Cleaning device, control method thereof, product and storage medium

Abstract

The invention provides cleaning equipment, a control method thereof, a product and a storage medium, and relates to the technical field of cleaning equipment. The method comprises the steps that under the condition that a cleaning task is executed, cleaning strategies corresponding to different partitions in a to-be-cleaned area in a current working mode are determined based on the current working mode and a hot area map of the to-be-cleaned area; wherein the hot area map is used for representing the historical occurrence frequency of a target pet in different subareas of the to-be-cleaned area; and cleaning the subareas according to the cleaning strategies of different subareas in the to-be-cleaned area. According to the method, the cleaning equipment can be controlled to execute different cleaning strategies on different partitions, cleaning resources of the cleaning equipment are fully utilized, and the cleaning effect is improved.

Description

(19) State Intellectual Property Office (12) Invention Patent Application (10) Application Publication Number (43) Application Publication Date (21) Application Number 202511892803.7 (22) Application Date 2024.12.31 (62) Divisional Application Data 202412000532.1 2024.12.31 (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) Inventor: Li Rui (74) Patent Agency: Beijing Tongli Juncheng Intellectual Property Agency Co., Ltd. 11205 Patent Attorney: Chen Liya (51) Int.Cl. A47L 11 / 40 (2006.01) (54) Invention Title: Cleaning Equipment and Control Method, Product, and Storage Medium Thereof (57) Abstract: This application provides a cleaning equipment and its control method, product, and storage medium, relating to the field of cleaning equipment technology. The method includes: when performing a cleaning task, determining cleaning strategies corresponding to different zones in the area to be cleaned under the current working mode, based on the current working mode and a heat map of the area to be cleaned; wherein the heat map is used to characterize the historical frequency of occurrence of a target pet in different zones of the area to be cleaned; and cleaning the zones according to the cleaning strategies for the different zones in the area to be cleaned. The method of this application can control the cleaning equipment to execute different cleaning strategies for different zones, fully utilizing the cleaning resources of the cleaning equipment and improving the cleaning effect. Claims 2 pages, Description 17 pages, Drawings 4 pages, CN 121667581 A 2026.03.17 CN 1 21 66 75 81 A 1. A control method for a cleaning device, characterized in that the method includes: constructing a heat map of the target pet in the area to be cleaned based on historical location information of a target pet in different partitions of an area to be cleaned and at least one area defined by a user terminal in the area to be cleaned; prompting the user to update the user-defined heat map based on the heat map. 2. The method according to claim 1, characterized in that the method further includes: when performing a cleaning task, determining a cleaning strategy for different partitions in the area to be cleaned based on the heat map of the area to be cleaned; the heat map includes user-defined heat maps; cleaning the user-defined heat maps according to a preset cleaning strategy, and cleaning the partitions other than the user-defined heat maps according to the cleaning strategies for different partitions in the area to be cleaned. 3. The method according to claim 1, characterized in that the method further includes: constructing a heat map of the target pet in the area to be cleaned based on historical location information of the target pet in different partitions of the area to be cleaned;Alternatively, a heat map of the target pet within the cleaning area can be constructed based on at least one area defined by the user terminal in the cleaning area. 4. The method according to claim 1, wherein constructing the heat map of the target pet within the cleaning area based on the historical location information of the target pet in different partitions of the cleaning area includes: marking the historical location information of the target pet within the cleaning area as hotspots on a map containing the cleaning area to obtain a hotspot map of the target pet; rasterizing the hotspot map to obtain a hotspot partition map of the target pet; partitioning the grids in the hotspot partition map based on the number of hotspots within the grids to obtain the heat map of the target pet within the cleaning area. 5. The method according to claim 4, wherein partitioning the grids in the hotspot partition map based on the number of hotspots within the grids includes: marking grids belonging to the same preset partition number range as the same partition identifier based on the number of hotspots within the grids and a preset partition number range; or, marking grids belonging to the same preset partition number range as the same color identifier based on the number of hotspots within the grids and a preset partition number range. 6. The method according to claim 4, wherein partitioning the grid in the hotspot partitioning map based on the number of hotspots within the grid further includes: determining the number of partitions based on the habits of the target pet and the gear adjustment range of the cleaning equipment. 7. The method according to claim 4, wherein before partitioning the grid in the hotspot partitioning map based on the number of hotspots within the grid, the method further includes: if there are hotspots on the grid, merging the hotspots on the grid into the number of hotspots in the grid with the shortest distance from the hotspot. 8. The method according to claim 2, wherein the cleaning equipment includes at least one working mode, the working mode including multiple cleaning strategies; determining the cleaning strategy for different partitions in the area to be cleaned based on the heat map of the area to be cleaned includes: determining the cleaning strategy corresponding to different partitions in the area to be cleaned under the current working mode based on the current working mode and the heat map of the area to be cleaned; The working modes support mutual combination. 9. The method according to claim 8, characterized in that the method further comprises: controlling the cleaning device to individually execute any one of the working modes when performing the cleaning task; or controlling the cleaning device to sequentially execute multiple working modes; or controlling the cleaning device to alternately execute multiple working modes. 10. The method according to claim 8, characterized in that the working modes include a first mode, a second mode, and...The third mode; the first mode includes a single sweep mode, the second mode includes a single mop mode, and the third mode includes an edge-following mode; the method further includes: when performing the cleaning task, controlling the cleaning device to execute the single sweep mode, the single mop mode, or the edge-following mode individually; or controlling the cleaning device to execute the single sweep mode, the single mop mode, and the edge-following mode sequentially; or controlling the cleaning device to execute the single sweep mode, the single mop mode, and the edge-following mode alternately; or controlling the cleaning device to execute the edge-following mode first, and then alternately execute the single sweep mode and the single mop mode. Claims 2 / 2 Page 3 CN 121667581 A Cleaning device and its control method, product, and storage medium

[0001] This application is a divisional application. The application number of the original application is 202412000532.1, and the original application date is December 31, 2024. The entire contents of the original application are incorporated herein by reference. Technical Field

[0002] This application relates to the field of cleaning equipment technology, and more particularly to a cleaning device, its control method, product, and storage medium. Background Art

[0003] A cleaning device is a device that can automatically clean itself while in motion. Cleaning devices can, to a certain extent, replace manual cleaning, reducing labor intensity and achieving high cleaning efficiency.

[0004] In related technologies, cleaning devices can be configured with pet cleaning strategies, which increase the intensity of pet-related cleaning, such as strengthening vacuuming to better collect pet hair.

[0005] However, existing cleaning devices can only fully cover the area to be cleaned when executing pet cleaning strategies, failing to achieve a good cleaning effect. Summary of the Invention

[0006] Embodiments of this application provide a cleaning device, its control method, product, and storage medium to solve the problem that existing cleaning devices can only fully cover the area to be cleaned when executing pet cleaning strategies, failing to achieve a good cleaning effect.

[0007] In a first aspect, this application provides a control method for a cleaning device, comprising:

[0008] when performing a cleaning task, determining cleaning strategies for different zones in the area to be cleaned based on a heat map of the area to be cleaned; wherein the heat map is used to characterize the historical frequency of occurrence of a target pet in different zones of the area to be cleaned;

[0009] cleaning the zones according to the cleaning strategies for the different zones in the area to be cleaned.

[0010] By the above method, the area to be cleaned is divided into zones, especially the area where the target pet is active, thereby controlling the cleaning device to execute different cleaning strategies for different zones, making full use of the cleaning resources of the cleaning device, and improving the cleaning effect.

[0011] In one possible embodiment, the method further comprises:

[0012] Based on the historical location information of the target pet in different zones of the area to be cleaned, a heat map of the target pet in the area to be cleaned is constructed, thereby realizing the automatic construction of a heat map based on the actual hot spot location of the target pet and improving the cleaning effect;

[0013] Alternatively, based on at least one area defined by the user terminal in the area to be cleaned, a heat map of the target pet in the area to be cleaned is constructed, so that the user can construct a heat map based on their actual needs and improve the user experience;

[0014] Alternatively, based on the historical location information of the target pet in different zones of the area to be cleaned and at least one area defined by the user terminal in the area to be cleaned, a heat map of the target pet in the area to be cleaned is constructed, thereby combining the user's actual usage needs and the actual activity area of ​​the target pet to obtain a heat map that can simultaneously meet the user's needs and the cleaning effect, and improve the intelligence level of the device.

