Control method and device for a cleaning system

Abstract

The embodiment of the invention provides a control method and device of a cleaning system, the cleaning system comprises a cleaning device and a mobile device, the cleaning device comprises a device body, a sensor system and a chassis lifting module, the sensor system is arranged on the device body and used for obtaining three-dimensional information and / or image information, and the chassis lifting module is used for lifting the chassis. The equipment body can freely walk on the ground based on three-dimensional information and / or image information, the chassis lifting module can adjust the ground clearance between the equipment body and the ground so as to climb over low obstacles, the mobile equipment is provided with a containing cavity, and the containing cavity is provided with an opening. The bottom of the cleaning equipment is higher than the bottom wall of the accommodating cavity; the cleaning equipment is controlled to enter the containing cavity through the opening, so that the cleaning equipment and the mobile equipment are combined to form the cleaning system. By means of the method, reliable butt joint of the cleaning device and the mobile device is achieved, and the operation reliability of the cleaning system and the use experience of a user are improved.

Description

(19) State Intellectual Property Office (12) Invention Patent Application (10) Application Publication Number (43) Application Publication Date (21) Application Number 202610007330.6 (22) Application Date 2026.01.05 (71) Applicant: Chase Innovation Technology (Suzhou) Co., Ltd. Address: Units 1, 2, and 3, Building 8, No. 1688, Songwei Road, Guoxiang Street, Wuzhong Economic Development Zone, Suzhou City, Jiangsu Province, 215000 (72) Inventors: Xu Kai, Ban Yong, Zhang Weiwei, Chen Bing, Zou Qiangbin (74) Patent Agency: Beijing Tongli Juncheng Intellectual Property Agency Co., Ltd. 11205 Patent Attorney: Liu Dan (51) Int.Cl. A47L 11 / 40 (2006.01) A47L 11 / 24 (2006.01) (54) Invention Title: Control Method and Equipment for Cleaning System (57) Abstract: This application provides a control method and equipment for a cleaning system. The cleaning system includes a cleaning device and a mobile device. The cleaning equipment includes a main body, a sensor system, and a chassis lifting module. The sensor system, mounted on the main body, acquires three-dimensional information and / or image information. The main body can move freely on the ground based on the three-dimensional and / or image information. The chassis lifting module can adjust the ground clearance of the main body to traverse low obstacles. The mobile device has a receiving cavity with an opening. The method includes: adjusting the ground clearance of the cleaning equipment so that the bottom of the cleaning equipment is higher than the bottom wall of the receiving cavity; and controlling the cleaning equipment to enter the receiving cavity through the opening, so that the cleaning equipment and the mobile device are combined to form a cleaning system. This method achieves reliable docking between the cleaning equipment and the mobile device, improving the operational reliability of the cleaning system and the user experience. Claims 2 pages, Description 12 pages, Drawings 4 pages, CN 121694643 A 2026.03.20 CN 1 21 69 46 43 A 1. A control method for a cleaning system, characterized in that the cleaning system includes a cleaning device and a mobile device, the cleaning device includes a device body, a sensor system and a chassis lifting module, the sensor system is disposed on the device body and is used to acquire three-dimensional information and / or image information, the device body is capable of moving freely on the ground based on the three-dimensional information and / or the image information, the chassis lifting module is capable of adjusting the ground clearance of the device body to overcome low obstacles, the mobile device has a receiving cavity, the receiving cavity has an opening, the method includes: adjusting the ground clearance of the cleaning device so that the bottom of the cleaning device is higher than the bottom wall of the receiving cavity; controlling the cleaning device to enter the receiving cavity through the opening so that the cleaning device and the mobile device are combined to form the cleaning system. 2. The method according to claim 1, characterized in that, before adjusting the ground clearance of the cleaning device, the...The method further includes: using the sensor system of the cleaning device to obtain the distance between the bottom wall of the opening and the ground. 3. The method according to claim 2, wherein using the sensor system of the cleaning device to identify the distance between the bottom wall of the receiving cavity and the ground includes: controlling the front end of the cleaning device to face the opening, so as to use the sensor system located at the front end of the cleaning device to obtain the distance between the bottom wall of the receiving cavity and the ground. 4. The method according to claim 2, wherein using the sensor system of the cleaning device to identify the distance between the bottom wall of the receiving cavity and the ground includes: controlling the rear end of the cleaning device to face the opening, so as to use the sensor system located at the rear end of the cleaning device to obtain the distance between the bottom wall of the receiving cavity and the ground. 5. The method according to claim 1, wherein controlling the cleaning device to enter the receiving cavity through the opening includes: driving the cleaning device to rotate so that the rear end of the cleaning device faces the opening; controlling the cleaning device to enter the receiving cavity through the opening in a reverse manner. 6. The method according to claim 1, wherein controlling the cleaning device to enter the receiving cavity through the opening comprises: driving the cleaning device to rotate so that the front end of the cleaning device faces the opening; controlling the cleaning device to enter the receiving cavity through the opening in a forward manner. 7. The method according to claim 1, wherein the rear end of the cleaning device has a charging module, and the receiving cavity has a discharging module on its inner sidewall relative to the opening, and controlling the cleaning device to enter the receiving cavity through the opening comprises: adjusting the position of the cleaning device so that the charging module at the rear end of the cleaning device is directly opposite the discharging module of the receiving cavity; controlling the cleaning device to enter the receiving cavity through the opening until the charging module and the discharging module are docked. 8. The method according to claim 7, wherein one of the cleaning device and the mobile device is provided with a signal receiving module, and the other is provided with a signal transmitting module, wherein adjusting the position of the cleaning device so that the charging module at the rear end of the cleaning device is aligned with the discharge module of the receiving cavity comprises: adjusting the position of the cleaning device and determining the relative position of the cleaning device and the opening based on the signal received by the signal receiving module from the signal transmitting module; when the relative position of the cleaning device and the opening reaches a preset condition, the charging module at the rear end of the cleaning device is aligned with the discharge module of the receiving cavity. 9. The method according to claim 1, wherein the cleaning device further comprises a wet cleaning module, wherein...A wet cleaning module is disposed at the bottom of the device body and has a first lifting position. Before controlling the cleaning device to enter the receiving cavity through the opening, the method further includes: controlling the wet cleaning module to lift to the first lifting position. 10. The method according to claim 1, wherein the cleaning device further includes a dry cleaning module, the dry cleaning module is disposed at the bottom of the device body and has a second lifting position. Before controlling the cleaning device to enter the receiving cavity through the opening, the method further includes: controlling the dry cleaning module to lift to the second lifting position. 11. A control device for a cleaning system, comprising: a memory, a processor; the memory stores computer execution instructions; the processor executes the computer execution instructions stored in the memory, causing the processor to perform the method according to any one of claims 1-10. Claims 2 / 2 Page 3 CN 121694643 A Control method and device for a cleaning system Technical field

[0001] This application relates to the field of cleaning equipment technology, and particularly to a control method and device for a cleaning system. Background Art

[0002] With the development of smart home technology, cleaning equipment such as robot vacuum cleaners have become important tools for home cleaning. Their application scenarios have expanded from single floor cleaning to multi-device collaborative operation modes. For example, cleaning equipment can be combined with mobile devices to form the cleaning system, where the mobile device can be a stair-climbing device.

