, combined with the extension component 900, utilizes a two-stage rotating connection, achieving a greater outward stroke compared to a single swing arm. This allows for deeper penetration into blind spots such as crevices and the inner depths of low-profile furniture. The swing arm mechanism 200 can switch between an edge-adjusted position and an outward-expanded position relative to the body 20. In the edge-adjusted position, the vertical cleaning section 400 retracts to the outer edge of the side profile of the body 20; in the outward-expanded position, the vertical cleaning section 400 extends laterally from the side of the body 20 to the working position. This outward or inward movement can be achieved by a drive component 260 (such as a bidirectional rotary motor) built into the body 200 via a transmission mechanism 270. The control component can output control commands to the swing arm mechanism 200 based on the actual distance between the body 20 and the wall, dynamically controlling its outward swing angle to ensure precise alignment and stable contact of the cleaning surface with the wall.

[0029] Regarding the specific construction of the extension assembly 900, it further includes an extension arm 910 detachably snapped onto the end of the second end 240 of the swing arm mechanism 200. The extension arm 910 specifically forms a height clearance portion. This height clearance portion rises vertically upward from the second end 240 of the swing arm mechanism 200, forming a bridge structure spanning above the side brush of the ground cleaning unit 100. This bridge structure provides unobstructed passage space for the side brush in the vertical direction.

[0030] In terms of power transmission, the swing arm mechanism 200 is configured to output linear reciprocating power outward. For example, a motor inside the body 20 drives a motion conversion mechanism 276 (such as a cam mechanism or a crank-connecting rod mechanism) to convert rotational motion into linear reciprocating power. The extension arm 910 has a hollow internal structure, within which a rigid push rod is arranged along the extension direction. The rear end of this rigid push rod is connected to the power output end of the swing arm mechanism 200, and the front end is connected to the facade cleaning section 400. It is used to transmit the linear reciprocating power from the swing arm mechanism 200 to the facade cleaning section 400, driving it to perform vibration or reciprocating brushing motions to wipe and clean the baseboard surface. The use of a built-in rigid push rod simplifies the power transmission path and helps to seal and protect the mechanism.

[0031] Furthermore, such as Figure 5 As shown, the swing arm mechanism 200 specifically includes a first swing arm 210 and a second swing arm 220. A first end of the first swing arm 210 is rotatably connected to the body 20, and this end is configured as the first end 230 of the swing arm mechanism 200. The first end of the second swing arm 220 is rotatably connected to the second end of the first swing arm 210 via a rotating joint. The second end of the second swing arm 220, away from the first swing arm 210, is configured as the second end 240 of the swing arm mechanism 200. This second end 240 is a free end and can be used to install the facade cleaning section 400.

[0032] The third position of the aforementioned floor mopping unit 300 can specifically include an edge-mounted position and an outward-extending position. The floor mopping unit 300 is mounted on the second swing arm 220. The first swing arm 210 and the second swing arm 220 cooperate with each other to switch the floor mopping unit 300 between the edge-mounted position and the outward-extending position. As a further limitation, in the outward-extending position, the second end 240 of the second swing arm 220 exceeds the maximum width of the body 20 in the direction perpendicular to the travel direction of the body 20. This allows the facade cleaning unit 400 to extend beyond the body, enabling its cleaning range to extend to areas close to the facade, such as the baseboard. At the same time, it also causes the floor mopping unit 300 to extend outward, thereby covering the ground area outside the body and reducing cleaning dead spots caused by the physical contour of the body.

[0033] To adapt to waterless cleaning scenarios and reduce dust and mud buildup that may occur during wet cleaning, the facade cleaning unit 400 in this embodiment is further defined as a dry facade cleaning unit. Specifically, it can be a dry brush cleaning unit or a dry vacuum cleaning unit. When using a dry brush cleaning unit, the facade cleaning unit 400 includes a vibrating scraper or a rotating brush driven by the rigid push rod; when using a dry vacuum cleaning unit, it is constructed as a suction nozzle connected to the internal fan of the body 20, which can suck up dust while brushing it off, or directly adsorb floating dust on the facade through negative pressure. Both of these dry implementation methods are beneficial for reducing secondary pollution and improving dust recovery efficiency.