[0015] In one possible implementation, the step of constructing a heat map of the target pet within the cleaning area based on the historical location information of the target pet in different zones of the cleaning area includes:

[0016] Marking the historical location information of the target pet within the cleaning area as hotspots on a map containing the cleaning area to obtain a hotspot map of the target pet;

[0017] Rasterizing the hotspot map to obtain a hotspot zone map of the target pet;

[0018] Dividing the grid in the hotspot zone map into zones based on the number of hotspots in the grid to obtain a heat map of the target pet within the cleaning area.

[0019] Through the above method, the automatic construction process of the heat map is realized. The constructed heat map conforms to the actual activity level of the target pet in the cleaning area. This heat map is then used to indirectly divide the degree of dirt in the cleaning area, so that different cleaning strategies can be executed based on the zones of the heat map, achieving effective utilization of cleaning resources and improving cleaning results.

[0020] In one possible implementation, the step of partitioning the grid in the hotspot partition map based on the number of hotspots within the grid includes:

[0021] Marking grids belonging to the same preset partition number range as the same partition identifier, such as a numerical identifier, based on the number of hotspots within the grid and a preset partition number range, thereby facilitating guidance for cleaning equipment to execute different cleaning strategies in different partition identifiers;

[0022] Alternatively, marking grids belonging to the same preset partition number range as the same color identifier based on the number of hotspots within the grid and a preset partition number range, which can more intuitively show users the activity level of the target pet in different partitions and the possible degree of dirtiness corresponding to different partitions. The visualization effect of the color identifier can achieve a better user experience.

[0023] In one possible implementation, before partitioning the grid in the hotspot partitioning map based on the number of hotspots in the grid, the method further includes:

[0024] If there are hotspots on the grid, then the hotspots on the grid are merged into the number of hotspots in the grid with the shortest distance from the hotspot, thereby avoiding the hotspots that overlap the line from being discarded, increasing the available sampling amount of location identification data, thereby improving the identification accuracy, and thus improving the cleaning effect.

[0025] In one possible implementation, the historical location information of the target pet in different zones of the area to be cleaned includes:

[0026] Location information of the target pet in the area to be cleaned collected within a preset time period. Using the time period as the basic sampling collection cycle, it has universality and can be applied to any type of cleaning equipment;

[0027] Or, location information of the target pet in the area to be cleaned collected within a preset number of cleaning cycles, so that more sufficient target pet location data can be collected by the movement of the cleaning equipment, improving the recognition accuracy and thus improving the cleaning effect;

[0028] Or, location information of the target pet in the area to be cleaned collected during a preset event triggering period, so as to adapt to cleaning when the pet's activity area changes during special periods, thereby improving the cleaning effect.

[0029] In one possible implementation, the cleaning device is further provided with a detection device, which is used to acquire the location information of the target pet in a first area, the first area including the area to be cleaned; the historical location information of the target pet in different partitions of the area to be cleaned includes:

[0030] During the cleaning device's execution of cleaning tasks, patrol tasks and / or empty runs, based on the location information of the target pet acquired by the detection device in the first area, the historical location information of the target pet in different partitions of the area to be cleaned is determined.

[0031] This embodiment utilizes the detection device installed on the cleaning device itself to collect the location information of the target pet, which can collect information on easily obscured areas such as the bottom of furniture and locations where the target pet is likely to hide, achieving comprehensive coverage of the target pet's location in the area to be cleaned and improving the accuracy of heat map construction.

[0032] In one possible implementation, the cleaning device is further configured to acquire location information of the target pet collected by a third-party terminal in a second area, the second area including the area to be cleaned; the historical location information of the target pet in different partitions of the area to be cleaned includes:

[0033] Based on the location information of the target pet in the first area obtained from the third-party terminal and the location information of the target pet in the second area obtained by the detection device, determining that the target pet is in the area to be cleaned.Historical location information of different partitions; the second region includes at least part of the area to be cleaned other than the first region.

[0034] This embodiment uses a third-party terminal, such as a home camera, to collect the dynamic trajectory of the target pet throughout the house. Compared with the detection device on the cleaning device, it can also monitor the location information of the target pet when the cleaning device is not running, thereby increasing the sampling volume. The target pet location information collected by the two can more accurately reflect the actual pollution situation of the area to be cleaned, improve the accuracy of the heat map, and thus improve the accuracy of the cleaning strategy selection corresponding to the heat map, thereby improving the cleaning effect of the area to be cleaned.

[0035] In one possible implementation, the cleaning device is also used to obtain the location information of the target pet in the second region collected by the third-party terminal. The second region includes the area to be cleaned; the historical location information of the target pet in different partitions of the area to be cleaned includes:

[0036] Based on the location information of the target pet in the first region obtained from the third-party terminal, determine the historical location information of the target pet in different partitions of the area to be cleaned.

[0037] This embodiment is universal and can be applied to cleaning equipment without installed detection devices. It utilizes the Internet of Things (IoT) to achieve data sharing, obtains the location information of the target pet throughout the house, and can record the pet's coordinates in real time within an effective time range, thus achieving more comprehensive and effective cleaning of the area to be cleaned.

[0038] In one possible implementation, when the target pet includes multiple pets, the step of constructing a heat map of the target pet in the area to be cleaned based on the historical location information of the target pet in different partitions of the area to be cleaned includes:

[0039] Constructing heat maps corresponding to different target pets in the area to be cleaned based on the historical location information of different target pets in different partitions of the area to be cleaned.

[0040] By constructing corresponding heat maps for different target pets, different types of dirt generated by different target pets in the area to be cleaned can be distinguished, thereby enabling targeted cleaning and improving the cleaning effect.

[0041] In one possible implementation, the method further includes:

[0042] If multiple target pets have the same cleaning strategy, the different heat maps corresponding to the target pets with the same cleaning strategy in the area to be cleaned are merged to update the heat map.

[0043] This embodiment merges heat maps that can be merged based on the existing heat map corresponding to different target pets. This reduces the ineffective cleaning energy consumption caused by cleaning each heat map separately when there is overlap in the heat maps.

[0044] In one possible implementation, the cleaning device includes at least one working mode, which includes multiple cleaning strategies; the cleaning instructions for different zones in the area to be cleaned are determined based on the heat map of the area to be cleaned.Page 3 / 17, CN 121667581 A Cleaning strategy, including:

[0045] Based on the current working mode and the heat map of the area to be cleaned, determining the cleaning strategy corresponding to different zones in the area to be cleaned under the current working mode.

[0046] In the above manner, the cleaning equipment can adopt different cleaning strategies when passing through different zones without changing the working mode, thereby improving the cleaning effect by adjusting the cleaning strategy.

[0047] In one possible implementation, the cleaning device further includes a suction assembly for collecting dirt and a side brush assembly for dry cleaning; the suction assembly includes a vacuum motor;

[0048] The operating mode includes a first mode, the first mode supporting a first cleaning strategy and a second cleaning strategy;

[0049] The first cleaning strategy is configured such that the vacuum motor operates with a first suction power, the side brush assembly operates with a first rotation speed, and the cleaning device returns to the base station at a first frequency to clean the cleaning device;

[0050] The second cleaning strategy is configured such that the vacuum motor operates with a second suction power, the side brush assembly operates with a first rotation speed, and the cleaning device returns to the base station at a second frequency to clean the cleaning device; the second suction power is greater than the first suction power, and the second frequency is greater than the first frequency;

[0051] The area to be cleaned includes a first partition and a second partition, the target pet historical occurrence frequency corresponding to the first partition is less than the target pet historical occurrence frequency corresponding to the second partition; the first partition corresponds to the first cleaning strategy, and the second partition corresponds to the second cleaning strategy.

