Control method of cleaning device, cleaning device, electronic device, and computer-readable storage medium

Abstract

The application provides a control method of a cleaning device, the cleaning device, an electronic device and a computer readable storage medium, relates to the technical field of cleaning, and the cleaning device comprises a machine body, a swing arm mechanism, a facade cleaning module installed on the swing arm mechanism and a driving assembly. The facade cleaning module can reciprocate relative to the swing arm mechanism under the action of the driving assembly. The control method comprises the following steps: obtaining the dirt degree of a to-be-cleaned facade area; and dynamically adjusting the power output parameter of the driving assembly according to the obtained dirt degree, so as to change the frequency of the reciprocating motion of the facade cleaning module relative to the swing arm mechanism. The motion frequency of the facade cleaning module is controlled according to different dirt degrees, and the cleaning efficiency and the cleaning effect are improved.

Description

Technical Field

[0001] This application relates to the field of cleaning technology, and in particular to a control method for cleaning equipment, cleaning equipment, electronic equipment, and computer-readable storage medium. Background Technology

[0002] With the continuous development of smart home technology, cleaning equipment (such as robotic vacuum cleaners and robotic mops) has gradually become widespread and an important tool for daily floor cleaning in modern households. In recent years, some cleaning equipment has gained the ability to clean vertical surfaces (such as baseboards and wall edges, which are roughly perpendicular to the floor), further expanding the application scenarios of cleaning equipment.

[0003] In related technologies, when cleaning equipment cleans facade areas, it is usually done by controlling the movement of the cleaning equipment to drive the cleaning module to wipe the facade. However, areas with more stains are often not cleaned thoroughly, resulting in poor cleaning effect and obvious limitations in practical applications. Summary of the Invention

[0004] In view of the above, embodiments of this application provide a control method for cleaning equipment, a cleaning equipment, an electronic device, and a computer-readable storage medium to solve the above problems.

[0005] According to a first aspect of the present application, a control method for a cleaning device is provided. The cleaning device includes a body, a swing arm mechanism, a facade cleaning module mounted on the swing arm mechanism, and a drive assembly. The facade cleaning module can reciprocate relative to the swing arm mechanism under the action of the drive assembly. The control method includes: Obtain the degree of dirtiness in the facade area to be cleaned; Based on the obtained degree of dirtiness, the power output parameters of the drive component are dynamically adjusted to change the frequency of the reciprocating motion of the facade cleaning module relative to the swing arm mechanism.

[0006] According to a second aspect of the embodiments of this application, a cleaning device is provided, including: a body, a swing arm mechanism, a facade cleaning module and a drive assembly installed on the swing arm mechanism, and further including: Dirt detection equipment is used to determine the degree of dirtiness in the facade area to be cleaned. A controller for executing computer-executed instructions to implement the method as described in the first aspect.

[0007] According to a third aspect of the present application, an electronic device is provided, comprising: a memory and a processor, the memory storing computer execution instructions; the processor executing the computer execution instructions stored in the memory, causing the processor to perform the method as described in the first aspect.

[0008] According to a fourth aspect of the embodiments of this 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 method as described in the first aspect.

[0009] According to the control method of the cleaning equipment provided in this application embodiment, the degree of dirtiness of the facade area to be cleaned is obtained, and the power output parameters of the drive component are dynamically adjusted according to the degree of dirtiness to change the reciprocating motion frequency of the facade cleaning module. This allows the cleaning equipment to automatically adjust the wiping frequency according to the actual dirtiness of the facade area. For heavily soiled areas, wiping is performed at a higher frequency to increase the number of wipings per unit time, improve the cleaning ability, and ensure the cleaning effect. For lightly soiled areas, wiping is performed at a lower frequency to reduce unnecessary reciprocating motion while meeting the cleaning requirements, thereby reducing energy consumption and mechanical wear of the drive component. This method achieves adaptive matching between cleaning intensity and degree of dirtiness, solving the problems of incomplete cleaning of dirty areas and over-cleaning of clean areas caused by fixed-frequency cleaning modes in related technologies. It improves the cleaning effect and efficiency, while reducing wear on cleaning components and facade surfaces, and enhancing the intelligence level and energy utilization efficiency of the cleaning equipment. Attached Figure Description

[0010] 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.

[0011] Figure 1 This is a schematic diagram of the structure of a cleaning device provided in an embodiment of this application; Figure 2 This is a schematic diagram of the structure of a baseboard cleaning module of a cleaning device provided in an embodiment of this application, used for cleaning baseboards. Figure 3 A schematic diagram illustrating the switching of a swing arm mechanism of a cleaning device from an inward position to an outward position, as provided in an embodiment of this application; Figure 4 A schematic diagram of the structure of a cleaning device with a skirting board cleaning module disposed at the second end of a swing arm mechanism, as provided in an embodiment of this application; Figure 5 This is a schematic diagram of the main flow of the control method for the cleaning equipment provided in the embodiments of this application; Figure 6 A schematic diagram of a graded frequency control process based on the degree of dirtiness provided in an embodiment of this application; Figure 7This is a schematic diagram of the passive cleaning control process when the frequency is zero, provided in an embodiment of this application. Figure 8 A schematic diagram illustrating the process of frequency adjustment implemented by the transmission mechanism provided in the embodiments of this application; Figure 9 This is a schematic diagram of the contact pressure regulation and control process provided in an embodiment of this application; Figure 10 A schematic flowchart illustrating a control method for another cleaning device provided in an embodiment of this application; Figure 11 A schematic diagram of the installation, testing and service life management process of the facade cleaning module provided in the embodiments of this application; Figure 12 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0012] 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.

[0013] The specific implementation of the embodiments of this application will be further described below with reference to the accompanying drawings.

[0014] This application provides a cleaning device, which is particularly suitable for reciprocating wiping and cleaning of vertical surfaces. The specific structure of the cleaning device will be described in detail below with reference to the accompanying drawings.