[0003] However, existing cleaning systems have technical limitations in the docking of cleaning equipment and mobile devices. When the chassis height of the cleaning equipment is lower than the bottom wall height of the mobile device's receiving cavity, the cleaning equipment cannot enter the receiving cavity, making it difficult to combine the mobile device and cleaning equipment to form the cleaning system. This results in low operational reliability and a poor user experience for the cleaning system.

[0004] Therefore, there is an urgent need for a control method for a cleaning system to achieve reliable docking between the cleaning equipment and mobile devices, thereby improving the operational reliability and user experience of the cleaning system. Summary of the Invention

[0005] This application provides a control method and device for a cleaning system to solve the problem in related technologies where it is difficult to combine mobile devices and cleaning equipment, leading to low operational reliability and a poor user experience for the cleaning system.

[0006] To achieve the above objectives, embodiments of this application provide the following technical solutions:

[0007] A first aspect of this application provides a control method for a cleaning system, the cleaning system including a cleaning device and a mobile device, the cleaning device including a device body, a sensor system, and a chassis lifting module, the sensor system being disposed on the device body for acquiring three-dimensional information and / or image information of the mobile device, the device body being able to move freely on the ground based on the three-dimensional information and / or the image information, and the chassis lifting module being able to adjust the...The method describes the ground clearance of the cleaning device body to overcome low obstacles. The mobile device has a receiving cavity with an opening. The method includes:

[0008] adjusting the ground clearance of the cleaning device so that the bottom of the cleaning device is higher than the bottom wall of the receiving cavity;

[0009] controlling the cleaning device to enter the receiving cavity through the opening so that the cleaning device and the mobile device are combined to form the cleaning system.

[0010] In the current prior art, because the chassis height of the cleaning device is lower than the bottom wall height of the receiving cavity of the mobile device, the cleaning device cannot enter the receiving cavity, making it difficult to combine the cleaning device and the mobile device, resulting in low operational reliability of the cleaning system and poor user experience.

[0011] To this end, the control method of the cleaning system provided in this application dynamically adjusts the ground clearance of the cleaning device so that the bottom of the cleaning device is higher than the bottom wall of the receiving cavity, and controls the cleaning device to enter the receiving cavity through the opening so that the cleaning device and the mobile device are combined to form the cleaning system. The cleaning equipment can be adapted to mobile devices of different heights through the method of this application, realizing reliable docking between the cleaning equipment and the mobile device, improving the operational reliability of the cleaning system and the user experience. Specification 1 / 12 pages 4 CN 121694643 A

[0012] In one embodiment of this application, before adjusting the ground clearance of the cleaning equipment, the method further includes:

[0013] using the sensor system of the cleaning equipment to obtain the distance between the bottom wall of the opening and the ground.

[0014] In one embodiment of this application, using the sensor system of the cleaning equipment to identify the distance between the bottom wall of the receiving cavity and the ground includes:

[0015] controlling the front end of the cleaning equipment to face the opening, so as to use the sensor system located at the front end of the cleaning equipment to obtain the distance between the bottom wall of the receiving cavity and the ground.

[0016] In one embodiment of this application, the step of using the sensor system of the cleaning device to identify the distance between the bottom wall of the receiving cavity and the ground includes:

[0017] controlling the rear end of the cleaning device to face the opening, so as to use the sensor system located at the rear end of the cleaning device to obtain the distance between the bottom wall of the receiving cavity and the ground.

[0018] In one embodiment of this application, the step of controlling the cleaning device to enter the receiving cavity through the opening includes:

[0019] driving the cleaning device to rotate so that the rear end of the cleaning device faces the opening;

[0020] controlling the cleaning device to enter the receiving cavity through the opening in a backward manner.

[0021] In one embodiment of this application, the step of controlling the cleaning device to enter the receiving cavity through the opening includes:

[0022] driving the cleaning device to rotate so that the front end of the cleaning device faces the opening;

[0023] Controlling the cleaning device to enter the receiving cavity through the opening in a forward manner.

[0024] In one embodiment of this application, the rear end of the cleaning device has a charging module, and the receiving cavity has a discharging module on its inner sidewall relative to the opening. Controlling the cleaning device to enter the receiving cavity through the opening includes:

[0025] Adjusting the position of the cleaning device so that the charging module at the rear end of the cleaning device is directly opposite the discharging module of the receiving cavity;

[0026] Controlling the cleaning device to enter the receiving cavity through the opening until the charging module docks with the discharging module.

[0027] In one embodiment of this application, one of the cleaning device and the mobile device is provided with a signal receiving module, and the other is provided with a signal transmitting module. Adjusting the position of the cleaning device so that the charging module at the rear end of the cleaning device is directly opposite the discharge module of the receiving cavity includes:

[0028] Adjusting the position of the cleaning device and determining the relative position of the cleaning device and the opening based on the signal received by the signal receiving module from the signal transmitting module;

[0029] When the relative position of the cleaning device and the opening reaches a preset condition, the charging module at the rear end of the cleaning device is directly opposite the discharge module of the receiving cavity.

[0030] In one embodiment of this application, the cleaning device further includes a wet cleaning module, which is disposed at the bottom of the device body and has a first lifting position. Before controlling the cleaning device to enter the receiving cavity through the opening, the method further includes:

[0031] Controlling the wet cleaning module to be lifted to the first lifting position.

[0032] In one embodiment of this application, the cleaning device further includes a dry cleaning module, which is disposed at the bottom of the device body and has a second lifting position. Before controlling the cleaning device to enter the receiving cavity through the opening, the method further includes:

[0033] Controlling the dry cleaning module to lift to the second lifting position.