[0052] In this embodiment, under the single-sweep working mode, when switching to the zone where the target pet appears frequently, the suction power of the vacuum motor is increased to ensure that pet hair is cleaned. It is also suitable for cleaning large, hard-to-clean particles such as pet food and cat litter, and controls the cleaning equipment to increase the frequency of returning to the base station for cleaning, preventing hair and other special dirt from clogging the vacuum pipes and dustbin, thus meeting the high-frequency pet hair collection needs.

[0053] In one possible implementation, the suction component further includes a dustbin connected to the vacuum motor; the second cleaning strategy is further configured so that the vacuum motor sucks the dustbin to compress the hair inside.

[0054] Based on the above embodiments, this embodiment adds a compression function to the dustbin, thereby reducing the possibility of pet hair clogging, and also allowing the dustbin to hold more hair, reducing the frequency of returning to the base station for cleaning the dustbin, saving cleaning time, and improving cleaning efficiency.

[0055] In one possible implementation, the method further includes:

[0056] when the seasonal information of the cleaning device is a preset season, determining different cleaning strategies corresponding to the hair type of the target pet.

[0057] In one possible implementation, the first mode further supports a third cleaning strategy and a fourth cleaning strategy; the step of determining different cleaning strategies corresponding to the hair type based on the hair type obtained from the user terminal includes:

[0058] When the hair type is medium hair, the hair type corresponds to the first cleaning strategy;

[0059] When the hair type is long hair, the hair type corresponds to the third cleaning strategy; the third cleaning strategy is configured such that the side brush assembly operates at a second rotation speed, and the vacuum motor operates at a first suction power; the second rotation speed is less than the first rotation speed;

[0060] When the hair type is short hair, the hair type corresponds to the fourth cleaning strategy; the fourth cleaning strategy is configured such that the side brush assembly operates at a third rotation speed, and the vacuum motor operates at a first suction power; the third rotation speed is greater than the first rotation speed.

[0061] This embodiment configures targeted cleaning strategies for different target pets with different hair lengths, improves the cleaning effect of the cleaning equipment on hair of different lengths, and reduces the adverse effects of hair length on the cleaning process of the cleaning equipment itself, thereby improving cleaning efficiency.

[0062] In one possible implementation, the cleaning device further includes a side brush assembly for dry cleaning and a wet cleaning assembly for wet cleaning;

[0063] The operating mode includes a second mode, the second mode supporting a fifth cleaning strategy and a sixth cleaning strategy;

[0064] The fifth cleaning strategy is configured such that the wet cleaning assembly operates with a first water volume, the side brush assembly operates with a first rotation speed, and the cleaning device returns to the base station at a first frequency to clean the cleaning device;

[0065] The sixth cleaning strategy is configured such that the wet cleaning assembly operates with a second water volume, and the cleaning device returns to the base station at a third frequency to clean the cleaning device; the second water volume is less than the first water volume, and the third frequency is determined based on the cleaning task completion time of the current partition;

[0066] The area to be cleaned includes a first partition and a second partition, the target pet historical occurrence frequency corresponding to the first partition is less than the target pet historical occurrence frequency corresponding to the second partition; the first partition corresponds to the fifth cleaning strategy, and the second partition corresponds to the sixth cleaning strategy.

[0067] In this embodiment, under the single-mop working mode, when switching to the zone where the target pet appears most frequently, the amount of water used for wet cleaning is reduced to minimize the adverse effects of damp surfaces on the target pet. The cleaning equipment is also controlled to return to the base station for cleaning according to the zone cleaning frequency, performing a backwash immediately after cleaning each zone, increasing the mop cleaning frequency, reducing cross-contamination of pet dirt, and improving the cleaning effect of the cleaning equipment.

[0068] In one possible implementation, the cleaning equipment is also provided with a cleaning liquid for containing the cleaning agent.The cleaning solution box is connected to the wet cleaning component; the sixth cleaning strategy is also configured to open the cleaning solution box to add cleaning agent to the wet cleaning component.

[0069] Based on the above embodiments, this embodiment adds a pet-specific cleaning agent for cleaning the pet activity area, which helps to achieve the deodorization function of the area to be cleaned and improve the cleaning effect.

[0070] In one possible implementation, the sixth cleaning strategy further includes a first sub-cleaning strategy and a second sub-cleaning strategy;

[0071] The amount of cleaning agent added in the first sub-cleaning strategy is less than the amount of cleaning agent added in the second sub-cleaning strategy;

[0072] The second partition includes a first sub-partition and a second sub-partition, the target pet historical occurrence frequency corresponding to the first sub-partition is less than the target pet historical occurrence frequency corresponding to the second sub-partition; the first sub-partition corresponds to the first sub-cleaning strategy, and the second partition corresponds to the second sub-cleaning strategy.

[0073] The cleaning strategy configuration of this embodiment can achieve different cleaning intensities based on the activity level of the target pet determined by the heat map when a target pet is present. That is, the cleaning intensity is high in the area where the pet is active, and low in the area where the pet is inactive but passes through, so that cleaning resources can be used rationally, saving cleaning resources while improving cleaning effect.

[0074] In one possible implementation, the cleaning device is also connected to a base station, and the base station includes a sterilization device; the sixth cleaning strategy is further configured to have the cleaning device return to the base station and send a sterilization command to the base station, so that the base station sterilizes the wet cleaning component.

[0075] In one possible implementation, the sixth cleaning strategy further includes a third sub-cleaning strategy and a fourth sub-cleaning strategy;

[0076] The sterilization time in the third sub-cleaning strategy is less than the sterilization time in the fourth sub-cleaning strategy; Specification 5 / 17 page 8 CN 121667581 A

[0077] The second partition includes a first sub-partition and a second sub-partition, the target pet historical occurrence frequency corresponding to the first sub-partition is less than the target pet historical occurrence frequency corresponding to the second sub-partition; the first sub-partition corresponds to the third sub-cleaning strategy, and the second partition corresponds to the fourth sub-cleaning strategy.

[0078] The cleaning strategy configuration of this embodiment is set based on the base station, and the cleaning device triggers the base station to execute a cleaning method suitable for pet cleaning conditions, thereby improving the cleaning effect.

[0079] In one possible implementation, the cleaning device further includes a suction component for collecting dirt and a side brush component for dry cleaning; the suction component includes a vacuum motor;

[0080] The working mode includes a third mode, the third mode supports a seventh cleaning strategy and an eighth cleaning strategy;

[0081] The seventh cleaning strategy is configured such that the cleaning device travels along the edge of the obstacle, and the vacuum motor operates with a first suction power;

[0082] The eighth cleaning strategy is configured such that the cleaning device travels along the edge at a preset distance from the target obstacle, and the vacuum motor operates with a third suction power; the third suction power is greater than the first suction power;

[0083] The obstacle corresponds to the seventh cleaning strategy, and the target obstacle corresponds to the eighth cleaning strategy; the target obstacle is an obstacle related to pet supplies within the area to be cleaned.

[0084] This embodiment limits the edge cleaning working mode of the cleaning device. When it comes to edge cleaning related to pet supplies, since this area is usually heavily soiled and will quickly be restored to a dirty state by the pet, it is difficult to clean thoroughly. Therefore, this area is usually enlarged, that is, the edge distance is enlarged to reduce secondary pollution to other areas and improve the overall cleaning efficiency and cleaning effect of the whole house.

[0085] In one possible embodiment, when the pet supplies are pet pee pads, the method further includes:

[0086] controlling the cleaning device to perform obstacle avoidance processing on the pet pee pads.

[0087] This embodiment specifically defines pet pee pads among pet supplies. Obstacle avoidance processing can reduce the possibility of the cleaning device being contaminated, and also reduce the secondary contamination of other areas to be cleaned by the cleaning device after it is contaminated, thus reducing the workload and difficulty of the cleaning task and indirectly improving the cleaning efficiency.