[0015] See Figures 1 to 4 As shown in the exemplary embodiment of this application, a cleaning device is provided. It should be noted that, for ease of description, in this embodiment, the height direction of the cleaning device 10 is taken as the z-direction, the width direction of the body 20 as the x-direction, and the forward direction of the cleaning device 10 as the y-direction. This embodiment provides a cleaning device, as shown in Figures 1-4. The cleaning device 10 may include a body 20 and a cleaning component 30 movably connected to the body 20. The cleaning component 30 includes a swing arm mechanism 200, a vertical cleaning module 400 mounted on the swing arm mechanism 200, and a drive component. The body serves as the mobile base of the cleaning device and internally houses a controller, a power module, and a navigation system. The swing arm mechanism 200 is movably connected to the body and is used to extend the vertical cleaning module 400 outward to contact the vertical surface area to be cleaned, such as baseboards, wall edges, and other surfaces approximately perpendicular to the ground.

[0016] The swing arm mechanism 200 includes a first swing arm 210 and a second swing arm 220. The first end of the first swing arm 210 is rotatably connected to the machine body via a mounting base, and the first end of the second swing arm 220 is rotatably connected to the second end of the first swing arm 210. The facade cleaning module 400 is mounted on the second end of the second swing arm 220. Through the two-stage series structure of the first swing arm 210 and the second swing arm 220, the swing arm mechanism 200, driven by the drive module 500, can extend from an inwardly retracted position inside the machine body to an outwardly expanded position, allowing the facade cleaning module 400 to extend and contact the facade area to be cleaned.

[0017] The drive assembly is mounted on the second swing arm 220 and is connected to the facade cleaning module 400 via a transmission mechanism. The drive assembly includes a drive motor, the output shaft of which is connected to the facade cleaning module 400 via a transmission mechanism. The transmission mechanism is located inside the swing arm mechanism 200 and includes a clutch and a motion conversion mechanism. The clutch engages or disengages the power transmission path from the drive motor to the motion conversion mechanism. The motion conversion mechanism converts rotary motion into linear reciprocating motion and can be implemented as a crank-connecting rod mechanism, a cam mechanism, or an eccentric wheel mechanism, etc. Taking a crank-connecting rod mechanism as an example, the crank disc is fixed to the output shaft of the transmission mechanism, one end of the connecting rod is eccentrically connected to the crank disc, and the other end is hinged to the facade cleaning module 400. When the crank disc rotates, it drives the facade cleaning module 400 to perform linear reciprocating motion along the guide groove via the connecting rod, achieving reciprocating wiping and cleaning of the facade.

[0018] The facade cleaning module 400 can reciprocate relative to the swing arm mechanism 200 under the action of the drive component. The facade cleaning module 400 includes a cleaning part and a mounting part. The mounting part is used to detachably connect to the mounting seat on the second swing arm 220. The cleaning part faces the facade area to be cleaned and wipes the facade during the reciprocating motion. The cleaning part can be a dry cleaning part, and may include cleaning components such as rags, sponges, and wiping cloths. The cleaning components are consumable parts and will gradually wear down or become saturated with absorbent material during use, requiring periodic replacement.

[0019] In one possible implementation, the cleaning equipment may further include a floor cleaning module 300. The floor cleaning module 300 is detachably connected to the bottom of the swing arm mechanism 200. When the floor cleaning module 300 is installed on the swing arm mechanism 200, at least a portion of its structure is exposed outside the second end 240 of the swing arm mechanism 200. The swing arm mechanism 200 can move the floor cleaning module 300 between a retracted position and an extended position to perform floor cleaning. Specifically, when the swing arm mechanism 200 is in the retracted position, the floor cleaning module 300 can be stored under or inside the machine body for routine floor cleaning; when the swing arm mechanism 200 is extended to the extended position, the floor cleaning module 300 extends outward along with the swing arm mechanism 200, allowing cleaning of the outer edge area of ​​the machine body or the junction of the bottom of the facade and the ground, thus expanding the coverage area of ​​the floor cleaning.

[0020] The floor cleaning module 300 and the facade cleaning module can be installed and removed independently. Users can choose to install the facade cleaning module for wiping and cleaning facades, or install the floor cleaning module 300 to expand the floor cleaning range, depending on their actual cleaning needs. Both can also be installed simultaneously to achieve synchronous cleaning of facades and floors. When the floor cleaning module 300 is installed on the swing arm mechanism 200, the controller can recognize its installation status and adjust the cleaning strategy accordingly, such as adjusting the output torque of the drive module 500 based on the load characteristics of the floor cleaning module 300.

[0021] To detect the degree of dirt on the facade area to be cleaned, the cleaning equipment is also equipped with a sensing detection device. In one embodiment, an optical sensor, which can be a camera or an infrared sensor, is installed on the side or front of the machine body, facing the facade area to be cleaned and capturing images of the area. The controller analyzes the images using an image recognition algorithm to determine the degree of dirt. In another embodiment, a current sensor is installed in the drive assembly to detect changes in the current of the drive motor. Since the frictional resistance between the facade cleaning module 400 and the facade changes with the degree of dirt, and this frictional resistance is reflected in the load torque and current value of the drive motor, the controller can determine the degree of dirt based on a preset mapping relationship between the current value and the degree of dirt.

[0022] To detect the installation status of the facade cleaning module 400, the cleaning equipment also includes an installation detection component. Specifically, the cleaning equipment may include a second detection component, which may include a Hall sensor disposed at one end of the swing arm mechanism, specifically within a mounting base on the second swing arm 220 for connecting the facade cleaning module 400. A corresponding magnetic component is provided on the facade cleaning module 400. When the facade cleaning module 400 is installed in place, the Hall sensor detects a change in the magnetic field and outputs an installation signal. Furthermore, in some embodiments, an obstacle detection component is provided on the top of the machine body. This obstacle detection component can be a lidar detector, used to achieve global mapping and obstacle avoidance assistance for the cleaning equipment. After the facade cleaning module 400 is installed in place, its cleaning part protrudes from the top of the machine body in the height direction, entering the detection range of the lidar detector, thus forming a double installation confirmation.

[0023] In some embodiments, the controller is disposed inside the machine body and electrically connected to the drive assembly, drive module, sensing and detection device, and installation detection assembly. The controller is configured to execute the control method provided in the embodiments of this application, including: acquiring the degree of dirt in the facade area to be cleaned; dynamically adjusting the power output parameters of the drive assembly according to the degree of dirt to change the frequency of reciprocating motion of the facade cleaning module 400; adjusting the swing amplitude of the second swing arm 220 according to the degree of dirt to change the contact pressure; detecting the installation status of the facade cleaning module 400 and automatically switching the working mode; and monitoring and managing the service life of the facade cleaning module 400, etc.