[0034] An obstacle detection element 600 may also be provided on the top of the body 20. The obstacle detection element 600 may include a lidar and / or a visual sensor, and its position is higher than the outer edge of the body 20. At least a portion of the structure of the facade cleaning unit 400 may be within the detection range of the obstacle detection element 600 in the height direction, so that the obstacle detection element 600 can be used to determine the installation status of the facade cleaning unit 400, and can also simultaneously monitor low obstacles in front of the cleaning unit during the cleaning process to achieve collision warning.

[0035] This embodiment provides a control method for a cleaning device, which can be applied to the cleaning device described in any of the foregoing embodiments. The cleaning device includes a body, a facade cleaning unit, and a floor sweeping unit, and may further include a swing arm mechanism and a floor mopping unit. The body has a front end and a rear end arranged opposite to each other, defining the forward direction during normal operation. The control method can be executed by a control component built into the cleaning device. This control component may include a processor and a memory, the memory storing computer-executable instructions, and the processor executing the instructions to implement the following method steps.

[0036] See Figure 6 The method includes the following steps: Step S601: In response to the cleaning equipment entering the facade cleaning mode, control the facade cleaning unit to be in the first position and the floor cleaning unit to be in the second position.

[0037] The facade cleaning mode refers to a preset working mode where the cleaning equipment is specifically designed for or prioritizes cleaning facades. This mode can be automatically triggered by the control component based on preset conditions. For example, when obstacle detection devices 600, such as edge sensors, lidar, or vision sensors mounted on the machine, detect facade features like walls or baseboards, the control component determines that the equipment has approached or contacted the facade, thus responding and entering facade cleaning mode. This mode can also be manually triggered by the user through a mobile application or physical buttons on the device. Control refers to the process by which the control component issues commands to various actuators (such as drive motors, swing arm mechanisms, and fans) based on preset programs or real-time calculation results to adjust their working states.

[0038] In this step, the control component instructs the facade cleaning unit 400 to adjust and maintain its predetermined working state, i.e., the first position; simultaneously, it instructs the floor cleaning unit 100 to start and maintain its predetermined working height and state, i.e., the second position. At this time, at least part of the working area of ​​the floor cleaning unit 100, such as the rotating coverage area of ​​its side brush or the opening area of ​​the suction port, is located behind the facade cleaning unit 400 in the direction of travel of the machine, forming a spatial layout of "front facade, rear floor".

[0039] Step S602: Control the cleaning equipment to move forward along the facade, and control the facade cleaning unit to clean the facade, while simultaneously controlling the floor cleaning unit to clean the floor.

[0040] The control unit sends a command to the drive wheel motor, causing the cleaning device 10 to move forward along the edges of walls, baseboards, and other facades with its front end 700 facing the direction of travel. At the same time, the control unit activates the drive mechanism of the facade cleaning unit 400 to perform cleaning operations on the facade; and simultaneously activates the roller brush, side brush, and vacuum fan of the floor cleaning unit 100 to clean the floor.

[0041] Through the above steps, this method employs a combined control strategy of "mode response + position control + motion control + cleaning control," with the control component serving as the core scheduling unit, to achieve automated integrated wall and floor cleaning. In a real-world scenario, when the cleaning equipment autonomously detects a wall edge, the control component automatically switches to facade cleaning mode and begins moving forward along the edge. Simultaneously, the facade cleaning unit at the front cleans the wall, while the floor cleaning unit at the rear cleans the floor, thus completing coordinated wall and floor cleaning in a single automated operation.

[0042] Preferably, in any embodiment of this application, when the cleaning equipment enters the facade cleaning mode, the method further includes: controlling the facade cleaning part 400 to extend laterally from the side of the body 20 to the working position. Specifically, the control component outputs a control signal to the drive motor of the swing arm mechanism 200, causing the first swing arm 210 and the second swing arm 220 to rotate from the edge position to the outward expansion position, driving the facade cleaning part 400 to extend outward until it effectively adheres to the facade surface. This extension action can be controlled by feedback from a pressure sensor or current detection device installed on the facade cleaning part 400 or the swing arm mechanism 200. The control component receives the feedback signal and adjusts the extension amount in real time, ensuring sufficient contact with the facade while avoiding excessive pressure that could damage the wall or equipment. Through this step, automated control of the facade cleaning part's contact with the facade is achieved, eliminating the need for manual adjustment by the user and improving intelligence and cleaning effectiveness.