[0088] In a second aspect, this application provides a cleaning device, including: a body and an electronic device, the electronic device including at least one processor and a memory connected to the processor, the processor being used to execute the above-described control method of the cleaning device.

[0089] In a third aspect, this application provides an electronic device, including: a processor and a memory communicatively connected to the processor;

[0090] the memory stores computer execution instructions;

[0091] the processor executes the computer execution instructions stored in the memory to implement the above-described control method of the cleaning device.

[0092] In a fourth aspect, this application provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, are used to implement the control method of the cleaning equipment described above.

[0093] In a fifth aspect, this application provides a computer program product, including a computer program, which, when executed by a processor, implements the control method of the cleaning equipment described above.

[0094] The cleaning equipment, control method, product, and storage medium provided by this application, by determining cleaning strategies for different zones in the area to be cleaned based on a heat map of the area to be cleaned when performing a cleaning task, according to page 6 / 17 of the specification, 9 CN 121667581 AThe cleaning strategy for different zones in the area to be cleaned cleans the zones. Compared with the deficiencies of the prior art, this application performs zone cleaning based on heat map, making full use of the cleaning resources of the cleaning equipment, improving the cleaning effect, and enhancing user satisfaction. Brief Description of the Drawings

[0095] 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.

[0096] Figure 1 is a schematic diagram of an application scenario of the control method for cleaning equipment provided in an embodiment of this application;

[0097] Figure 2 is a schematic flowchart of the control method for cleaning equipment provided in an embodiment of this application;

[0098] Figure 3 is a schematic diagram of a map displayed on a user terminal and the user's zoned state;

[0099] Figure 4 is a schematic flowchart of the control method for constructing a heat map provided in an embodiment of this application;

[0100] Figure 5 is a map containing a heat map displayed on a user terminal;

[0101] Figure 6 is a schematic diagram of the combination of hotspots and grids provided in an embodiment of this application;

[0102] Figure 7 is a schematic diagram of the hardware structure of an electronic device provided in an embodiment of this application.

[0103] 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

[0104] 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.

[0105] The cleaning equipment mainly relies on the movement of the machine body during the cleaning process to carry the cleaning components disposed on the machine body to the area to be cleaned, thereby cleaning the area to be cleaned.

[0106] The machine body can be circular, square, or other shapes, such as an irregular shape formed by combining parts of a circle and parts of a square. The machine body can rotate during the movement, and the center point around which the rotation is around can be a center point selected from the machine body. For example, when the body is circular, the center point may include the center of the circle; when the body is square, the center point may include the center of the square; and when the body has two drive wheels, the center point may include the center point of the line connecting the two drive wheels or the center point of the line connecting the rotation centers of the two drive wheels.

[0107] The cleaning assembly may include at least one cleaning assembly such as a side brush assembly, a roller brush assembly (also known as a floor brush assembly), and a mop tray assembly (also known as a mop tray assembly). The side brush assembly, roller brush assembly, and / or mop tray assembly achieve cleaning by rotation.Cleaning of dirt on the cleaning surface.

[0108] It should be understood that the different rotation speeds of the side brush assembly, roller brush assembly, and / or mop disc assembly result in different cleaning abilities for dirt on the surface to be cleaned. Generally speaking, the higher the rotation speed, the stronger the corresponding cleaning ability. However, for long strips of dirt on the surface to be cleaned, the higher the rotation speed, the greater the risk of the cleaning components becoming entangled in dirt and causing downtime.

[0109] In some embodiments, all of the above-mentioned cleaning components of the cleaning device can be configured to be able to swing.

[0110] Alternatively, some cleaning components of the cleaning device can be configured to be able to swing, while other cleaning components can be configured to be unable to swing, thereby reducing the structural complexity of the cleaning device and lowering manufacturing costs. Instruction manual, page 7 / 17, 10 CN 121667581 A

[0111] For example, taking a straight line passing through the center point of the cleaning device and parallel to the front-to-back travel direction of the machine body as the center line, the cleaning device is divided into left and right sides. When there are two cleaning components, and the two cleaning components are symmetrically arranged on the left and right sides of the cleaning device, the two cleaning devices can be configured to both realize the swing function or at least one can realize the swing function. Under the condition that both cleaning components are configured to be able to swing, the two cleaning components can swing in the same direction, so that the two cleaning components can be closely connected during the swing process, avoiding gaps and thus avoiding omissions during cleaning. Alternatively, the cleaning component located on the right side of the center line can be configured to be able to swing, and the cleaning component located on the left side of the center line can be configured not to swing, so that the cleaning component on the right side can perform edge cleaning.

[0112] The cleaning component may also include a suction component, which may include a vacuum motor and a dust collection box. The cleaning component is provided with a suction port, which is connected to the dust collection box. The vacuum motor can suck the dirt near the suction port into the dust collection box under electric drive.

[0113] It should be understood that the greater the suction power of the vacuum motor, the stronger the cleaning ability of the dirt on the surface to be cleaned, but it will also consume more energy.

[0114] For autonomous mobile cleaning equipment, its own cleaning is also necessary. Therefore, a base station matching the cleaning equipment can also be set up. The base station is used to clean the cleaning equipment, including but not limited to cleaning the side brush assembly, roller brush assembly and / or mop tray assembly of the cleaning equipment, as well as the dust collection box, and powering the cleaning equipment.

[0115] The cleaning equipment provided in this application includes, but is not limited to: sweeping robot, floor washing robot, robot that integrates sweeping and mopping, cleaning robot, etc.

[0116] This cleaning device can perform cleaning by sweeping before mopping or by separating sweeping and mopping. The separated sweeping and mopping method includes sweeping only, mopping only, or alternating sweeping and mopping.

[0117] For example, the sweeping-and-mopping method can sweep and mop simultaneously, improving cleaning efficiency. The sweeping-and-mopping separation method allows sweeping first, followed by mopping, which also improves cleaning effectiveness.

[0118] It should be understood that the cleaning equipment provided in this application can be an autonomous robot. The working area includes the area to be cleaned that can be covered by the autonomous robot. The autonomous robot can move autonomously within the working area and complete the cleaning task of the area to be cleaned without external human input or control.

[0119] The working area can include indoor and / or outdoor areas. The indoor area can include family rooms, offices, shopping malls, factory workshops, etc. The outdoor area can include squares, roads, etc. The cleaning task can include washing, mopping, sweeping, etc.

[0120] Existing cleaning equipment can be set with a pet cleaning strategy, which increases the intensity of pet-related cleaning, such as increasing vacuuming intensity to better collect pet hair. However, existing cleaning equipment can only fully cover the area to be cleaned when executing pet cleaning strategies. For example, after a pet cleaning strategy is triggered manually or automatically, the cleaning equipment will clean all the areas it has passed through using that pet cleaning strategy. This does not achieve a good cleaning effect for areas where the pet is not located.

[0121] Based on the above technical problems, the inventive concept of this application is to divide the area to be cleaned into small areas with different activity levels based on historical pet location information, so as to perform different levels of cleaning tasks on the small areas according to the pet's activity level, aiming to solve the above-mentioned technical problems of the prior art.

[0122] The specific application scenarios of this application are as follows:

[0123] Figure 1 is a schematic diagram of the application scenario of the control method of the cleaning equipment provided in the embodiment of this application. As shown in Figure 1, in the home environment 10, there is a pet 20 and a self-moving cleaning equipment 30. Instruction manual, page 8 / 17, 11 CN 121667581 A

[0124] In one possible embodiment, the pet 20 prefers to move around in both living room C and bedroom B. Therefore, the cleaning strategy implemented by the cleaning device 30 in living room C and bedroom B should be different from the cleaning strategies in bedroom A, kitchen D, and bathroom E, thereby improving the cleaning effect.

[0125] Furthermore, the route that the pet 20 frequently travels in bedroom B is only from the door of bedroom B to the bed in bedroom B. Therefore, the cleaning strategy in this area frequently traveled by the pet 20 is different from that in other areas, thereby improving the cleaning effect.