[0024] The specific structure of the cleaning equipment provided in the embodiments of this application has been described above. Based on the structure of the cleaning equipment described above, the embodiments of this application also provide a control method for the cleaning equipment. This control method can be applied to the aforementioned cleaning equipment and is executed by the controller of the cleaning equipment. The control method will be described in detail below with reference to specific steps.

[0025] In related technologies, cleaning equipment typically performs cleaning actions on facades in a fixed pattern, such as moving the cleaning equipment to drive the cleaning module to wipe. However, in real-world applications, the degree of dirt on the facade area to be cleaned is often unevenly distributed. For example, the baseboards near the kitchen may be heavily soiled with grease, while the baseboards in the bedroom area may only have a small amount of dust. A fixed cleaning strategy may result in heavily soiled areas not being thoroughly cleaned, while lightly soiled areas may be over-cleaned, wasting energy, and even exacerbating wear and tear on the cleaning components and facade surfaces due to unnecessary vigorous wiping.

[0026] To address the aforementioned technical problems, this application provides a control method for a cleaning device. The cleaning device includes a body, a swing arm mechanism, a facade cleaning module mounted on the swing arm mechanism, and a drive assembly. As described in the previous cleaning device embodiments, the swing arm mechanism is movably connected to the body and is used to extend the facade cleaning module outwards to contact the facade area to be cleaned. Under the action of the drive assembly, the facade cleaning module can reciprocate relative to the swing arm mechanism, achieving wiping and cleaning of the facade. See also... Figure 5 The method includes the following steps: Step S10: Obtain the degree of dirtiness in the facade area to be cleaned.

[0027] The surface area to be cleaned refers to surfaces that are roughly perpendicular to the ground, such as baseboards and wall edges. Before determining the degree of dirt, the controller first needs to pinpoint the exact location of this surface area. This area can be determined in at least one of the following ways: Method 1: Autonomous Scanning and Discovery by the Equipment. During edge cleaning or exploration, the cleaning equipment continuously scans the facade area along its path using optical sensors (such as cameras) mounted on its side. The controller analyzes the collected facade images in real time, comparing them with preset cleaning baseline images to automatically identify facade sections with dirt characteristics (such as abnormal grayscale, texture changes, or spot clusters), marking these sections as areas to be cleaned. After identifying the area, further quantitative values ​​of the degree of dirt within that area are obtained through image recognition algorithms or friction resistance detection. This method achieves fully automated dirty area location without user intervention.

[0028] Method 2: User-defined areas via application (APP). The cleaning equipment connects to the user's mobile device (such as a smartphone) via Wi-Fi or Bluetooth. Users can view an environmental map created by the cleaning equipment within the accompanying application installed on their mobile device. On this map, users can manually select and define the facade areas that need cleaning, such as marking the corresponding wall edges on a floor plan. The application sends the coordinates of the defined area to the cleaning equipment. Based on this, the controller identifies the defined facade segment as the area to be cleaned and controls the cleaning equipment to move to that area to perform subsequent dirt assessment and cleaning operations. This method allows users to assign targeted cleaning tasks to key facade areas based on their understanding of their home environment, enhancing interactivity and flexibility.

[0029] Building upon the above, the degree of dirtiness refers to the quantitative representation of the contamination status of a surface area, which can be expressed in the form of numerical grades or percentages. For example, the degree of dirtiness can be divided into a numerical range of 0 to 100, where 0 represents completely clean and 100 represents extremely dirty. The degree of dirtiness can be obtained through various sensing methods, including optical detection and mechanical detection; the specific implementation methods will be explained in detail in subsequent steps.

[0030] Step S20: Based on the obtained degree of dirt, dynamically adjust the power output parameters of the drive component to change the frequency of the reciprocating motion of the facade cleaning module relative to the swing arm mechanism.

[0031] Among them, power output parameters refer to the control variables of the drive component's output power, such as the power supply voltage, current, or duty cycle of the drive motor. The reciprocating motion frequency refers to the number of reciprocating motion cycles completed by the facade cleaning module per unit time, usually expressed as the number of reciprocations per minute. The controller can preset the mapping relationship between the degree of dirtiness and the frequency. Based on the degree of dirtiness obtained in step S10, it queries the corresponding target frequency, then determines the power output parameters required by the drive component based on the target frequency, and sends the corresponding control signals to the drive component to achieve dynamic frequency adjustment.

[0032] Through steps S10 to S20, the cleaning equipment can automatically and flexibly adjust the reciprocating wiping frequency of the facade cleaning module according to the actual dirt level of the facade area. For heavily soiled areas, a higher frequency of intensive cleaning is used to increase the number of wipes per unit time and improve the stain removal ability; for lightly soiled areas, a lower frequency of routine cleaning is used to reduce energy consumption while meeting cleaning needs. This ensures effective cleaning while achieving efficient energy utilization, improving the intelligence level of the equipment, and further enhancing cleaning efficiency.

[0033] Optionally, in any embodiment of this application, in step S20 above, dynamically adjusting the reciprocating motion frequency of the facade cleaning module based on the acquired degree of dirtiness specifically includes performing graded frequency control based on the comparison results of the degree of dirtiness with different preset thresholds. Dividing the frequency into multiple levels, rather than stepless adjustment, simplifies the control logic, reduces the computational burden on the controller, and provides clear decision boundaries for frequency switching, facilitating debugging and optimization. See also Figure 6 The following is a detailed explanation of the process.

[0034] Step S21: Compare the degree of dirtiness with the preset threshold.

[0035] The preset thresholds include a first preset threshold and a minimum preset threshold, with the first preset threshold being higher than the minimum preset threshold. These preset thresholds are used to classify different levels of dirt, each corresponding to a different cleaning strategy. For example, if the degree of dirt is represented by a numerical range of 0 to 100, the first preset threshold can be set to 60, and the minimum preset threshold can be set to 20. The setting of these thresholds can be based on statistical analysis data of baseboard dirt distribution in a large amount of real-world home environments, or it can be customized by the user through the application according to their own cleaning needs.

[0036] Step S22: When the degree of dirtiness is higher than the preset threshold, control the facade cleaning module to reciprocate at the first frequency.