[0043] Preferably, in any embodiment of this application, the cleaning equipment further includes a floor mopping unit 300, which is mounted on the swing arm mechanism 200 and located on the side of the floor sweeping unit 100 near the rear end 800. When the cleaning equipment enters the facade cleaning mode, the method further includes: the control component instructing the swing arm mechanism 200 to lower the floor mopping unit 300 to the floor contact position and activating its drive mechanism to rotate or vibrate the mop to perform wet wiping on the floor that has already been dry-sweeped. Through this step, the automated control of "facade cleaning + floor sweeping + floor mopping" is realized, and the entire process from facade dust removal to deep floor cleaning is completed in a single wall-mounted movement.

[0044] Preferably, in any embodiment of this application, the cleaning device further includes a preset conventional cleaning mode, which is used to perform daily sweeping and / or mopping tasks in open ground areas. In these two modes, the control component employs different control parameters.

[0045] In one control strategy, in facade cleaning mode, the control component controls the side brush of the floor cleaning unit to rotate at a first rotational speed; in regular cleaning mode, the control component controls the side brush to rotate at a second rotational speed. The first rotational speed is set to be greater than the second rotational speed. For example, the first rotational speed can be 80% to 95% of the rated speed of the side brush motor, and the second rotational speed can be 50% to 70% of the rated speed. Using a higher side brush speed in facade cleaning mode helps to enhance airflow turbulence and the centrifugal force of the brush bristles, more effectively removing dust that has peeled off from the facade and fallen into wall crevices and guiding it into the suction port, improving the cleaning effect in corner areas.

[0046] As an alternative or combinable control strategy, the control components control the movement speed of the cleaning equipment in facade cleaning mode to be lower than that in conventional cleaning mode. For example, the travel speed in conventional cleaning mode can be set between 0.2 m / s and 0.3 m / s, while the travel speed in facade cleaning mode can be reduced to between 0.08 m / s and 0.15 m / s. The lower travel speed extends the effective working time of the facade cleaning unit on a unit length of facade, allowing it to more thoroughly brush or vacuum areas such as baseboard gaps, while providing more response time for obstacle detection and obstacle avoidance decisions by the edge sensors.

[0047] By using the differentiated settings for side brush rotation speed and / or travel speed, this method achieves adaptive parameter adjustment based on the cleaning scenario, striking a balance between rapid coverage of open areas and meticulous slow washing of corner areas, thus optimizing the efficiency and precision of whole-house cleaning.

[0048] Reference Figure 7 This document illustrates a schematic diagram of an electronic device according to an embodiment of this application. The specific embodiments of this application do not limit the specific implementation of the electronic device.

[0049] like Figure 7 As shown, the electronic device may include: a processor 702, a communications interface 704, a memory 706, and a communications bus 708.

[0050] in: The processor 702, communication interface 704, and memory 706 communicate with each other via communication bus 708.

[0051] Communication interface 704 is used to communicate with other electronic devices or servers.

[0052] The processor 702 is used to execute program 710, specifically the relevant steps in the above method embodiments.

[0053] Specifically, program 710 may include program code that includes computer operation instructions.

[0054] The processor 702 may be a CPU, a GPU (Graphics Processing Unit), an Application Specific Integrated Circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of this application. The one or more processors included in the smart device may be processors of the same type, such as one or more CPUs; or they may be processors of different types, such as one or more CPUs and one or more ASICs.

[0055] Memory 706 is used to store program 710. Memory 706 may include high-speed RAM memory, and may also include non-volatile memory, such as at least one disk storage device.

[0056] Program 710 may include multiple computer instructions. Specifically, program 710 can cause processor 702 to perform the operation corresponding to any of the methods described in the foregoing multiple method embodiments through multiple computer instructions.