[0034] A second aspect of the embodiments of this application provides a control device for a cleaning system, including: a memory and a processor;

[0035] The memory stores computer execution instructions;

[0036] The processor executes the computer execution instructions stored in the memory, causing the processor to perform the method as described in any of the first aspects.

[0037] The control method and device for the cleaning system provided in this application dynamically adjust the ground clearance of the cleaning device so that the bottom of the cleaning device is higher than the bottom wall of the receiving cavity, controlling the cleaning device to enter the receiving cavity through the opening, so that the cleaning device and the mobile device are combined to form the cleaning system. Through the method of this application,The cleaning equipment can be adapted to mobile devices of different heights, enabling reliable docking between the cleaning equipment and the mobile devices, improving the operational reliability of the cleaning system and the user experience.

[0038] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0039] Figure 1 is a schematic diagram of the structure of a cleaning system provided in an embodiment of this application;

[0040] Figure 2 is a schematic diagram of the structure of a cleaning system provided in an embodiment of this application;

[0041] Figure 3 is a schematic flowchart of the control method of a cleaning system provided in an embodiment of this application;

[0042] Figure 4 is a schematic diagram of the structure of a cleaning system provided in an embodiment of this application;

[0043] Figure 5 is a schematic diagram of the structure of a cleaning system provided in an embodiment of this application;

[0044] Figure 6 is a schematic diagram of the structure of a cleaning system provided in an embodiment of this application;

[0045] Figure 7 is a schematic diagram of the structure of the control device of a cleaning system provided in an embodiment of this application;

[0046] Figure 8 is a schematic diagram of the structure of the control device of a cleaning system provided in this application.

[0047] The above-described embodiments of the present application have been clearly illustrated by means of the accompanying drawings, which will be described in more detail below. These drawings and textual descriptions are not intended to limit the scope of the concept of the present application in any way, but rather to illustrate the concept of the present application to those skilled in the art by reference to specific embodiments. Detailed Description

[0048] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of the present application as detailed in the appended claims.

[0049] The control method of the cleaning system provided in the embodiments of the present application will be described in detail below with reference to the accompanying drawings. The cleaning system of the embodiments of the present application includes cleaning equipment and mobile equipment. The cleaning equipment is used to perform cleaning operations. The mobile equipment is used to assist the cleaning equipment in performing operations. For example, the mobile equipment may be a stair-climbing device that can move freely, or a base station, charging equipment, etc. that can be moved by a person.

[0050] Taking a stair-climbing device as the mobile device and a sweeping robot as the cleaning equipment as an example, Figure 1 is a schematic diagram of the structure of a cleaning system provided in an embodiment of this application. Referring to Figure 1, the cleaning system includes a cleaning device 100 and a mobile device 130.

[0051] The mobile device 130 includes a receiving cavity 140. The cleaning device 100 can enter the receiving cavity 140 through the opening 1401 of the receiving cavity 140, so that the cleaning device 100 and the mobile device 130 can be combined into a combined unit. Specification 3 / 12 pages 6 CN121694643 A

[0052] Because the height of the chassis 1001 of the cleaning device 100 is lower than the height of the bottom wall 140a of the receiving cavity 140 of the mobile device 130, the cleaning device 100 cannot enter the receiving cavity 140, making it difficult to combine the cleaning device 100 and the mobile device 130, resulting in low operational reliability of the cleaning system and poor user experience.

[0053] Therefore, in order to solve the above technical problems, the present invention provides a control method for a cleaning system, by dynamically adjusting the ground clearance of the cleaning device so that the bottom of the cleaning device is higher than the bottom wall of the receiving cavity, controlling the cleaning device to enter the receiving cavity through the opening, so that the cleaning device and the mobile device can be combined to form a cleaning system. Through the method of this application, the cleaning device can be adapted to mobile devices of different heights, realize reliable docking between the cleaning device and the mobile device, and improve the operational reliability of the cleaning system and the user experience.

[0054] The following is an example of a cleaning system that can apply the control method of the embodiment of this application.

[0055] Optionally, the cleaning device includes a device body, a sensor system and a chassis lifting module.

[0056] A sensor system is mounted on the device body and is used to acquire three-dimensional information and / or image information of the mobile device. The sensor system includes, for example, one or more of a multi-view camera, a line laser sensor, a time-of-flight (ToF) sensor, and a lidar.

[0057] The device body can move freely on the ground based on three-dimensional information and / or image information.

[0058] The chassis lifting module can adjust the ground clearance of the device body to overcome low obstacles. Figure 2 is a schematic diagram of the structure of a cleaning system provided in an embodiment of this application. Referring to Figure 2, the chassis lifting module includes a caster wheel system 110 and a drive wheel system 120. The caster wheel system 110 and the drive wheel system 120 are respectively provided with lifting mechanisms, which can adjust the ground clearance of the device body. It should be noted that the above-mentioned lifting mechanisms are existing conventional technologies, such as screw mechanisms, multi-link mechanisms, traction rope mechanisms, cam mechanisms, and obstacle-crossing arm mechanisms, etc., which will not be described in detail in this application.

[0059] It should be understood that the chassis lifting module shown in FIG2 includes a caster wheel system 110 and a drive wheel system 120. In one embodiment, the chassis lifting module may only include the drive wheel system 120.

[0060] In some embodiments, the cleaning device 100 is further provided with a storage component. The processor and the storage component may be disposed inside the cleaning device 100. Optionally, the storage component may be integrated with the processor, or they may be two independent components.

[0061] The storage component is used to store data; for example, various software control programs, some modes and / or parameters of the cleaning device 100, etc. Specifically, the program may include program code, which includes computer operation instructions.

[0062] The processor may include, for example, one or more circuits or chips with control functions.

[0063] The processor is used to control the operation of the cleaning device 100 and respond to user operations by means of various software control programs stored in the memory.

[0064] It should be understood that the cleaning system in the above example is only one example of a cleaning system to which the control method of the present application embodiment can be applied. The present application does not limit the structure of the cleaning device and the mobile device in the cleaning system.

[0065] The execution subject of the present application embodiment may be the processor in the cleaning device or the server corresponding to the cleaning device. The server is located in the cloud and is connected to the processor of the cleaning device through the network to issue control commands to the cleaning device, or to forward the control commands sent by the user through the terminal device to the cleaning device, etc.

[0066] The following uses the processor in the cleaning device as the execution subject as an example to describe in detail the technical solution of the present application and how the technical solution of the present application solves the above technical problems through specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments.