[0037] The first frequency is a relatively high frequency. For example, the first frequency can be set to 120 reciprocating movements per minute. When the level of dirt exceeds a first preset threshold, it indicates that the area is heavily soiled, such as kitchen grease or long-term accumulated dust, requiring a higher wiping frequency for intensive cleaning. The controller sends a control signal to the drive assembly, increasing the power supply voltage or duty cycle of the drive motor to the preset value corresponding to the first frequency, causing the facade cleaning module to perform high-frequency reciprocating wiping at the first frequency. By increasing the number of wipes per unit time, heavier dirt is effectively removed.

[0038] Step S23: When the degree of dirt is lower than or equal to the preset threshold and greater than the minimum preset threshold, control the facade cleaning module to reciprocate at a second frequency, wherein the second frequency is less than the first frequency.

[0039] The second frequency is a medium frequency. For example, the second frequency can be set to 60 reciprocating motions per minute. When the level of dirt is within this range, it indicates that the area has a certain degree of daily dirt, but is not heavily polluted, and a medium wiping frequency is sufficient to meet the cleaning needs. The controller sends a control signal to the drive assembly, adjusting the power supply voltage or duty cycle of the drive motor to the preset value corresponding to the second frequency, so that the facade cleaning module performs regular reciprocating wiping at the second frequency.

[0040] Step S24: When the degree of dirt is lower than or equal to the minimum preset threshold, control the reciprocating motion frequency of the facade cleaning module to zero.

[0041] Here, a frequency of zero means that the facade cleaning module stops its active reciprocating motion. When the level of dirt is lower than or equal to the minimum preset threshold, it indicates that the surface of that area is relatively clean, possibly with only a small amount of dust, and there is no need for active wiping. Setting the frequency to zero at this time can further save energy, reduce mechanical wear on drive components and transmission mechanisms, and reduce unnecessary frictional losses on the facade surface.

[0042] Through steps S22 to S24 above, a three-level dynamic adjustment of the reciprocating motion frequency of the facade cleaning module is achieved. High frequency corresponds to heavy dirt, medium frequency to general dirt, and zero frequency to clean areas, so that the cleaning strategy is precisely matched with the degree of dirt, avoiding the energy waste and incomplete cleaning problems of traditional fixed-frequency cleaning modes.

[0043] Optionally, in any embodiment of this application, when the degree of dirt is determined to be lower than or equal to a minimum preset threshold in step S24, and the reciprocating motion frequency of the facade cleaning module is adjusted to zero, although the active reciprocating wiping action stops, the facade cleaning module can still maintain contact with the facade, achieving passive wiping by utilizing the movement of the cleaning equipment. This method can continuously remove minute amounts of floating dust from the facade with almost no increase in energy consumption. See also Figure 7 Specifically, it includes the following steps: Step S241: Control the drive component to stop the power output of the facade cleaning module.

[0044] The controller sends a stop signal to the drive assembly, cutting off the drive force on the facade cleaning module and causing the module to stop its active reciprocating motion. At this time, the power supply to the drive motor is cut off or it enters standby mode, consuming no energy. The facade cleaning module is either able to move freely or remains in the stopped position.

[0045] Step S242: Control the extension of the swing arm mechanism to bring the facade cleaning module into contact with the facade area to be cleaned. Relying on the movement power of the cleaning equipment body as it moves along the facade, the facade cleaning module is driven to wipe the facade area to be cleaned.

[0046] As described in the aforementioned cleaning equipment embodiment, the swing arm mechanism 200 includes a first swing arm 210 and a second swing arm 220. The first swing arm 210 is rotatably connected to the mounting base, and the second swing arm 220 is rotatably connected to the first swing arm 210. The facade cleaning module is mounted on the second swing arm 220. The controller sends a control signal to the motor driving the swing arm mechanism 200, causing the swing arm mechanism 200 to extend outward to an outward swing state, bringing the facade cleaning module into contact with the area of ​​the facade to be cleaned. At this time, although the facade cleaning module does not perform active reciprocating motion, it still maintains contact with the facade, and there is a certain contact pressure between the two. When the cleaning equipment travels along the extension direction of the facade, the movement power of the machine body is transmitted to the facade cleaning module through the various links of the swing arm mechanism 200, causing it to generate friction and slide relative to the facade, thereby passively wiping and cleaning the facade. This passive wiping method is similar to traditional mopping, although the cleaning force is lower than that of active reciprocating wiping, it is sufficient to remove surface dust and other minor dirt.

[0047] Through the above steps S241 to S242, when the facade area is relatively clean, the energy consumption of active reciprocating motion is avoided, while the basic wiping function is maintained by utilizing the propulsion of the cleaning equipment itself, thus achieving a balance between energy saving and cleaning effect.

[0048] Optionally, in any embodiment of this application, where a transmission mechanism is provided within the swing arm mechanism, the transmission mechanism is used to transmit and convert the rotational power of the drive component into the reciprocating motion of the facade cleaning module. Providing a transmission mechanism allows the drive motor to be positioned closer to the rotation center of the swing arm mechanism, reducing the moment of inertia, while simultaneously converting the unidirectional rotational motion of the motor into the linear reciprocating motion of the cleaning module through a motion conversion mechanism. See also... Figure 8 In step S20 above, the power output parameters of the drive component are dynamically adjusted to change the frequency of the reciprocating motion of the facade cleaning module relative to the swing arm mechanism. This is achieved in the following way: Step S201: Adjust the rotational speed of the drive component to change the output rotational speed of the transmission mechanism.

[0049] The transmission mechanism includes a clutch and a motion conversion mechanism. The clutch engages or disengages the power transmission path from the drive assembly to the motion conversion mechanism. When the frequency is adjusted to zero, the power transmission can be disconnected via the clutch, allowing the facade cleaning module to move freely and facilitating the execution of the aforementioned passive cleaning mode. The motion conversion mechanism converts rotary motion into linear reciprocating motion, and can be specifically implemented as a crank-connecting rod mechanism, a cam mechanism, or an eccentric wheel mechanism. Taking a crank-connecting rod mechanism as an example, the crank disc is fixed to the output shaft of the transmission mechanism, one end of the connecting rod is eccentrically connected to the crank disc, and the other end is hinged to the facade cleaning module. When the crank disc rotates, it drives the facade cleaning module to perform linear reciprocating motion along the guide groove via the connecting rod. The drive assembly includes a drive motor, and the output shaft of the drive motor is connected to the input end of the transmission mechanism via a gear pair or belt drive. The controller changes the speed of the drive motor by adjusting the power supply voltage or PWM duty cycle, thereby changing the rotational speed output by the transmission mechanism.