[0057] The specific implementation of each step in program 710 can be found in the corresponding steps and units described in the above method embodiments, and has corresponding beneficial effects, which will not be repeated here. Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working process of the devices and modules described above can be referred to the corresponding process descriptions in the foregoing method embodiments, and will not be repeated here.

[0058] This application also provides a computer storage medium storing a computer program thereon, which, when executed by a processor, implements the method described in any of the foregoing method embodiments. The computer storage medium includes, but is not limited to, compact disc read-only memory (CD-ROM), random access memory (RAM), floppy disk, hard disk, or magneto-optical disk.

[0059] This application also provides a computer program product, including computer instructions that instruct a computing device to perform an operation corresponding to any of the methods in the above-described multiple method embodiments.

[0060] Furthermore, it should be noted that the user-related information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to sample data used for training the model, data used for analysis, stored data, displayed data, etc.) involved in the embodiments of this application are all information and data authorized by the user or fully authorized by all parties. Moreover, the collection, use and processing of related data must comply with the relevant laws, regulations and standards of the relevant countries and regions, and corresponding operation entry points are provided for users to choose to authorize or refuse.

[0061] It should be noted that, depending on the implementation needs, the various components / steps described in the embodiments of this application can be broken down into more components / steps, or two or more components / steps or parts of the operation of components / steps can be combined into new components / steps to achieve the purpose of the embodiments of this application.

[0062] The methods described in the embodiments of this application can be implemented in hardware, firmware, or as software or computer code that can be stored in a recording medium (such as a CD-ROM, RAM, floppy disk, hard disk, or magneto-optical disk), or as computer code downloaded over a network that is originally stored in a remote recording medium or a non-transitory machine-readable medium and will be stored in a local recording medium. Thus, the methods described herein can be stored on a recording medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware (such as an Application Specific Integrated Circuit (ASIC) or a Field Programmable Gate Array (FPGA)). It is understood that the computer, processor, microprocessor controller, or programmable hardware includes storage components (e.g., Random Access Memory (RAM), Read-Only Memory (ROM), Flash Memory, etc.) capable of storing or receiving software or computer code, which, when accessed and executed by the computer, processor, or hardware, implements the methods described herein. Furthermore, when a general-purpose computer accesses code used to implement the methods shown herein, the execution of the code transforms the general-purpose computer into a dedicated computer for executing the methods shown herein.

[0063] Those skilled in the art will recognize that the units and method steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for specific applications, but such implementations should not be considered beyond the scope of the embodiments of this application.

[0064] The above embodiments are only used to illustrate the embodiments of this application, and are not intended to limit the embodiments of this application. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the embodiments of this application. Therefore, all equivalent technical solutions also fall within the scope of the embodiments of this application, and the patent protection scope of the embodiments of this application should be defined by the claims.

Claims

1. A cleaning device, characterized in that, include: Organism; A facade cleaning unit, which is connected to the body; A floor cleaning unit, which is connected to the machine body; A control component, which is connected to the facade cleaning unit and the floor cleaning unit respectively; The control component is configured to, in response to the cleaning equipment entering the facade cleaning mode, control the facade cleaning unit to be in a first position and the floor cleaning unit to be in a second position, such that at least a portion of the floor cleaning unit is located on the rear side of the facade cleaning unit in the direction of travel of the machine body; and control the cleaning equipment to move forward along the facade, and control the facade cleaning unit to clean the facade, and control the floor cleaning unit to clean the floor.

2. The cleaning equipment according to claim 1, characterized in that, Also includes: A swing arm mechanism having a first end and a second end, wherein the first end of the swing arm mechanism is movably connected to the body; A floor mopping unit is mounted on the swing arm mechanism and is used to mop the floor. The swing arm mechanism is configured to drive the floor mopping unit to a third position so that the floor mopping unit is located behind the floor sweeping unit in the direction of travel of the machine body. The facade cleaning unit is disposed at the second end of the swing arm mechanism, and the swing arm mechanism is further configured to drive the facade cleaning unit to move to the first position.

3. The cleaning equipment according to claim 2, characterized in that, The swing arm mechanism is also configured to drive the facade cleaning unit to extend laterally from the side of the machine body to the first position, so as to contact the facade surface.