[0067] Figure 3 is a schematic flowchart of the control method of the cleaning system provided in the present application embodiment. As shown in Figure 3, it may include: (Instruction manual, page 4 / 12, CN 121694643 A)

[0068] S301: Adjust the ground clearance of the cleaning device so that the bottom of the cleaning device is higher than the bottom wall of the receiving cavity.

[0069] Ground clearance refers to the distance between the bottom of the cleaning device and the ground.

[0070] For example, the processor can lift the device body based on a preset height using a chassis lifting module until the ground clearance of the cleaning device reaches the preset height. This preset height can be set in advance according to the distance between the bottom wall of the opening of the receiving cavity of the mobile device and the ground.

[0071] For example, the processor can use the sensor system of the cleaning device to obtain the distance between the bottom wall of the opening and the ground, use this distance as an adjustment target, and adjust the ground clearance of the cleaning device according to this distance so that the ground clearance of the cleaning device is greater than the adjustment target.

[0072] For example, the processor can adjust the ground clearance of the cleaning device, and during the adjustment process, use the sensor system of the cleaning device to obtain the height difference between the bottom wall of the opening and the bottom of the cleaning device, and stop the adjustment when the bottom of the cleaning device is higher than the bottom wall of the receiving cavity.

[0073] S302. Control the cleaning device to enter the receiving cavity through the opening, so that the combination of the cleaning device and the moving device forms a cleaning system.

[0074] Optionally, the processor can control the cleaning device to move towards the opening in a forward or backward manner, so that the combination of the cleaning device and the moving device forms a cleaning system. For example, the processor can identify whether the cleaning device has entered the receiving cavity of the moving device through the three-dimensional information and / or image information collected by the sensor system of the cleaning device.

[0075] For example, docking mechanisms are respectively provided in the receiving cavities of the cleaning device and the mobile device. When the cleaning device enters the receiving cavity of the mobile device, the docking mechanisms of the cleaning device and the mobile device can sense the docking state. The processor can identify whether the cleaning device has entered the receiving cavity of the mobile device based on the docking state of the docking mechanism.

[0076] The control method of the cleaning system of this application dynamically adjusts the ground clearance of the cleaning device so that the bottom of the cleaning device is higher than the bottom wall of the receiving cavity, and controls the cleaning device to enter the receiving cavity through the opening so that the cleaning device and the mobile device are combined to form a cleaning system. Through the method of this application, the cleaning device can be adapted to mobile devices of different heights, realize reliable docking between the cleaning device and the mobile device, and improve the operational reliability of the cleaning system and the user experience.

[0077] Figure 4 is a schematic diagram of the structure of a cleaning system provided in an embodiment of this application. It should be understood that Figures 2 and 4 are only based on a simple structural illustration of the height difference between the chassis 1001 of the cleaning device 100 and the bottom wall 140a of the mobile device 130.

[0078] Referring to FIG. 2, the height of the chassis 1001 of the cleaning device 100 is lower than the height of the bottom wall 140a of the receiving cavity of the mobile device 130. The processor can control the lifting mechanism of the caster wheel system 110 and the drive wheel system 120 to lift, thereby adjusting the ground clearance of the cleaning device, so that the ground clearance of the cleaning device 100 is adjusted from the ground clearance shown in FIG. 2 to the ground clearance shown in FIG. 4. Referring to FIG. 4, the chassis 1001 of the cleaning device 100 after adjustment is higher than the bottom wall 140a of the receiving cavity of the mobile device 130.

[0079] The above embodiment illustrates how the processor adjusts the ground clearance of the cleaning device. Optionally, before adjusting the ground clearance of the cleaning device, the processor can also use the sensor system of the cleaning device to obtain the distance between the bottom wall of the opening and the ground. Accordingly, the processor can adjust the ground clearance of the cleaning device based on the distance between the bottom wall of the opening and the ground, so that the bottom of the cleaning device is higher than the bottom wall of the receiving cavity.

[0080] The sensor system refers to the hardware module on the cleaning device used to collect environmental information. Exemplarily, the sensor system includes one or more of a multi-view camera, a line laser sensor, a ToF sensor, and a lidar, and this embodiment is not limited to any particular type.

[0081] Exemplarily, by scanning the point cloud data of the opening of the receiving cavity with a lidar, and based on the point cloud data processing method in the related art, the distance between the bottom wall of the opening and the ground is obtained, and the distance between the cleaning device and the ground is adjusted to be greater than the obtained distance between the bottom wall of the opening and the ground. For example, when the distance between the bottom wall of the opening of the mobile device and the ground is detected to be 2cm, the processor can drive the chassis lifting module to adjust the distance between the cleaning device and the ground to 3cm, ensuring that the bottom of the cleaning device is higher than the bottom wall of the receiving cavity.

[0082] The control method in this embodiment obtains the distance between the bottom wall of the cavity opening and the ground through a sensor system, and dynamically adjusts the distance from the ground based on this distance to achieve reliable docking between the cleaning device and the mobile device. This allows the cleaning device to dynamically adapt to cavities of any height, improving the operational reliability of the cleaning system and the user experience.

[0083] Optionally, the processor can drive the cleaning device to adjust its posture so that the acquisition area of ​​the sensor system can cover the bottom wall of the mobile device's cavity and the ground, thereby using the cleaning device's sensor system to identify the distance between the bottom wall of the cavity and the ground.

[0084] In one embodiment, the processor uses the cleaning device's sensor system to identify the distance between the bottom wall of the cavity and the ground, and can control the front end of the cleaning device to face the opening so as to obtain the distance between the bottom wall of the cavity and the ground using the sensor system located at the front end of the cleaning device.

[0085] For example, the front end of the cleaning device is equipped with a sensor system, such as a lidar located on the top surface of the cleaning device and close to the front end.

[0086] When the sensor system is located at the front end of the cleaning device, the cavity opening is located at the rear end of the cleaning device, i.e., away from the sensor system. The processor can control the cleaning device to rotate so that the front end of the cleaning device faces the opening, thereby enabling the sensor system at the front end of the cleaning device to collect three-dimensional information and / or image information of the receiving cavity. Further, the processor can obtain the distance between the bottom wall of the receiving cavity and the ground based on the three-dimensional information and / or image information collected by the sensor system.

[0087] In one embodiment, the processor uses the sensor system of the cleaning device to identify the distance between the bottom wall of the receiving cavity and the ground, and can control the rear end of the cleaning device to face the opening, so as to obtain the distance between the bottom wall of the receiving cavity and the ground using the sensor system located at the rear end of the cleaning device.