[0050] Step S202: The rotation speed is converted into the linear reciprocating motion frequency of the facade cleaning module through the motion conversion mechanism.

[0051] The rotational motion output from the transmission mechanism is input to the input end of the motion conversion mechanism, which converts the rotational motion into linear reciprocating motion of the facade cleaning module along a preset direction (usually vertical or horizontal). This setup establishes a direct correspondence between the speed adjustment of the drive motor and the reciprocating frequency adjustment of the facade cleaning module. The control logic is simple and clear, with a fast response speed, achieving concise and reliable motion control.

[0052] Optionally, in any embodiment of this application, in addition to adapting to different levels of dirt by changing the reciprocating motion frequency, adjusting the contact pressure between the facade cleaning module and the facade is also an important means to improve the cleaning effect. When the dirt is heavy, increasing the contact pressure can increase the wiping friction and enhance the ability to remove stubborn stains; when the dirt is light, decreasing the contact pressure can reduce the wear on the facade and the travel resistance of the cleaning equipment.

[0053] In an embodiment where the swing arm mechanism includes a first swing arm and a second swing arm, the first swing arm is rotatably connected to the machine body, the second swing arm is rotatably connected to the first swing arm, and the second swing arm is equipped with a facade cleaning module and a drive assembly. See also Figure 9 The control method of this application embodiment further includes the following steps in addition to steps S10 to S20: Step S30: Based on the obtained degree of dirt, adjust the swing amplitude of the second swing arm and / or control the movement of the machine body to change the contact pressure between the facade cleaning module and the facade area to be cleaned.

[0054] The swing amplitude of the second swing arm refers to the range of rotation angles of the second swing arm relative to the first swing arm. Contact pressure refers to the contact force applied to the facade by the facade cleaning module in a direction perpendicular to the facade. Since the swing arm mechanism is a series-link structure, the swing amplitude of the second swing arm directly affects the degree of pressure exerted by the facade cleaning module on the facade. Adjustment methods include at least one of the following: Method 1: By controlling the output torque of the motor driving the second swing arm, the swing amplitude of the second swing arm is changed, thus altering the degree of pressure exerted by the facade cleaning module on the facade, thereby adjusting the contact pressure. When the second swing arm swings further towards the facade, the facade cleaning module is pressed more tightly against the facade, increasing the contact pressure; conversely, it decreases. Method 2: By controlling the travel direction of the cleaning equipment, the machine body is slightly adjusted in the direction towards or away from the facade, thereby changing the overall extension of the swing arm mechanism and indirectly adjusting the contact pressure. When the machine body moves towards the facade, the effective extension of the swing arm mechanism decreases, and the contact pressure increases; when the machine body moves away from the facade, the contact pressure decreases.

[0055] Optionally, in any embodiment of this application, step S30 further includes: if the degree of dirt is less than or equal to a preset threshold, adjusting the swing amplitude of the second swing arm and / or controlling the movement of the body, so that the contact pressure between the facade cleaning module and the facade area to be cleaned is less than or equal to a first threshold; if the degree of dirt is greater than the preset threshold, adjusting the swing amplitude of the second swing arm and / or controlling the movement of the body, so that the contact pressure between the facade cleaning module and the facade area to be cleaned is greater than the first threshold and less than or equal to the maximum threshold.

[0056] The first threshold is a low contact pressure value. For example, the first threshold can be set to 2N. When the degree of dirt is light, the surface is mostly dust or light stains, and a lower contact pressure is sufficient to meet the cleaning needs. Wiping with a lower contact pressure can reduce the friction between the facade cleaning module and the facade, reduce the travel resistance of the cleaning equipment, and at the same time reduce the wear on facade surfaces (such as the paint finish on wooden skirting boards), thus protecting the facade appearance.

[0057] The maximum threshold is the safe upper limit of the contact pressure. The specific values ​​of the first threshold and the maximum threshold can be determined comprehensively based on the specifications of the facade cleaning module, the performance of the drive components, and the protection requirements for the facade surface. When the dirt is heavy, a larger contact pressure is required for wiping to increase the wiping friction and effectively remove stubborn stains. The contact pressure is positively correlated with the friction between the facade cleaning module and the area to be cleaned; the greater the contact pressure, the greater the friction between the two. When the facade cleaning module performs active reciprocating motion, the drive components need to output sufficient transmission power to overcome this friction and drive the facade cleaning module to slide back and forth along the facade. Therefore, the magnitude of the friction directly affects the magnitude of the required reciprocating motion transmission power. The setting of the maximum threshold must take into account the maximum transmission power that the drive components can provide. If the contact pressure is too high, causing the transmission power required for the friction to exceed the maximum output capacity of the drive components, it may cause the reciprocating motion of the facade cleaning module to stop, the frequency to decrease, or even cause the drive motor to stall or overload protection. Meanwhile, excessive contact pressure can increase the resistance of the cleaning equipment as it moves along the facade, causing the drive wheels to slip and potentially scratching or damaging surfaces such as baseboards. Therefore, controlling the contact pressure within a range greater than the first threshold but not exceeding the maximum threshold provides sufficient cleaning power to remove stubborn stains while ensuring that the drive components have enough power margin to maintain stable reciprocating motion and avoids damage to the facade and the equipment itself.

[0058] By correlating contact pressure with the degree of soiling, adaptive grading adjustment of cleaning intensity is achieved. The heavier the soiling, the greater the contact pressure and the stronger the cleaning intensity. This ensures cleaning effectiveness while protecting the surrounding surfaces, avoiding the energy waste and surface abrasion caused by excessive pressure on clean areas under a fixed pressure mode.

[0059] Optionally, in any embodiment of this application, obtaining the degree of dirtiness of the facade area to be cleaned in step S10 above can be achieved by at least one of the following methods: Method 1: An optical sensor mounted on the machine body acquires images of the facade area to be cleaned, and an image recognition algorithm determines the degree of dirtiness. The optical sensor can be an RGB camera or an infrared sensor, positioned on the side or front of the machine body, facing the facade area to be cleaned. After acquiring the facade area image collected by the optical sensor, the controller analyzes it using a preset image recognition algorithm. Specifically, the algorithm extracts parameters such as color distribution features (e.g., grayscale mean, color histogram), texture features (e.g., contrast, roughness), or spot area ratio from the image, compares these parameters with pre-calibrated baseline image parameters under clean conditions, calculates the difference value, and maps the difference value to a quantitative value indicating the degree of dirtiness. For example, when the average grayscale value of the detected area deviates from the baseline grayscale value by more than a certain proportion, the degree of dirtiness is determined to be high.