4. The cleaning equipment according to claim 3, characterized in that, Also includes: An extension assembly, the rear end of which is connected to the second end of the swing arm mechanism, and the front end of which is connected to the facade cleaning section; The extension component extends spatially from the second end of the swing arm mechanism toward the front of the machine body and crosses above the ground cleaning unit in vertical height, so that the facade cleaning unit is positioned at the first position.

5. The cleaning equipment according to claim 4, characterized in that, The extension assembly includes an extension arm detachably snapped onto the end of the swing arm mechanism, the extension arm having: The height avoidance section rises vertically from the second end of the swing arm mechanism to form a bridge structure that spans above the side brush of the ground sweeping section. The extension arm and the side brush do not interfere with each other in space.

6. The cleaning equipment according to claim 5, characterized in that, The swing arm mechanism is configured to output linear reciprocating power outward. A rigid push rod is disposed inside the extension arm. The rear end of the rigid push rod is connected to the power output end of the swing arm mechanism, and the front end of the rigid push rod is connected to the facade cleaning part, so as to transmit the linear reciprocating power from the swing arm mechanism to the facade cleaning part.

7. The cleaning equipment according to claim 2, characterized in that, The swing arm mechanism includes: A first swing arm, the first end of which is rotatably connected to the machine body; The second swing arm has a first end rotatably connected to the second end of the first swing arm. The floor mopping part is disposed on the second swing arm. The first swing arm and the second swing arm cooperate to drive the floor mopping part to switch between the edge position and the outward position. The second end of the second swing arm is used to set the facade cleaning part and drive the facade cleaning part to move to the first position.

8. The cleaning equipment according to claim 7, characterized in that, The end of the first swing arm connected to the body is configured as the first end of the swing arm mechanism, and the end of the second swing arm away from the first swing arm is configured as the second end of the swing arm mechanism. The second end extends beyond the maximum width of the body in the outward expansion position along the direction of travel perpendicular to the body.

9. The cleaning equipment according to claim 1, characterized in that, The facade cleaning department is a dry facade cleaning department.

10. The cleaning equipment according to claim 9, characterized in that, The facade cleaning section is either a dry brush cleaning section or a dry vacuum cleaning section.

11. A control method for a cleaning device, characterized in that, The method is applied to the cleaning equipment according to any one of claims 1-10, the cleaning equipment comprising a body, a facade cleaning unit, and a floor sweeping unit, the method comprising: In response to the cleaning equipment entering the facade cleaning mode, the facade cleaning unit is controlled to be in a first position and the floor cleaning unit is controlled to be in a second position, so that at least a portion of the floor cleaning unit is located behind the facade cleaning unit in the direction of travel of the machine body; The cleaning equipment is controlled to move forward along the facade, and the facade cleaning unit is controlled to clean the facade, while the floor cleaning unit is simultaneously controlled to clean the floor.

12. The method according to claim 11, characterized in that, When the cleaning equipment enters the facade cleaning mode, the facade cleaning part is controlled to extend laterally from the side of the machine body to the working position, so that the facade cleaning part comes into contact with the facade surface.

13. The method according to claim 11, characterized in that, The cleaning equipment also includes a floor mopping unit, which is located on the side of the floor sweeping unit near the rear end of the machine body; When the cleaning equipment enters the facade cleaning mode, it controls the floor mopping unit to perform mopping.

14. The method according to any one of claims 11 to 13, characterized in that, The cleaning equipment also includes a conventional cleaning mode; In the facade cleaning mode, the side brush of the floor cleaning unit is controlled to rotate at a first rotation speed, and in the regular cleaning mode, the side brush is controlled to rotate at a second rotation speed, wherein the first rotation speed is greater than the second rotation speed. And / or, The movement speed of the cleaning equipment in the facade cleaning mode is controlled to be lower than that in the conventional cleaning mode.

15. A cleaning device, characterized in that, include: Memory; processor; The memory stores computer execution instructions; the processor executes the computer execution instructions stored in the memory to implement the method as described in any one of claims 11 to 14.

16. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, are used to implement the method as described in any one of claims 11 to 14.

17. A computer program product, characterized in that, Includes a computer program that, when executed by a processor, implements the method as described in any one of claims 11 to 14.

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