[0088] Wherein, obtaining the distance based on three-dimensional information and / or image information can be achieved using image processing methods in related technologies. Taking three-dimensional information as an example, the three-dimensional information includes the three-dimensional coordinate information of multiple points on the bottom wall of the opening, and the distance between the bottom wall of the receiving cavity and the ground can be calculated based on the coordinate information of multiple points. Taking image information as an example, the bottom wall of the receiving cavity and the ground are identified from the image information based on the image recognition method in related technologies. Based on the number of pixels and known parameters such as the sensor focal length and pixel size, the distance between the bottom wall of the receiving cavity and the ground is calculated based on the image algorithm in related technologies.

[0089] For example, the cleaning device is equipped with a sensor system at the rear end, such as a lidar located on the top surface of the cleaning device and close to the rear end.

[0090] When the sensor system is located at the rear end of the cleaning device, the opening of the receiving cavity is located at the front end of the cleaning device, that is, away from the sensor system. The processor can control the cleaning device to rotate so that the rear end of the cleaning device faces the opening, thereby enabling the sensor system at the rear end of the cleaning device to collect three-dimensional information and / or image information of the receiving cavity. FurtherThe processor can obtain the distance between the bottom wall of the receiving cavity and the ground based on the three-dimensional information and / or image information collected by the sensor system.

[0091] The control method in this embodiment controls the rotation of the cleaning device to adjust the opening of the sensor system of the cleaning device toward the receiving cavity of the mobile device, thereby realizing the acquisition of three-dimensional information and / or image information of the receiving cavity by the sensor system and improving the reliability of the acquisition of three-dimensional information and / or image information of the receiving cavity by the sensor system.

[0092] The following describes how the control method of this embodiment controls the cleaning device to enter the receiving cavity through the opening.

[0093] Optionally, the processor controls the cleaning device to enter the receiving cavity through the opening by driving the cleaning device to rotate so that the rear end of the cleaning device faces the opening, and controls the cleaning device to enter the receiving cavity through the opening in a backward manner.

[0094] Exemplarily, the processor obtains the position of the opening of the mobile device based on the sensor system, drives the cleaning device to rotate so that the rear end of the cleaning device faces the opening, and controls the cleaning device to move toward the mobile device in the current posture so that the cleaning device enters the receiving cavity through the opening in a backward manner.

[0095] Optionally, the processor controls the cleaning device to enter the receiving cavity through the opening by driving the cleaning device to rotate so that the front end of the cleaning device faces the opening, and controls the cleaning device to enter the receiving cavity through the opening in a forward manner.

[0096] Forward or backward refers to the direction of movement of the cleaning device. Exemplarily, the processor can control the drive wheel to control the direction of movement of the cleaning device.

[0097] Exemplarily, the processor obtains the position of the opening of the mobile device based on the sensor system, drives the cleaning device to rotate so that the front end of the cleaning device faces the opening, and controls the cleaning device to move toward the mobile device in the current posture so that the cleaning device enters the receiving cavity through the opening in a forward manner.

[0098] Exemplarily, the processor can control the cleaning device to enter the receiving cavity through the opening in the indicated manner based on a preset forward or backward instruction.

[0099] Exemplarily, the processor can also select a forward or backward movement to control the cleaning device to enter the receiving cavity through the opening. For example, the processor can obtain the position of the opening of the mobile device based on a sensor system. If the front end of the cleaning device is close to the opening, the processor drives the cleaning device to rotate so that the front end of the cleaning device faces the opening, and controls the cleaning device to enter the receiving cavity through the opening in a forward movement. If the rear end of the cleaning device is close to the opening, the processor drives the cleaning device to rotate so that the rear end of the cleaning device faces the opening, and controls the cleaning device to enter the receiving cavity through the opening in a backward movement.

[0100] The control method of this application embodiment adjusts the device orientation by controlling the rotation of the cleaning device to achieve forward movement.The cleaning device enters the receiving cavity through the opening by moving forward or backward, thus achieving the positioning of the receiving cavity opening. The control method of this application embodiment allows the cleaning device to enter the receiving cavity through the opening by moving forward or backward, providing multiple ways to enter the receiving cavity to adapt to various scenarios and improving the efficiency of controlling the cleaning device to enter the receiving cavity through the opening.

[0101] Figure 5 is a schematic diagram of the structure of a cleaning system provided in an embodiment of this application. Referring to Figure 5, the cleaning device 100 is controlled to enter the receiving cavity through the opening, so that the cleaning device 100 and the mobile device 130 are combined to form a cleaning system.

[0102] Optionally, after the cleaning device enters the receiving cavity through the opening, so that the cleaning device and the mobile device are combined to form a cleaning system, the processor can also reduce the ground clearance of the cleaning device.

[0103] Exemplarily, after controlling the cleaning device to enter the receiving cavity through the opening, the processor can reduce the ground clearance of the cleaning device by adjusting the chassis lifting module.

[0104] Figure 6 is a schematic diagram of the structure of a cleaning system provided in an embodiment of this application. Referring to Figure 6, the processor can reduce the ground clearance of the cleaning device by adjusting the universal wheel system 110 and the drive wheel system 120.

[0105] The method of this application embodiment, after the cleaning device enters the receiving cavity through the opening to form a cleaning system with the mobile device, reduces the ground clearance of the cleaning device to avoid collision between the cleaning device and the inner wall of the receiving cavity in unstable situations such as shaking of the mobile device. At the same time, by reducing the height of the cleaning device, the stability of the cleaning device can be improved, thereby improving the safety of the cleaning device in the receiving cavity.

[0106] Optionally, the rear end of the cleaning device has a charging module, and the inner side wall of the receiving cavity relative to the opening has a discharge module. When the charging module and the discharge module are docked, the cleaning device can be charged.

[0107] Based on this structure, the processor controls the cleaning device to enter the receiving cavity through the opening, and can adjust the position of the cleaning device so that the charging module at the rear end of the cleaning device is directly opposite the discharge module of the receiving cavity, and controls the cleaning device to enter the receiving cavity through the opening until the charging module and the discharge module are docked.

[0108] For example, the processor can obtain the position information of the opening of the receiving cavity of the mobile device through a sensor system, and control the cleaning device to move toward the opening of the receiving cavity. During the movement, the processor continuously adjusts its posture based on the position information fed back by the sensor system. When the cleaning device approaches the opening, a side-mounted infrared or laser sensor system is used to measure the distance between the cleaning device and both sides of the receiving cavity opening in real time, and fine adjustments are made left and right to ensure that the cleaning device is aligned with the receiving cavity opening. When the charging module approaches the discharging module, the docking status is detected by methods such as magnetic induction or contact sensors, and the cleaning device is controlled to decelerate and complete the docking to ensure a stable electrical connection.