[0060] Method 2: Determine the degree of dirtiness by detecting the frictional resistance between the facade cleaning module and the area to be cleaned. When the facade cleaning module slides on the facade surface at a preset speed and preset contact pressure, the higher the degree of dirtiness, the more contaminants adhering to the surface, the rougher the surface, and the greater the frictional resistance between the two. A current sensor within the drive assembly can detect changes in the drive motor's current in real time. At the same rotational speed, the drive motor's output current is directly proportional to the load torque, which in turn directly reflects the magnitude of the frictional resistance. A mapping table between preset current values ​​and the degree of dirtiness is stored in the controller. This mapping table can be obtained by testing and calibrating sample surfaces with different degrees of dirtiness. The controller queries the mapping table based on the real-time detected current values ​​to determine the degree of dirtiness of the current facade area. This method does not require additional optical sensors; it uses the drive assembly's own sensing signals to estimate the degree of dirtiness, resulting in lower costs and is unaffected by ambient light.

[0061] Optionally, in any embodiment of this application, the facade cleaning module may be a detachable modular component in actual use. The user installs the module when facade cleaning is needed and removes it when cleaning the floor. To improve ease of use and automation, the cleaning equipment should be able to automatically detect whether the facade cleaning module is properly installed and automatically switch operating modes accordingly. For this purpose, see [link to relevant documentation]. Figure 10 Prior to step S10 above, the control method of this application embodiment further includes: Step S01: Check whether the swing arm mechanism is equipped with a facade cleaning module.

[0062] The cleaning equipment may include a second detection component for detecting the connection status of the facade cleaning module. The second detection component may include a Hall sensor, which is located at one end of the swing arm mechanism, specifically within a mounting bracket on the second swing arm for connecting the facade cleaning module. The facade cleaning module has a corresponding magnetic component, such as a permanent magnet. When the facade cleaning module is installed onto the mounting bracket of the second swing arm, the magnetic component approaches the Hall sensor, which detects the change in magnetic field and outputs a corresponding electrical signal. When the electrical signal reaches a preset threshold, the controller determines that the facade cleaning module has been properly installed.

[0063] Step S01 further includes: performing non-contact detection using an obstacle detection device installed on the top of the machine body. When the cleaning part of the facade cleaning module enters the detection range of the obstacle detection device in the height direction, it is determined that the facade cleaning module has been installed in place.

[0064] To further improve the reliability of installation and testing, existing obstacle detection components on the machine body can be used for auxiliary testing. These obstacle detection components can be lidar detectors (LDS), installed on the top of the machine body, used to achieve global mapping, real-time positioning, path planning, and obstacle avoidance assistance for the cleaning equipment. After the facade cleaning module is installed, its cleaning part (e.g., the wiping head) may protrude a certain distance from the top of the machine body in the height direction.

[0065] The lidar detector emits a laser beam at a preset interval (e.g., 5 to 10 times per second) to perform a 360-degree or specific angular scan, with a detection range covering a certain area in the vertical direction. This detection range is typically slightly above the top of the unit. When the facade cleaning module is installed, its protruding cleaning part enters the lidar's detection range, and the lidar detector detects its presence and sends a detection signal to the controller. The controller performs a dual confirmation by combining the signals from the Hall sensor and the lidar detector. When both indicate the presence of the facade cleaning module, it is determined that the facade cleaning module has been installed correctly. This dual detection mechanism effectively avoids erroneous mode switching caused by misjudgment from a single sensor.

[0066] Step S02: When the facade cleaning module is detected to be installed in place, a control command is generated.

[0067] After confirming that the facade cleaning module is installed in place, the controller generates a control command to start the facade cleaning mode.

[0068] Step S03: In response to the control command, control the swing arm mechanism to switch from the inward position located inside the machine body to the outward position beyond the outer edge of the machine body, and enter the facade cleaning mode.

[0069] As described in the aforementioned cleaning equipment examples, see Figures 1 to 3As shown, the swing arm mechanism 200 has an inward retracted position and an outward swing position. In the inward retracted position, the swing arm mechanism 200 is housed inside the machine body. Responding to the control command indicating installation is complete, the controller sends a control signal to the motor driving the swing arm mechanism 200, driving the first swing arm 210 and the second swing arm 220 to rotate collaboratively, causing the swing arm mechanism 200 to extend outward from the machine body, switching to an outward expansion position beyond the outer edge of the machine body, allowing the facade cleaning module to contact the facade area. Simultaneously, the cleaning equipment automatically enters the facade cleaning mode, in which the cleaning equipment begins to execute the adaptive cleaning process based on the degree of dirt described in steps S10 to S20 above. The controller can also simultaneously disable floor cleaning-related functional modules, such as the rotation drive and water replenishment mechanism of the floor cleaning module, to avoid functional conflicts and resource waste.

[0070] Through the steps S01 to S03 described above, automatic detection of the facade cleaning module installation and automatic switching of cleaning modes are achieved. Users only need to complete the physical installation of the module, and the cleaning equipment can automatically sense and enter the facade cleaning working state, eliminating the need to manually select the cleaning mode, thus improving user convenience and the intelligence level of the equipment.

[0071] Furthermore, the cleaning components (such as rags and wipes) of the facade cleaning module are consumable parts, which will gradually wear down or become saturated with absorbent material during use, thus reducing the cleaning effect. To facilitate timely replacement by users and maintain good cleaning performance, the control method in this application embodiment also includes an automatic monitoring and replacement reminder function for the lifespan of the facade cleaning module. See also Figure 11 The specific steps are as follows: Step S41: When the facade cleaning module performs reciprocating motion, accumulate and record the number of reciprocating motions or the working time.

[0072] The controller has a built-in counter or timer module and is equipped with non-volatile memory to save accumulated data in the event of a power outage. During each reciprocating motion of the facade cleaning module, the controller accumulates the number of reciprocating motions based on the drive signal cycle of the drive components or the feedback signal from the position sensor of the motion conversion mechanism. Alternatively, the timer within the controller accumulates the time the facade cleaning module spends in active reciprocating motion. The accumulated data is updated in real time and stored in the non-volatile memory.