[0126] The cleaning device executes different cleaning strategies through a processor. The processor is used to control the operation of the cleaning device and respond to user operations through a software control program.

[0127] For example, the processor may include one or more circuits or chips with control functions.

[0128] The software control program can be stored on the storage component, and the processor and storage component can be located inside the cleaning device.

[0129] Optionally, the storage component can be integrated with the processor, or they can be two independent components.

[0130] The storage component is used to store data; for example, various software control programs, some modes, strategies and / or parameters of the cleaning device, etc. Specifically, the program can include program code, which includes computer operation instructions.

[0131] The execution subject of the embodiments of this application can be the processor in the cleaning device, or it can be the server corresponding to the cleaning device. The server is located in the cloud, connected to the cleaning device through the network, and issues control instructions to the cleaning device, or forwards the control instructions sent by the user through the terminal device to the cleaning device, etc.

[0132] The following uses the processor in the cleaning device as the execution subject as an example to specifically illustrate the technical solution of this application and how the technical solution of this application solves the above-mentioned technical problems. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of this application will be described below with reference to the accompanying drawings.

[0133] Figure 2 is a schematic flowchart of the control method for the cleaning equipment provided in this application embodiment. As shown in Figure 2, the method includes:

[0134] S21. When performing a cleaning task, based on the heat map of the area to be cleaned, determine the cleaning strategy for different zones in the area to be cleaned.

[0135] Wherein, the heat map is used to characterize the historical frequency of the target pet in different zones of the area to be cleaned.

[0136] For example, the heat map can be constructed based on the historical location information of the target pet in different zones of the area to be cleaned, or it can be based on user-defined information, or it can be a combination of the historical location information of the target pet and the user's definition.

[0137] For example, the cleaning equipment is connected to a user terminal. Based on the user's understanding of the target pet's movement trajectory, or based on the user's requirements for the cleanliness of the environment the pet passes through, the user terminal delineates a closed area on the map of the cleaning equipment and sets the pet cleaning strategy corresponding to the closed area. The cleaning strategy of this closed area will be different from that of other undelineated areas. The two areas can jointly constitute a heat map to guide the cleaning equipment to use the corresponding cleaning strategy in different zones.

[0138] For example, the cleaning equipment has already constructed a heat map based on the historical location information of the target pet. This heat map can be sent to the user terminal. Based on the heat map and the user's requirements for the cleanliness of the areas the pet passes through, the user terminal can adjust the strategy of some or all zones on the heat map, or adjust the strategy of some zones.The process involves merging or partially deleting areas to obtain a new heat map, which guides the cleaning equipment to use the corresponding cleaning strategy in different zones after the update. Figure 3 shows a map displayed on a user terminal and a schematic diagram of the user's zone division status. Referring to Figure 3, the user can mark any area on the map as a zone so that the cleaning equipment can execute the user-set cleaning strategy within the zone.

[0139] It should be understood that the user-defined heat zones are permanently located on the map used for daily cleaning, and the automatically identified heat zones only exist in one analysis record generated each time. When there are user-defined heat zones on the map, after automatically identifying and constructing new heat zones by historical location information, the user can be advised to update the map heat zones based on the new heat zones through message push, but the user-defined heat zones will not be automatically replaced to ensure that the user's subjective settings are not affected and to improve the user experience.

[0140] S22, Clean the zone according to the cleaning strategy of different zones in the area to be cleaned.

[0141] The above heat map includes at least two partitions, such as a general cleaning partition and a pet cleaning partition. The cleaning equipment is controlled to execute general cleaning strategies for the general cleaning partition, while pet cleaning strategies are executed for the pet cleaning partition, such as increasing suction power and minimizing the use of wet cleaning.

[0142] The general cleaning partition and the pet cleaning partition may each contain multiple sub-partitions. The cleaning strategies within the same sub-partition are the same, while different cleaning strategies are set for different sub-partitions if the degree of dirt is different.

[0143] It should be understood that the cleaning strategies corresponding to partitions and sub-partitions can be hierarchical, meaning that the cleaning strategy of a sub-partition under the same partition is a further refinement of the cleaning strategy of that partition; the cleaning strategies corresponding to partitions and sub-partitions can also be parallel, meaning that the cleaning strategy of a sub-partition under one partition can be the same as the cleaning strategy of another partition. When specifically executing a cleaning strategy, the cleaning equipment can pre-specify whether to execute the cleaning strategy of the partition or the cleaning strategy of the sub-partition, or to execute both the partition and the sub-partition cleaning strategies simultaneously.

[0144] The method provided in this embodiment, by dividing the area to be cleaned into zones, especially defining the areas where the target pet is active, can control the cleaning equipment to execute different cleaning strategies for different zones, making full use of the cleaning equipment's cleaning resources and improving the cleaning effect.

[0145] Based on the above embodiment, a control method for constructing a heat map of the area to be cleaned based on the historical location information of the target pet in different zones of the area to be cleaned will be described in detail.

[0146] Figure 4 is a schematic flowchart of the control method for constructing a heat map provided in this application embodiment. As shown in Figure 4, the method includes:

[0147] S41. The historical location information of the target pet in the area to be cleaned is used as a hotspot and marked on a map containing the area to be cleaned to obtain a hotspot map of the target pet.

[0148] The historical location information of the target pet in the area to be cleaned can be obtained by the cleaning device itself or by the cleaning device through information collected by a third-party IoT terminal device.

[0149] For example, the cleaning device is equipped with a detection device, which can be one or more of an infrared sensor, an optical flow sensor, an ultrasonic sensor, a laser sensor, or a camera. The detection device is used to obtain the location information of the target pet in a first area, which includes the area to be cleaned; the cleaning device determines the historical location information of the target pet in different partitions of the area to be cleaned based on the location information of the target pet in the first area obtained by the detection device.

[0150] For another example, the cleaning device can also obtain the location information of the target pet in a second area collected by a third-party terminal, which includes the area to be cleaned; the acquisition method can be to obtain it from the cloud or a server using the communication module of the cleaning device, and the communication module can be a Bluetooth module, a WiFi module, etc. The cleaning device determines the historical location information of the target pet in different sections of the area to be cleaned based on the location information of the target pet in the first area. (Instruction manual, pages 10 / 17, 13 CN 121667581 A)

[0151] For example, the cleaning device is equipped with a detection device. Based on the location information of the target pet in the first area obtained by a third-party terminal and the location information of the target pet in the second area obtained by the detection device, the cleaning device determines the historical location information of the target pet in different sections of the area to be cleaned; the second area includes at least a portion of the area to be cleaned other than the first area.

[0152] The time period for the historical location information can be within a preset duration. For example, the location information collected within a week of the cumulative working time of the cleaning device; or, starting from the activation of the pet cleaning strategy by the cleaning device, the location information collected every two weeks; or, for example, the location information collected within a user-preset time period.

[0153] The time period for the historical location information can also be within a preset number of cleaning cycles. For example, each time the cleaning equipment performs a whole-house cleaning task, it is counted as one time. After the cumulative number of whole-house cleaning tasks reaches the preset number of cleaning tasks, all collected location information is statistically analyzed.

[0154] The time period for selecting historical location information can also be during the period triggered by a preset event. Among them, the preset event is a special event period predefined by the user. For example, the preset event is defined as the period when a stranger visits. The preset event can be triggered by interactive control methods, or by recognizing a stranger. The cleaning equipment is based on the preset event.The device is triggered to begin acquiring the location information of the target pet within the area to be cleaned.

[0155] When the cleaning device uses the detection device to collect the location information of the target pet within the area to be cleaned, it can be during the cleaning process, during the patrol process, or during the idle process.

[0156] S42. The hotspot map is rasterized to obtain a hotspot partition map of the target pet.

[0157] Specifically, the hotspot partition map is a map with historical location information superimposed and rasterized. The map contains both raster lines and hotspots.

[0158] S43. Based on the number of hotspots in the raster, the raster in the hotspot partition map is partitioned to obtain a heat map of the target pet within the area to be cleaned.