[0109] For example, one of the cleaning device and the mobile device is provided with a signal receiving module, and the other is provided with a signal transmitting module.

[0110] The signal receiving module refers to a hardware module for receiving signals, such as an ultrasonic receiving module or an infrared receiving module.

[0111] The signal transmitting module refers to a hardware module for transmitting signals, such as an ultrasonic transmitting module or an infrared transmitting module.

[0112] The processor can adjust the posture of the cleaning device and determine the relative position of the cleaning device and the opening based on the signals received by the signal receiving module and emitted by the signal transmitting module; when the relative position of the cleaning device and the opening reaches a preset condition, the charging module at the rear end of the cleaning device is aligned with the discharge module of the receiving cavity.

[0113] The preset condition refers to the condition that the signal received by the signal receiving module meets. For example, the preset condition is that the signal strength exceeds the signal strength threshold. Meeting the preset condition indicates that the posture of the cleaning device relative to the receiving cavity meets a specific posture.

[0114] Optionally, the rear end of the cleaning device is provided with an infrared receiving module, and the receiving cavity of the mobile device is provided with an infrared transmitting module at the position relative to the opening.

[0115] For example, the infrared emitting module can emit a fan-shaped infrared signal. The rear end of the cleaning device is equipped with multiple sets of infrared receiving modules. The difference in the intensity of the signals received by the multiple sets of infrared receiving modules can determine the relative position of the cleaning device and the opening. For example, if the signal received by the infrared receiving module on the left side of the rear end of the cleaning device is strong, the robot is controlled to make a slight adjustment to the right; if the signal received by the infrared receiving module on the right side of the rear end of the cleaning device is strong, the robot is controlled to make a slight adjustment to the left.

[0116] For example, the preset condition is that at least three sets of infrared receiving modules in the middle area of ​​the rear end of the cleaning device must simultaneously receive the infrared signal emitted from the opening of the base station, and the difference between the maximum and minimum values ​​of the signal intensity values ​​of each receiver does not exceed 15% of the average value.

[0117] During the movement of the cleaning device, the moving direction and angle of the cleaning device are continuously corrected by continuously receiving signals through multiple sets of infrared receiving modules, and the preset condition is judged to determine whether the preset condition is met. After the preset condition is met, the cleaning device is controlled to maintain a straight line movement and enter the receiving cavity through the opening. When the charging module approaches the discharging module, the docking status is detected by methods such as magnetic induction or contact sensors, and the cleaning device is controlled to decelerate and complete the docking, ensuring a stable electrical connection. The charging module docks with the discharging module.

[0118] The method of this embodiment achieves precise docking between the charging module and the discharging module by adjusting the posture of the cleaning device and controlling the cleaning device to enter the receiving cavity through the opening. Based on the signal received by the signal receiving module from the signal transmitting module, the posture of the cleaning device is adjusted and the relative position of the cleaning device and the opening is determined. Through the synergy of signal feedback and posture adjustment, the stability of docking is improved.

[0119] Optionally, the cleaning device further includes a wet cleaning module, which is located at the bottom of the device body and has a first lifting position.

[0120] Before controlling the cleaning device to enter the receiving cavity through the opening, the processor can also control the wet cleaning module to be lifted to the first lifting position.

[0121] A wet cleaning module refers to a component on the cleaning device used for wet cleaning, such as a disc-shaped cloth, a roller-shaped cloth, or a conveyor belt-shaped cloth.

[0122] The first lifting position is a preset position after the wet cleaning module is lifted. For example, the distance between the first lifting position and the ground is 3 cm. The first lowering position is a preset position of the wet cleaning module during cleaning operations, i.e., the position in contact with the surface to be cleaned.

[0123] For example, the processor can control the wet cleaning module to lower to the first lowering position during cleaning operations so that the wet cleaning module can contact the surface to be cleaned. Before entering the receiving cavity through the opening, the processor can control the wet cleaning module to rise to the first lifting position to avoid collisions.

[0124] For example, taking a wet cleaning module including a cloth assembly as an example, before the cleaning device enters the receiving cavity, the processor can determine whether the current cloth assembly is in the first lifting position. If the current cloth assembly is not in the first lifting position, that is, the current cloth assembly is in the first lowering position, the processor can control the cloth assembly to rise to the preset first lifting position via an electric lifting bracket.

[0125] The method of this application embodiment, by raising the wet cleaning module to a preset height, avoids collisions between the wet cleaning module and the inner wall of the receiving cavity, thereby improving the safety of the cleaning device entering the receiving cavity.

[0126] Optionally, the cleaning device also includes a dry cleaning module, which is located at the bottom of the device body and has a second lifting position.

[0127] Before controlling the cleaning device to enter the receiving cavity through the opening, the processor can also control the dry cleaning module to rise to the second lifting position.

[0128] A dry cleaning module refers to a component on a cleaning device used for dry cleaning, such as a vacuum cleaner component or a roller brush component.

[0129] The second lifting position is a preset position of the dry cleaning module after it has been lifted. For example, the distance between the second lifting position and the ground is 3 cm. The second lowering position is a preset position of the dry cleaning module when performing cleaning operations, i.e., the position where it contacts the surface to be cleaned.

[0130] For example, the processor can control the dry cleaning module to lower to the second lowering position when performing cleaning operations, so that the dry cleaning module can contact the surface to be cleaned. Before entering the receiving cavity through the opening, the processor can control the dry cleaning module to be lifted to the second lifting position to avoid collisions.

[0131] For example, before the cleaning device enters the receiving cavity, the processor can determine whether the current dry cleaning module is in the second lowering position.At the second lifting position. If the current dry cleaning module is not in the second lifting position, that is, the current dry cleaning module is in the second lowering position, the processor can control the dry cleaning module to be lifted to the preset second lifting position via the electric lifting bracket.

[0132] The method of this application embodiment, by lifting the dry cleaning module to a preset height, avoids collision between the dry cleaning module and the inner wall of the receiving cavity, thereby improving the safety of the cleaning equipment entering the receiving cavity.