[0073] Step S42: Determine whether the number of reciprocating motions or the working time has reached the preset service life threshold.

[0074] The preset service life threshold is pre-set based on the material, specifications, and durability test data of the facade cleaning module and stored in the controller's memory. For example, if, according to tests, the cleaning cloth of a certain model of facade cleaning module shows a decrease in cleaning effectiveness to 80% of its initial effectiveness after 100,000 cumulative reciprocating motions, or shows significant wear after 100 hours of cumulative operation, then the service life threshold can be set to 100,000 reciprocating motions or 100 hours of cumulative operation. A certain safety margin can be considered in setting the threshold to ensure that the cleaning effect has not significantly deteriorated by the time the alert is issued.

[0075] Step S43: If the preset service life threshold is reached or exceeded, a reminder signal for replacing the facade cleaning component is generated and issued.

[0076] When step S42 determines that the accumulated value has reached or exceeded a preset threshold, the controller generates an alert signal. The alert signal can be issued in several ways: Method 1: An indicator light on the cleaning equipment body uses a specific color or flashing pattern, such as a solid yellow light or flashing red light; Method 2: A buzzer sounds an alert; Method 3: The alert information is pushed to the user's mobile application via a communication module (such as Wi-Fi or Bluetooth), and the application displays the text reminder "The facade cleaning component has reached its recommended replacement time; please replace it promptly"; Method 4: A combination of the above methods to enhance the alert effect and ensure the user receives the notification.

[0077] Furthermore, after a user replaces a facade cleaning component, the accumulated data needs to be reset to ensure accurate lifespan monitoring of the new cleaning component. Therefore, the control method in this embodiment further includes: Step S44: Once the old facade cleaning module is identified as being disassembled and the new facade cleaning module is reinstalled, the recorded cumulative number of reciprocating movements or working time will be reset to zero.

[0078] The controller monitors the connection status of the facade cleaning module using detection components such as the Hall sensor mentioned in step S01. When the facade cleaning module changes from a connected state to a disconnected state, a disassembly event is recorded. When the facade cleaning module changes from a disconnected state to a connected state again, an installation event is recorded. If disassembly and installation events are detected sequentially within a preset time window (e.g., within 10 minutes), the controller determines that the user has completed the replacement of the facade cleaning component. At this time, the controller clears the accumulated number of reciprocating movements or working time data stored in the non-volatile memory and restarts the counting. This setting achieves a complete closed loop for lifespan management, avoiding the problem of incorrectly prompting replacement of new cleaning components due to data not being cleared.

[0079] Through steps S41 to S44 above, a complete functional chain is achieved for automatic monitoring of the facade cleaning module's lifespan, replacement reminders, and data reset. Users do not need to manually record the usage time of the cleaning components; the cleaning equipment automatically tracks and provides timely reminders, helping to keep the equipment in good clean condition at all times.

[0080] Referring to the foregoing embodiments and accompanying drawings, this application also provides a cleaning device, which includes: a body, a swing arm mechanism, a facade cleaning module installed on the swing arm mechanism, a drive assembly, a dirt detection component, and a controller.

[0081] The main body, serving as the mobile base for the cleaning equipment, houses a power module and a navigation system. A swing arm mechanism, movably connected to the main body, includes a first swing arm and a second swing arm. This mechanism extends the facade cleaning module from its inward-retracted position within the main body to its outward-expanded position, allowing the module to contact the area of ​​the facade to be cleaned. A drive assembly, mounted on the swing arm mechanism and connected to the facade cleaning module, drives the module to perform linear reciprocating motion relative to the swing arm mechanism.

[0082] A dirt detection device can be installed on the machine body or the swing arm mechanism to obtain the degree of dirt on the facade area to be cleaned. The dirt detection device can be specifically implemented as an optical sensor or a current sensor. An optical sensor is installed on the side of the machine body, facing the facade area to be cleaned, to acquire an image of the facade area, which the controller uses to determine the degree of dirt through image recognition algorithms. A current sensor is installed within the drive assembly to detect changes in the current of the drive motor; the controller can determine the degree of dirt based on the mapping relationship between the current value and frictional resistance. Alternatively, a dirt detection device can be omitted, and the user can set the dirty area and degree through an app, which is also within the scope of this application.

[0083] The controller is located inside the machine body and is electrically connected to the drive assembly, the drive module of the swing arm mechanism, and the dirt detection device. The controller is configured to execute computer-executable instructions to implement the control method described in any of the foregoing method embodiments of this application. Specifically, the controller can acquire dirt level information collected by the dirt detection device, dynamically adjust the power output parameters of the drive assembly according to the dirt level to change the reciprocating frequency of the facade cleaning module; adjust the swing amplitude of the second swing arm according to the dirt level to change the contact pressure between the facade cleaning module and the facade; detect the installation status of the facade cleaning module and automatically switch the working mode; and monitor and manage the service life of the facade cleaning module and provide replacement reminders.

[0084] With the above settings, the cleaning equipment provided in this embodiment can automatically adjust the cleaning strategy according to the actual dirt level of the facade area, achieving a match between cleaning intensity and dirt level. While ensuring cleaning effect, it reduces energy consumption and facade wear, and improves the intelligence level of the equipment and user convenience.

[0085] In some embodiments, an electronic device is provided, including a memory and a processor; the memory stores computer-executable instructions; the processor executes the computer-executable instructions stored in the memory, causing the processor to perform the methods described above.

[0086] Reference Figure 12 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.

[0087] like Figure 12 As shown, the electronic device may include: a processor 1202, a communication interface 1204, a memory 1206, and a communication bus 1208.

[0088] in: The processor 1202, communication interface 1204, and memory 1206 communicate with each other via communication bus 1208.

[0089] Communication interface 1204 is used to communicate with other electronic devices or servers.

[0090] The processor 1202 is used to execute program 1210, specifically the relevant steps in the above method embodiments.

[0091] Specifically, program 1210 may include program code that includes computer operation instructions.

[0092] The processor 1202 may be a CPU, a GPU (Graphics Processing Unit), an ASIC (Application Specific Integrated Circuit), 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.

[0093] Memory 1206 is used to store program 1210. Memory 1206 may include high-speed RAM memory, and may also include non-volatile memory, such as at least one disk storage device.