[0159] For example, the same partition can be a region composed of rasteres with the same number of hotspots. For example, rasteres with a number of 1 hotspot are merged into one partition; the same partition can also be a region composed of rasteres with the same range of hotspots. For example, rasteres with a number of 3-5 hotspots are merged into one partition.

[0160] In some embodiments, the number of zones can be determined based on the habits of the target pet and the adjustment range of the cleaning device. For example, after counting the number of hotspots in a single grid, they are sorted from largest to smallest. If the cleaning device has five settings, five thresholds are preset to cover all hotspot numbers. The five thresholds, from largest to smallest, are the first threshold, the second threshold, the third threshold, the fourth threshold, and the fifth threshold. Their partitioning rules are as follows:

[0161] If the number of hotspots in a grid is greater than or equal to the first threshold, then the grid is classified as the first hot zone;

[0162] If the number of hotspots in a grid is greater than or equal to the second threshold and less than the first threshold, then the grid is classified as the second hot zone;

[0163] If the number of hotspots in a grid is greater than or equal to the third threshold and less than the second threshold, then the grid is classified as the third hot zone;

[0164] If the number of hotspots in a grid is greater than or equal to the fourth threshold and less than the third threshold, then the grid is classified as the fourth hot zone;

[0165] If the number of hotspots in a grid is greater than or equal to the fifth threshold and less than the fourth threshold, then the grid is classified as the fifth hot zone; Specification 11 / 17 pages 14 CN 121667581 A

[0166] If the number of hotspots in a grid is less than the fifth threshold, or there are no hotspots at all, or the grid cannot be divided into any of the aforementioned hot zones, then the grid is discarded.

[0167] It should be understood that the grid division size is not further limited here; it can be a preset size, such as 1m * 1m; or it can be a size adjusted by the user, such as 2m * 2m; the corresponding hot zone can be a stack of squares after grid merging.The irregular area can be a regular area formed by expanding outward from an irregular area formed by stacking squares after grid merging, such as a circle, square, or blurred shape. It can also be a single room area formed by expanding outward from an irregular area formed by stacking squares after grid merging, so as to facilitate the path planning of cleaning equipment.

[0168] The heat map can be displayed to the user on a map through a user terminal. Figure 5 is a map containing a heat map displayed on a user terminal. Referring to Figure 5, the darker the color of the area, the higher the frequency of the target pet passing through, and vice versa, the less the target pet stays.

[0169] Of course, there are many ways to display the heat map, including but not limited to identification and color differentiation. For example:

[0170] In some embodiments, based on the number of hot spots in the grid and the preset number of partitions, grids belonging to the same preset number of partitions are marked as the same partition identifier.

[0171] In some other embodiments, based on the number of hotspots within the grid and the preset range of partition numbers, grids belonging to the same preset range of partition numbers are marked with the same color identifier. Generally speaking, the more hotspots there are, the darker and more conspicuous the identifier color is, for example, red; the fewer hotspots there are, the lighter the identifier color is, for example, light yellow.

[0172] Since the rasterization of the map and the marking of hotspots are two independent processing processes, during the partitioning process based on the number of hotspots within the grid, it is very likely that the marked hotspot position will coincide with the grid boundary line. In this case, the hotspots on the grid can be merged into the number of hotspots in the grid with the shortest distance from the hotspot.

[0173] For example, Figure 6 is a schematic diagram of the combination of hotspots and grids provided in the embodiments of this application. Referring to Figure 6, hotspot A is located on the grid line. The distance from hotspot A to grid B on the left side of the grid line is less than the distance to grid C on the right side of the grid line. Therefore, hotspot A is determined to belong to the number of hotspots in grid B.

[0174] Optionally, in multi-pet scenarios, since the activity trajectories of different pets differ, and the degree and type of dirt caused by different pets are different, targeted cleaning is required to achieve a better cleaning effect. Therefore, multiple target pets can be set, and heat maps corresponding to different target pets in different zones of the area to be cleaned can be constructed based on the historical location information of different target pets in different zones of the area to be cleaned. This allows for the execution of different cleaning strategies for different pets, further improving the cleaning effect.

[0175] For example, if a short-haired cat D, a long-haired cat E, and a dog F are present in the same home environment, and the types of dirt they produce are different, when processing the collected image data, a recognition algorithm can be used to identify the three, and corresponding heat maps D, E, and F can be constructed based on the short-haired cat D, the long-haired cat E, and the dog F, respectively, so as to set targeted cleaning strategies accordingly.

[0176] In some embodiments, if multiple target pets have the same cleaning strategy, the different heat maps corresponding to the target pets with the same cleaning strategy in the area to be cleaned are merged to update the heat map. This update can make the same area only need to be cleaned once, reducing invalid repetitive cleaning tasks, and can also connect areas with the same cleaning strategy that are interrupted by different pets, facilitating the continuous movement of the cleaning equipment and improving cleaning efficiency.

[0177] Multiple pets may have the same type of dirt. For example, two cats of the same breed, D and G, produce the same type of dirt, the only difference being that their activity areas are different. The detection device or third-party terminal device will identify them as two different target pets and then construct two heat maps, such as heat map D and heat map G. Obviously, during the cleaning process of the cleaning equipment cleaning in sequence according to heat map D and heat map G, if there is an overlap between heat map D and heat map G, the cleaning equipment will clean the overlapping part twice. At this time, the overlapping areas of the two pets' activities can be merged and cleaned by merging heat maps, so that the cleaning device can complete the cleaning task of the area to be cleaned in one go, reducing cleaning energy consumption.

[0178] The cleaning strategy executed by the cleaning device of this application based on heat map will be described in detail below with reference to several specific embodiments.

[0179] The cleaning device determines the cleaning strategy corresponding to different partitions in the area to be cleaned under the current working mode based on the current working mode and the heat map of the area to be cleaned. The cleaning device includes at least one working mode, and the working mode includes multiple cleaning strategies.

[0180] For example, the working mode includes a first mode, a second mode and a third mode. Among them, the first mode supports the first cleaning strategy and the second cleaning strategy, the third cleaning strategy and the fourth cleaning strategy; the second mode supports the fifth cleaning strategy and the sixth cleaning strategy; the third mode supports the seventh cleaning strategy and the eighth cleaning strategy.

[0181] Each cleaning strategy is executed in each working mode. The cleaning strategies cannot be combined with each other, but the working modes can be combined with each other.

[0182] For example, the first mode is a single sweep mode, the second mode is a single mop mode, and the third mode is an edge-following mode. When performing a cleaning task, in addition to executing any single working mode, the cleaning device can be controlled to execute the first mode, the second mode, and the third mode sequentially. Alternatively, the first mode and the second mode can be executed alternately within a certain time period. Furthermore, the third mode can be executed first, followed by alternating execution of the first and second modes, among other implementation methods, which will not be listed here.

[0183] Specifically, the area to be cleaned includes a first partition and a second partition. The historical occurrence frequency of the target pet corresponding to the first partition is less than the historical occurrence frequency of the target pet corresponding to the second partition.

[0184] In the first mode, the first partition corresponds to the first cleaning strategy, and the second partition corresponds to the second cleaning strategy.

[0185] The first cleaning strategy is configured such that the vacuum motor operates with a first suction power, the side brush assembly operates with a first rotation speed, and the cleaning device returns to the base station at a first frequency to clean itself.

[0186] The second cleaning strategy is configured such that the vacuum motor operates with a second suction power, the side brush assembly operates with a first rotation speed, and the cleaning device returns to the base station at a second frequency to clean itself; the second suction power is greater than the first suction power, and the second frequency is greater than the first frequency.

[0187] For example, in the single-sweep mode, the cleaning device performs a single-sweep mode in different partitions, but the specific cleaning strategies in different partitions are different. In the partition where pets appear frequently, the suction power needs to be increased to increase the suction intensity of pet hair, pet food, cat litter, and other dirt, and the cleaning frequency of returning to the base station can be increased to avoid excessive hair collection that could clog the suction pipe or dust box, thus meeting the high-frequency pet hair collection needs.