[0133] Figure 7 is a schematic diagram of the structure of the control device of the cleaning system provided in an embodiment of this application. As shown in Figure 7, a control device 700 for a cleaning system is provided. The cleaning system includes a cleaning device and a mobile device. The cleaning device includes a device body, a sensor system, and a chassis lifting module. The sensor system is located on the device body and is used to acquire three-dimensional information and / or image information of the mobile device. The device body can move freely on the ground based on the three-dimensional information and / or image information. The chassis lifting module can adjust the ground clearance of the device body to overcome low obstacles. The mobile device has a receiving cavity with an opening. The control device 700 for the cleaning system includes:

[0134] a lifting module 701, used to adjust the ground clearance of the cleaning device so that the bottom of the cleaning device is higher than the bottom wall of the receiving cavity;

[0135] a control module 702, used to control the cleaning device to enter the receiving cavity through the opening so that the cleaning device and the mobile device are combined to form a cleaning system.

[0136] In some optional embodiments, before adjusting the ground clearance of the cleaning device, the lifting module 701 is further configured to:

[0137] obtain the distance between the bottom wall of the opening and the ground using the sensor system of the cleaning device.

[0138] In some optional embodiments, the lifting module 701 is specifically configured to:

[0139] control the front end of the cleaning device to face the opening, so as to obtain the distance between the bottom wall of the receiving cavity and the ground using the sensor system located at the front end of the cleaning device.

[0140] In some optional embodiments, the lifting module 701 is specifically configured to:

[0141] control the rear end of the cleaning device to face the opening, so as to obtain the distance between the bottom wall of the receiving cavity and the ground using the sensor system located at the rear end of the cleaning device.

[0142] In some optional embodiments, the control module 702 is specifically configured to:

[0143] drive the cleaning device to rotate so that the rear end of the cleaning device faces the opening;

[0144] control the cleaning device to enter the receiving cavity through the opening in a reverse manner.

[0145] In some optional embodiments, the control module 702 is specifically configured to:

[0146] drive the cleaning device to rotate so that the front end of the cleaning device faces the opening;

[0147] control the cleaning device to enter the receiving cavity through the opening in a forward manner.

[0148] In some optional embodiments, the rear end of the cleaning device has a charging module, and the receiving cavity is relative to the inner part of the opening.The side wall has a discharge module, and the control module 702 is specifically used for:

[0149] adjusting the position of the cleaning device so that the charging module at the rear end of the cleaning device is aligned with the discharge module of the receiving cavity;

[0150] controlling the cleaning device to enter the receiving cavity through the opening until the charging module and the discharge module are connected.

[0151] In some optional embodiments, one of the cleaning device and the moving device is provided with a signal receiving module, and the other is provided with a signal transmitting module. The control module 702 is specifically used for:

[0152] adjusting the position of the cleaning device and determining the relative position of the cleaning device and the opening based on the signal received by the signal receiving module from the signal transmitting module;

[0153] when the relative position of the cleaning device and the opening reaches a preset condition, the charging module at the rear end of the cleaning device is aligned with the discharge module of the receiving cavity.

[0154] In some optional embodiments, the cleaning device further includes a wet cleaning module, which is located at the bottom of the device body and has a first lifting position. Before the cleaning device enters the receiving cavity through the opening, the lifting module 701 is further used to:

[0155] control the wet cleaning module to be lifted to the first lifting position.

[0156] In some optional embodiments, the cleaning device further includes a dry cleaning module, which is located at the bottom of the device body and has a second lifting position. Before the cleaning device enters the receiving cavity through the opening, the lifting module 701 is further used to:

[0157] control the dry cleaning module to be lifted to the second lifting position.

[0158] Each module in the above-mentioned device can be implemented entirely or partially by software, hardware, or a combination thereof. Each module can be embedded in or independent of the processor in the computer device in hardware form, or stored in the memory of the computer device in software form, so that the processor can call and execute the operations corresponding to each module.

[0159] Figure 8 is a schematic diagram of the structure of the control device of the cleaning system provided in this application. As shown in Figure 8, the control device 800 of the cleaning system provided in this embodiment (pages 10 / 12, CN 121694643 A) includes at least one processor 801 and a memory 802. Optionally, the device 800 also includes a communication component 803. The processor 801, memory 802, and communication component 803 are connected via a bus 804.

[0160] In a specific implementation, at least one processor 801 executes computer execution instructions stored in the memory 802, causing at least one processor 801 to execute the above-described method.

[0161] The specific implementation process of the processor 801 can be found in the above-described method embodiment, and its implementation principle and technical effects are similar; therefore, it will not be repeated here.

[0162] In the above embodiments, it should be understood that the processor can be a central processing unit (CPU).The unit (abbreviated as CPU) can also be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), etc. A general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in this invention can be directly embodied in the execution of the hardware processor, or executed by a combination of hardware and software modules in the processor.

[0163] The memory may include random access memory (RAM) and may also include non-volatile memory (NVM), such as at least one disk storage device.

[0164] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be divided into address buses, data buses, control buses, etc. For ease of illustration, the buses in the accompanying drawings of this application are not limited to only one bus or one type of bus.

[0165] This application also provides a cleaning device, which includes a device body, a sensor system, and a chassis lifting module. The sensor system is disposed on the device body and is used to acquire three-dimensional information and / or image information. The device body can move freely on the ground based on the three-dimensional information and / or image information. The chassis lifting module can adjust the ground clearance between the device body and the ground to overcome low obstacles.

[0166] The cleaning device also includes a processor configured to implement a control method for the cleaning system.

[0167] This application also provides a cleaning system, which includes a cleaning device and a mobile device. The cleaning device includes a device body, a sensor system, and a chassis lifting module. The sensor system is disposed on the device body and is used to acquire three-dimensional information and / or image information. The device body can move freely on the ground based on the three-dimensional information and / or image information. The chassis lifting module can adjust the ground clearance between the device body and the ground to overcome low obstacles. The mobile device has a receiving cavity with an opening.

[0168] The cleaning device also includes a processor configured to implement a control method for the cleaning system.

[0169] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the above-described method.

[0170] This application also provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, implement the above-described method.

[0171] The above-described readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. The readable storage medium can be any available medium accessible to a general-purpose or special-purpose computer.

[0172] An exemplary readable storage medium is coupled to a processor, enabling the processor to read information from and write information to the readable storage medium. Of course, the readable storage medium can also be a component of the processor. The processor and the readable storage medium can be located in an application-specific integrated circuit (ASIC). Of course, the processor and readable storage medium can also exist as discrete components in the device.

[0173] The division of units is only a logical functional division. In actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed may be indirect coupling or communication connection through some interfaces, devices or units, and may be electrical, mechanical or other forms.