[0094] Program 1210 may include multiple computer instructions. Specifically, program 1210 may use multiple computer instructions to cause processor 1202 to perform the operation corresponding to any of the methods described in the foregoing multiple method embodiments.

[0095] The specific implementation of each step in program 1210 can be found in the corresponding descriptions of the steps and units 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.

[0096] 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, Compac-Disc Read-Only Memory (CD-ROM), Random Access Memory (RAM), floppy disk, hard disk, or magneto-optical disk.

[0097] 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.

[0098] 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.

[0099] 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.

[0100] 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 originally stored in a remote recording medium or a non-transitory machine-readable medium and to be stored in a local recording medium, downloaded over a network. Thus, the methods described herein can be stored as software processing 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 the 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.

[0101] 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.

[0102] 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 control method for cleaning equipment, characterized in that, The cleaning equipment includes a body, a swing arm mechanism, a facade cleaning module installed on the swing arm mechanism, and a drive assembly. The facade cleaning module can reciprocate relative to the swing arm mechanism under the action of the drive assembly. The control method includes: Obtain the degree of dirtiness in the facade area to be cleaned; Based on the obtained degree of dirtiness, the power output parameters of the drive component are dynamically adjusted to change the frequency of the reciprocating motion of the facade cleaning module relative to the swing arm mechanism.

2. The control method for the cleaning equipment according to claim 1, characterized in that, The dynamic adjustment of the drive component's power output parameters to change the frequency of the reciprocating motion of the facade cleaning module relative to the swing arm mechanism includes: The degree of dirtiness is compared with a preset threshold. When the degree of dirt exceeds the preset threshold, the facade cleaning module is controlled to reciprocate at a first frequency. When the degree of dirt is lower than or equal to the preset threshold and greater than the minimum preset threshold, the facade cleaning module is controlled to reciprocate at a second frequency, wherein the second frequency is less than the first frequency; When the degree of dirt is lower than or equal to the minimum preset threshold, the frequency of the reciprocating motion of the facade cleaning module is controlled to be zero.

3. The control method for the cleaning equipment according to claim 2, characterized in that, When the frequency is adjusted to zero, the control method further includes: Control the drive component to stop power output to the facade cleaning module; The arm mechanism is extended to bring the facade cleaning module into contact with the facade area to be cleaned. The cleaning device moves along the facade, and the facade cleaning module wipes the facade area.

4. The control method for the cleaning equipment according to claim 3, characterized in that, The swing arm mechanism is equipped with a transmission mechanism, which includes a clutch and a motion conversion mechanism. The dynamic adjustment of the drive component's power output parameters to change the frequency of the reciprocating motion of the facade cleaning module relative to the swing arm mechanism includes: Adjust the rotational speed of the drive component to change the rotational speed output by the transmission mechanism; The rotational speed is converted into the linear reciprocating motion frequency of the facade cleaning module through the motion conversion mechanism.

5. The control method for the cleaning equipment according to claim 2, characterized in that, The swing arm mechanism includes a first swing arm and a second swing arm. The first swing arm is rotatably connected to the machine body, and the second swing arm is rotatably connected to the first swing arm. The second swing arm is provided with a facade cleaning module and a drive assembly. The control method further includes: adjusting the swing amplitude of the second swing arm and / or controlling the movement of the machine body according to the obtained degree of dirt, so as to change the contact pressure between the facade cleaning module and the facade area to be cleaned.

6. The control method for the cleaning equipment according to claim 5, characterized in that, If the degree of dirt is less than or equal to the preset threshold, adjust the swing amplitude of the second swing arm and / or control the movement of the machine body so that the contact pressure between the facade cleaning module and the facade area to be cleaned is less than or equal to the first threshold; if the degree of dirt is greater than the preset threshold, adjust the swing amplitude of the second swing arm and / or control the movement of the machine body so that the contact pressure between the facade cleaning module and the facade area to be cleaned is greater than the first threshold and less than or equal to the maximum threshold.

7. The control method for the cleaning equipment according to any one of claims 1-4, characterized in that, The determination of the degree of dirtiness in the facade area to be cleaned includes: An image of the facade area to be cleaned is acquired using an optical sensor installed on the machine body, and the degree of dirtiness is determined by an image recognition algorithm. Alternatively, the degree of dirtiness can be determined by detecting the frictional resistance between the facade cleaning module and the area of ​​the facade to be cleaned.

8. The control method for the cleaning equipment according to any one of claims 1-6, characterized in that, Before obtaining the degree of dirtiness in the facade area, the following is also included: Check whether the swing arm mechanism is equipped with the facade cleaning module; When the facade cleaning module is detected to be installed in place, a control command is generated; In response to the control command, the swing arm mechanism is controlled to switch from an inward position located inside the machine body to an outward position extending beyond the outer edge of the machine body, and enters the facade cleaning mode.

9. The control method for the cleaning equipment according to claim 8, characterized in that, The detection of whether the swing arm mechanism is equipped with the facade cleaning module includes: Non-contact detection is performed using an obstacle detection device located on the top of the machine body; When the cleaning part of the facade cleaning module enters the detection range of the obstacle detection component in the height direction, it is determined that the facade cleaning module has been installed in place.

10. The control method for the cleaning equipment according to any one of claims 1-6, characterized in that, Also includes: When the facade cleaning module performs reciprocating motion, the number of reciprocating motions or the working time are accumulated and recorded. Determine whether the number of reciprocating movements or the working time has reached a preset service life threshold; If the preset service life threshold is reached or exceeded, a reminder signal to replace the facade cleaning components will be generated and issued.

11. The control method for the cleaning equipment according to claim 10, characterized in that, Also includes: Once the old facade cleaning module is detected to have been disassembled and the new facade cleaning module has been reinstalled, the recorded cumulative number of reciprocating movements or working time will be reset to zero.

12. A cleaning device, characterized in that, include: The machine body, the swing arm mechanism, the facade cleaning module mounted on the swing arm mechanism, and the drive assembly also include: Dirt detection equipment is used to determine the degree of dirtiness in the facade area to be cleaned. A controller for executing computer execution instructions to implement the method as described in any one of claims 1-11.

13. An electronic device, characterized in that, include: Memory and processor, the memory storing computer-executed instructions; The processor executes computer execution instructions stored in the memory, causing the processor to perform the method as described in any one of claims 1-11.

14. 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 1-11.

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