[0188] Optionally, the suction assembly further includes a dust collection box connected to the suction motor; the second cleaning strategy is further configured such that the suction motor sucks the dust collection box to compress the hair inside, thereby reducing the possibility of pet hair clogging the dust collection box, improving the cleaning effect, reducing the frequency of the cleaning device returning to the base station to clean the dust collection box, and improving cleaning efficiency.

[0189] In some embodiments, since most pets shed, and the shedding period is usually related to the season, and hair cleaning is only applicable to dry cleaning mode, when the seasonal information of the cleaning device is a preset season, different cleaning strategies corresponding to the hair type of the target pet are determined, thereby better meeting the actual cleaning needs in the home environment and improving the cleaning effect.

[0190] For example, when the hair type is medium-haired, the hair type corresponds to the first cleaning strategy;

[0191] When the hair type is long-haired, the hair type corresponds to the third cleaning strategy; the third cleaning strategy is configured such that the side brush assembly operates at a second speed and the vacuum motor operates at a first suction power; the second speed is less than the first speed; Specification 13 / 17 pages 16 CN 121667581 A

[0192] When the hair type is short-haired, the hair type corresponds to the fourth cleaning strategy; the fourth cleaning strategy is configured such that the side brush assembly operates at a third speed and the vacuum motor operates at a first suction power; the third speed is greater than the first speed.

[0193] For example, for pet types such as cats and dogs, shedding is most severe in spring and autumn. By obtaining seasonal information about the area where the robot vacuum is located, and making predictions based on the seasonal information, the robot vacuum can push the user to select the pet's hair type, so that when performing cleaning tasks, it can operate according to the corresponding cleaning strategy:

[0194] For long hair, the vacuum motor will use strong suction, and the side brush assembly will rotate at a reduced speed;

[0195] For medium-long hair, the vacuum motor will use strong suction, and the side brush assembly will rotate;

[0196] For short hair, the vacuum motor will use super-strong suction, and the side brush assembly will rotate.

[0197] In the second mode, the first zone corresponds to the fifth cleaning strategy, and the second zone corresponds to the sixth cleaning strategy.

[0198] Wherein, the fifth cleaning strategy is configured such that the wet cleaning component operates with a first water volume, the side brush assembly operates with a first rotation speed, and the cleaning device returns to the base station at a first frequency to clean the cleaning device.

[0199] The sixth cleaning strategy is configured such that the wet cleaning component operates with a second water volume, and the cleaning device returns to the base station at a third frequency to clean the cleaning device; the second water volume is less than the first water volume, and the third frequency is determined based on the cleaning task completion time of the current zone.

[0200] For example, in the single-mop working mode, the cleaning device performs the single-mop working mode in different zones, but the specific cleaning strategy in different zones is different. In the zone where pets appear frequently, the mop is used with low water content to prevent pet skin diseases caused by damp floors.

[0201] Since the dirt in the pet activity area is different from that in the ordinary home environment, in order to improve the cleaning effect and better meet the health needs of pets, pet cleaner can also be used in the wet cleaning process to help deodorize pets. In some embodiments, if the cleaning device is also provided with a cleaning liquid box for holding the cleaner, and the cleaning liquid box is connected to the wet cleaning component, then the sixth cleaning strategy is also configured to open the cleaning liquid box to add cleaner to the wet cleaning component.

[0202] In other embodiments, if the cleaning device is also connected to a base station, and the base station includes a sterilization device, then the sixth cleaning strategy is also configured to have the cleaning device return to the base station and send a sterilization command to the base station so that the base station sterilizes the wet cleaning component.

[0203] The frequency of returning to the base station can be executed according to the partitions of the heat map. That is, after completing the cleaning task of each partition, the system returns to the base station for cleaning once to increase the cleaning frequency and reduce cross-contamination of dirt in different areas.

[0204] It should be understood that when a base station equipped with a sterilization device performs routine cleaning tasks in non-pet areas, the sterilization device can be turned on or off. From an energy-saving perspective, it is usually not turned on. However, the cleaning requirements for pet areas are higher, so the heat map can be used to partition the areas to determine whether to turn it on or off, thereby improving the cleaning effect.

[0205] Based on the heat map, it can be determined that the intensity of the pet cleaning strategy can be further subdivided according to the frequency of appearance of the target pet in the area where the pet cleaning strategy is implemented. Taking the second partition as the area where pets appear as an example, this second partition includesThe first sub-partition and the second sub-partition are included, wherein the target pet's historical occurrence frequency corresponding to the first sub-partition is less than that corresponding to the second sub-partition; the sixth cleaning strategy also includes a first sub-cleaning strategy, a second sub-cleaning strategy, a third sub-cleaning strategy, and a fourth sub-cleaning strategy; the first sub-partition corresponds to the first sub-cleaning strategy and / or the third sub-cleaning strategy, and the second sub-partition corresponds to the second sub-cleaning strategy and / or the fourth sub-cleaning strategy.

[0206] For example, the sterilization device may include a drying device and / or an ultraviolet lamp, both of which improve the sterilization effect by controlling the start-up time.

[0207] The amount of cleaning agent added in the first sub-cleaning strategy is less than the amount of cleaning agent added in the second sub-cleaning strategy; the sterilization time in the third sub-cleaning strategy is less than the sterilization time in the fourth sub-cleaning strategy, thereby further improving the cleaning effect.

[0208] In the third mode, the obstacle corresponds to the seventh cleaning strategy, and the target obstacle corresponds to the eighth cleaning strategy; the target obstacle is an obstacle related to pet supplies within the area to be cleaned.

[0209] The seventh cleaning strategy is configured such that the cleaning device travels along the edge of the obstacle, and the vacuum motor operates with a first suction power.

[0210] The eighth cleaning strategy is configured such that the cleaning device travels along the edge at a preset distance from the target obstacle, and the vacuum motor operates with a third suction power; the third suction power is greater than the first suction power.

[0211] For example, when encountering target obstacles such as pet kennels, pet food bowls, or pet litter boxes, the suction power is immediately increased to a strong level, and the current cleaning strategy is used to clean along the edge at an expansion interval of 0.5m.

[0212] Optionally, since pet pee pads are particularly prone to soiling, they can easily contaminate cleaning equipment and subsequently the path of the cleaning equipment. Therefore, when the pet product is a pet pee pad, the cleaning equipment is controlled to perform obstacle avoidance on the pet pee pad, thereby preventing secondary contamination of the area to be cleaned, increasing the cleaning workload of the cleaning equipment, and indirectly improving cleaning efficiency.

[0213] In some embodiments, the heat map also includes user-defined heat zones. The cleaning strategy for these heat zones is unrelated to the cleaning strategy automatically identified by the cleaning equipment. The cleaning equipment prioritizes executing the preset cleaning strategy corresponding to the user-defined heat zone, and only uses the aforementioned multiple cleaning strategies in other non-user-defined heat zones.

[0214] This embodiment also provides a control device for the cleaning equipment, which can execute the control method of the cleaning equipment in the above embodiment. Its implementation principle and technical effects are similar, and will not be repeated here.

[0215] The embodiments of the present invention can divide the electronic device or main control device into functional modules according to the above method examples.For example, functional modules can be divided according to each function, or two or more functions can be integrated into one processing unit. The integrated unit can be implemented in hardware or in software functional modules. It should be noted that the division of modules in the embodiments of the present invention is illustrative and is only a logical functional division. In actual implementation, there may be other division methods.

[0216] In the specific implementation of the control device of the aforementioned cleaning equipment, each module can be implemented as a processor. The processor can execute computer execution instructions stored in the memory, so that the processor executes the control method of the aforementioned cleaning equipment.

[0217] Figure 7 is a schematic diagram of the hardware structure of the electronic device provided in the embodiment of the present application. As shown in Figure 7, the electronic device includes:

[0218] at least one processor 701 and a memory 702.