[0174] The units described as separate components may or may not be physically separated. The components shown as units may or may not be physical units, that is, they may be located in one place or may be distributed on multiple network units. Some or all of the units can be selected to achieve the purpose of the solution of this embodiment according to actual needs.

[0175] In addition, the functional units in the various embodiments of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0176] If the function is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer) to...The computer, server, or network device, etc., executes all or part of the steps of the methods of the various embodiments of the present invention. The aforementioned storage medium includes: USB flash drive, mobile hard drive, read-only memory (ROM), random access memory (RAM), magnetic disk or optical disk, and other media capable of storing program code.

[0177] Those skilled in the art will understand that all or part of the steps of the above method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it performs the steps of the above method embodiments; and the aforementioned storage medium includes: ROM, RAM, magnetic disk or optical disk, and other media capable of storing program code.

[0178] Finally, it should be noted that those skilled in the art will readily conceive of other embodiments of the present invention after considering the specification and practicing the invention disclosed herein. This invention is intended to cover any variations, uses, or adaptations of the invention that follow the general principles of the invention and include common knowledge or customary techniques in the art not disclosed herein. It is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of the invention is limited only by the appended claims. Instruction Manual 12 / 12 Page 15 CN 121694643 A Figure 1 Figure 2 Instruction Manual Appendix 1 / 4 Page 16 CN 121694643 A Figure 3 Figure 4 Instruction Manual Appendix 2 / 4 Page 17 CN 121694643 A Figure 5 Figure 6 Instruction Manual Appendix 3 / 4 Page 18 CN 121694643 A Figure 7 Figure 8 Instruction Manual Appendix 4 / 4 Page 19 CN 121694643 A CONTROL METHOD AND DEVICE FOR A CLEANING SYSTEM Abstract Embodiments of the present application provide a control method and device for a cleaning system. The cleaning system comprises a cleaning device and a mobile device. The cleaning device comprises a device main body, a sensor system and a chassis liftingmodule. The sensor system is arranged on the device main body and configured to acquire three-dimensional information and / or image information; the device main body can freely travel on the ground based on the three-dimensional information and / or image information; the chassis lifting module can adjust the ground clearance between the device main body and the ground to surmount low obstacles. The mobile device is provided with a receiving cavity, and the receiving cavity has an opening. The method comprises: adjusting the ground clearance of the cleaning device, so that the bottom of the cleaning device is higher than the bottom wall of the receiving cavity; and controlling the cleaning device to enter the receiving cavity through the opening, so that the cleaning device and the mobile device are combined to form the cleaning system. With the method of the present application, reliable docking between the cleaning device and the mobile device is realized, and the operation reliabilityof the cleaning system and the user experience are improved.

Claims

1. A control method for a cleaning system, characterized in that, The cleaning system includes a cleaning device and a mobile device. The cleaning device includes a device body, a sensor system, and a chassis lifting module. The sensor system is mounted on the device body and is used to acquire three-dimensional information and / or image information. The device body can move freely on the ground based on the three-dimensional information and / or the image information. The chassis lifting module can adjust the ground clearance of the device body to overcome low obstacles. The mobile device has a receiving cavity with an opening. The method includes: Adjust the ground clearance of the cleaning device so that the bottom of the cleaning device is higher than the bottom wall of the receiving cavity; The cleaning device is controlled to enter the receiving cavity through the opening, so that the cleaning device and the moving device are combined to form the cleaning system.

2. The method according to claim 1, characterized in that, Before adjusting the ground clearance of the cleaning equipment, the method further includes: The distance between the bottom wall of the opening and the ground is obtained using the sensor system of the cleaning equipment.

3. The method according to claim 2, characterized in that, The step of using the sensor system of the cleaning equipment to identify the distance between the bottom wall of the receiving cavity and the ground includes: The front end of the cleaning device is controlled to face the opening so that the distance between the bottom wall of the receiving cavity and the ground can be obtained using the sensor system located at the front end of the cleaning device.

4. The method according to claim 2, characterized in that, The step of using the sensor system of the cleaning equipment to identify the distance between the bottom wall of the receiving cavity and the ground includes: The rear end of the cleaning device is controlled to face the opening so that the distance between the bottom wall of the receiving cavity and the ground can be obtained using the sensor system located at the rear end of the cleaning device.

5. The method according to claim 1, characterized in that, The control of the cleaning device to enter the receiving cavity through the opening includes: The cleaning device is driven to rotate so that its rear end faces the opening; The cleaning device is controlled to enter the receiving cavity through the opening in a reverse manner.

6. The method according to claim 1, characterized in that, The control of the cleaning device to enter the receiving cavity through the opening includes: The cleaning device is driven to rotate so that the front end of the cleaning device faces the opening; The cleaning device is controlled to enter the receiving cavity through the opening in a forward manner.

7. The method according to claim 1, characterized in that, The cleaning device has a charging module at its rear end, and the receiving cavity has a discharge module on its inner wall relative to the opening. Controlling the cleaning device to enter the receiving cavity through the opening includes: Adjust the position of the cleaning device so that the charging module at the rear end of the cleaning device is directly opposite the discharge module in the receiving cavity; The cleaning device is controlled to enter the receiving cavity through the opening until the charging module docks with the discharging module.

8. The method according to claim 7, characterized in that, One of the cleaning device and the mobile device is provided with a signal receiving module, and the other is provided with a signal transmitting module. Adjusting the position of the cleaning device so that the charging module at the rear end of the cleaning device is aligned with the discharging module in the receiving cavity includes: Based on the signal received by the signal receiving module from the signal transmitting module, the position of the cleaning device is adjusted and the relative position of the cleaning device and the opening is determined. When the relative position between the cleaning device and the opening reaches a preset condition, the charging module at the rear end of the cleaning device is aligned with the discharge module in the receiving cavity.

9. The method according to claim 1, characterized in that, The cleaning device further includes a wet cleaning module, which is located at the bottom of the device body and has a first lifting position. Before controlling the cleaning device to enter the receiving cavity through the opening, the method further includes: Control the wet cleaning module to rise to the first raised position.

10. The method according to claim 1, characterized in that, The cleaning device further includes a dry cleaning module, which is located at the bottom of the device body and has a second lifting position. Before controlling the cleaning device to enter the receiving cavity through the opening, the method further includes: Control the dry cleaning module to rise to the second raised position.

11. A control device for a cleaning system, characterized in that, include: Memory, processor; The memory stores 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 1-10.

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