[0219] The electronic device also includes a communication component 703.

[0220] Wherein, the processor 701, the memory 702 and the communication component 703 are connected through a bus 704.

[0221] In a specific implementation, at least one processor 701 executes the computer execution instructions stored in the memory 702, causing at least one processor 701 to execute the control method of the cleaning equipment as described above.

[0222] The specific implementation process of the processor 701 can be found in the above method embodiments, and its implementation principle and technical effect are similar. This embodiment will not be repeated here.

[0223] In the above embodiments, it should be understood that the processor can be a central processing unit (CPU), or 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 the invention can be directly manifested as execution by a hardware processor, or execution by a combination of hardware and software modules in the processor.

[0224] The memory may include high-speed RAM memory, and may also include non-volatile memory (NVM), such as at least one disk storage device.

[0225] The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (ESA) bus.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.

[0226] The above describes the solutions provided by the embodiments of the present invention for the functions implemented by electronic devices and main control devices.

[0227] It is understood that in order to implement the above functions, electronic devices or main control devices include hardware structures and / or software modules corresponding to each function.

[0228] In conjunction with the units and algorithm steps of the various examples described in the embodiments of the present invention, the embodiments of the present invention can be implemented in the form of hardware or a combination of hardware and computer software. Whether a certain function is implemented by hardware or by computer software driving hardware 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 each specific application, but such implementation should not be considered to be beyond the scope of the technical solutions of the embodiments of the present invention.

[0229] The present application also provides a computer program product, including a computer program, which implements a method for controlling a cleaning device when executed by a processor.

[0230] The computer program product provided in this embodiment can execute the control method of the cleaning equipment in the above embodiment. Its implementation principle and technical effect are similar, and will not be repeated here.

[0231] This application also provides a computer-readable storage medium, which stores computer-executable instructions. When the processor executes the computer-executable instructions, the control method of the cleaning equipment as described above is implemented.

[0232] The computer-readable storage medium provided in this embodiment can execute the control method of the cleaning equipment in the above embodiment. Its implementation principle and technical effect are similar, and will not be repeated here.

[0233] The above-mentioned computer-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 that can be accessed by a general-purpose or special-purpose computer.

[0234] 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 on an Application Specific Integrated Circuit (ASIC).In ASICs (Integrated Circuits). Of course, the processor and readable storage medium can also exist as discrete components in electronic devices or main control devices.

[0235] 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 various media that can store program code, such as ROM, RAM, magnetic disk or optical disk.

[0236] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of related data need to comply with relevant laws, regulations and standards, and provide corresponding operation entry points for users to choose to authorize or refuse.

[0237] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or make equivalent substitutions for some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention. Instruction manual 17 / 17 pages 20 CN 121667581 A Figure 1 Figure 2 Instruction manual Appendix 1 / 4 pages 21 CN 121667581 A Figure 3 Instruction manual Appendix 2 / 4 pages 22 CN 121667581 A Figure 4 Figure 5 Instruction manual Appendix 3 / 4 pages 23 CN 121667581 A Figure 6 Figure 7 Instruction manual Appendix 4 / 4 pages 24 CN 121667581 A CLEANING DEVICE, CONTROL METHOD THEREOF, PRODUCT AND STORAGE MEDIUM Abstract The present application provides a cleaning device, a control method therefor, a product, and a storage medium, relating to the technical field of cleaning devices.The method includes: when a cleaning task is being performed, determining, based on a current working mode and a heat map of a region to be cleaned, a cleaning strategy corresponding to each different sub-region of the region to be cleaned in the current working mode; wherein the heat map is used to represent the historical occurrence frequency of a target pet in each different sub-region of the region to be cleaned; and cleaning the sub-regions according to the cleaning strategies of the different sub-regions of the region to be cleaned. The method of the present application can control the cleaning device to execute different cleaning strategies for different sub-regions, make full use of the cleaning resources of the cleaning device, and improve the cleaning effect.

Claims

1. A control method of a cleaning apparatus, characterized by, The method comprises: constructing a hot zone map of the target pet in the to-be-cleaned area based on historical position information of the target pet in different sub-zones in the to-be-cleaned area and at least one region demarcated by a user terminal in the to-be-cleaned area; prompting the user to update the hot zone autonomously based on the hot zone map.

2. The method of claim 1, wherein, The method further comprises: determining a cleaning strategy for different sub-zones in the to-be-cleaned area based on the hot zone map of the to-be-cleaned area in the case of performing a cleaning task; the hot zone map comprises a hot zone defined autonomously by the user; cleaning the hot zone defined autonomously by the user according to a preset cleaning strategy, and cleaning the sub-zones other than the hot zone defined autonomously by the user according to the cleaning strategy for different sub-zones in the to-be-cleaned area.

3. The method of claim 1, wherein, The method further comprises: constructing a hot zone map of the target pet in the to-be-cleaned area based on historical position information of the target pet in different sub-zones in the to-be-cleaned area; or, constructing a hot zone map of the target pet in the to-be-cleaned area based on at least one region demarcated by a user terminal in the to-be-cleaned area.

4. The method of claim 1, wherein, The constructing of the hot zone map of the target pet in the to-be-cleaned area based on the historical position information of the target pet in different sub-zones in the to-be-cleaned area comprises: marking historical position information of the target pet in the to-be-cleaned area as hot spots on a map comprising the to-be-cleaned area to obtain a hot spot map of the target pet; performing rasterization processing on the hot spot map to obtain a hot spot sub-zone map of the target pet; performing sub-zone processing on the raster in the hot spot sub-zone map based on the number of hot spots in the raster to obtain a hot zone map of the target pet in the to-be-cleaned area.

5. The method of claim 4, wherein, The performing of the sub-zone processing on the raster in the hot spot sub-zone map based on the number of hot spots in the raster comprises: based on the number of hot spots in the raster and a preset sub-zone quantity range, marking rasters belonging to the same preset sub-zone quantity range as the same sub-zone identifier; or, based on the number of hot spots in the raster and a preset sub-zone quantity range, marking rasters belonging to the same preset sub-zone quantity range as the same color identifier.

6. The method of claim 4, wherein, The performing of the sub-zone processing on the raster in the hot spot sub-zone map based on the number of hot spots in the raster further comprises: determining the sub-zone quantity according to the habit of the target pet and the gear adjustment range of the cleaning device.

7. The method of claim 4, wherein, Before the performing of the sub-zone processing on the raster in the hot spot sub-zone map based on the number of hot spots in the raster, the method further comprises: if there are hot spots on the raster, merging the hot spots on the raster into the number of hot spots in the raster at the shortest distance from the hot spots.

8. The method of claim 2, wherein, The cleaning device comprises at least one working mode, and the working mode comprises multiple cleaning strategies; The determining of the cleaning strategy for different sub-zones in the to-be-cleaned area based on the hot zone map of the to-be-cleaned area comprises: determining the cleaning strategy corresponding to different sub-zones in the to-be-cleaned area in the current working mode based on the current working mode and the hot zone map of the to-be-cleaned area; each working mode supports mutual combination.

9. The method of claim 8, wherein, The method further comprises: In the case of performing the cleaning task, the cleaning device is controlled to execute any one of the working modes alone; or the cleaning device is controlled to execute a plurality of the working modes in sequence; or the cleaning device is controlled to execute a plurality of the working modes alternately.

10. The method of claim 8, wherein, The working modes include a first mode, a second mode and a third mode; The first mode includes a single-sweep mode, the second mode includes a single-drag mode, and the third mode includes an along-edge mode; The method further includes: In the case of performing the cleaning task, the cleaning device is controlled to execute the single-sweep mode, the single-drag mode or the along-edge mode alone; Or the cleaning device is controlled to execute the single-sweep mode, the single-drag mode and the along-edge mode in sequence; Or the cleaning device is controlled to execute the single-sweep mode, the single-drag mode and the along-edge mode alternately; Or the cleaning device is controlled to execute the along-edge mode first, and then execute the single-sweep mode and the single-drag mode alternately.

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